rigid_body_motion.lookup_pose

rigid_body_motion.lookup_pose(frame, reference, as_dataset=False, return_timestamps=False)

Look up pose of one frame wrt a reference.

Parameters

frame: str or ReferenceFrame

Frame for which to look up the pose.

reference: str or ReferenceFrame

Reference frame of the pose.

as_dataset: bool, default False

If True, return an xarray.Dataset. Otherwise, return a tuple of position and orientation.

return_timestamps: bool, default False

If True, and as_dataset is False, also return the timestamps of the lookup.

Returns

position, orientation: each numpy.ndarray

Position and orientation of the pose between the frames, if as_dataset is False.

timestamps: numpy.ndarray

Corresponding timestamps of the lookup if return_timestamps is True.

ds: xarray.Dataset

The above arrays as an xarray.Dataset, if as_dataset is True.