Class PoseUtils

Utility class for converting between different pose and rotation representations. Provides static methods to convert between coordinate systems (Z-up vs Y-up), rotation formats (Euler, quaternion, rotation vector), and position formats.

Index

Constructors

constructor

Methods

asControllerPose asPose asThreeJsEuler asThreeJsPose asThreeJsQuaternion asThreeJsVector3 asYUpEulerRotationRadians asYUpPositionMeters asYUpQuaternion asZUpEulerRotationRadians asZUpPositionMeters asZUpRotationVectorRadians controllerPoseIdentityInFrame fromObject3DInWorld fromPose fromRos threeJsPoseIdentityInFrame

Constructors

constructor

new PoseUtils(): PoseUtils
Returns PoseUtils

Methods

`Static`asControllerPose

asControllerPose(value: PoseRepresentation): ControllerPose
Converts pose representation to controller-compatible format (Z-up coordinate system).
Parameters
- value: PoseRepresentation
  The pose representation to convert
Returns ControllerPose
Controller pose representation with Z-up coordinates
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:141

`Static`asPose

asPose(pose: ControllerPose): Pose
Create Pose from ControllerPose
Parameters
- pose: ControllerPose
Returns Pose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:167

`Static`asThreeJsEuler

asThreeJsEuler(rot: YUpEulerRotationRadians | YUpQuaternion): Euler
Converts rotation to ThreeJS Euler object.
Parameters
- rot: YUpEulerRotationRadians | YUpQuaternion
  Rotation representation to convert
Returns Euler
ThreeJS Euler object with Y-up orientation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:153

`Static`asThreeJsPose

asThreeJsPose(value: PoseRepresentation): ThreeJsPose
Converts pose representation to ThreeJS-compatible format (Y-up coordinate system).
Parameters
- value: PoseRepresentation
  The pose representation to convert
Returns ThreeJsPose
ThreeJS pose representation with Y-up coordinates
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:135

`Static`asThreeJsQuaternion

asThreeJsQuaternion(rot: YUpEulerRotationRadians | YUpQuaternion): Quaternion
Converts rotation to ThreeJS Quaternion object.
Parameters
- rot: YUpEulerRotationRadians | YUpQuaternion
  Rotation representation to convert
Returns Quaternion
ThreeJS Quaternion object with Y-up orientation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:159

`Static`asThreeJsVector3

asThreeJsVector3(pos: YUpPositionMeters): Vector3
Converts Y-up position to ThreeJS Vector3 object.
Parameters
- pos: YUpPositionMeters
  Y-up position to convert
Returns Vector3
ThreeJS Vector3 object
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:147

`Static`asYUpEulerRotationRadians

asYUpEulerRotationRadians(
value: RotationRepresentation,
): YUpEulerRotationRadians
Converts rotation representation to Y-up Euler rotation format.
Parameters
- value: RotationRepresentation
  The rotation representation to convert
Returns YUpEulerRotationRadians
Y-up Euler rotation representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:111

`Static`asYUpPositionMeters

asYUpPositionMeters(value: PositionRepresentation): YUpPositionMeters
Converts position representation to Y-up position format.
Parameters
- value: PositionRepresentation
  The position representation to convert
Returns YUpPositionMeters
Y-up position representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:129

`Static`asYUpQuaternion

asYUpQuaternion(value: RotationRepresentation): YUpQuaternion
Converts rotation representation to Y-up quaternion format.
Parameters
- value: RotationRepresentation
  The rotation representation to convert
Returns YUpQuaternion
Y-up quaternion representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:117

`Static`asZUpEulerRotationRadians

asZUpEulerRotationRadians(
value: RotationRepresentation,
): ZUpEulerRotationRadians
Converts rotation representation to Z-up Euler rotation format.
Parameters
- value: RotationRepresentation
  The rotation representation to convert
Returns ZUpEulerRotationRadians
Z-up Euler rotation representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:105

`Static`asZUpPositionMeters

asZUpPositionMeters(value: PositionOrRosPosition): ZUpPositionMeters
Converts position representation to Z-up position format.
Parameters
- value: PositionOrRosPosition
  The position representation to convert
Returns ZUpPositionMeters
Z-up position representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:123

`Static`asZUpRotationVectorRadians

asZUpRotationVectorRadians(
value: IRosTypeGeometryMsgsQuaternion | RotationRepresentation,
): ZUpRotationVectorRadians
Converts rotation representation to Z-up rotation vector format.
Parameters
- value: IRosTypeGeometryMsgsQuaternion | RotationRepresentation
  The rotation representation to convert
Returns ZUpRotationVectorRadians
Z-up rotation vector representation
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:99

`Static`controllerPoseIdentityInFrame

controllerPoseIdentityInFrame(referenceFrame: string): ControllerPose
Create ControllerPose for identity pose in a given frame
Parameters
- referenceFrame: string
Returns ControllerPose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:179

`Static`fromObject3DInWorld

fromObject3DInWorld(object: Object3D): ThreeJsPose
Create ThreeJsPose from Object3D in world frame
Parameters
- object: Object3D
Returns ThreeJsPose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:175

`Static`fromPose

fromPose(pose: Pose, referenceFrame: string): ControllerPose
Create ControllerPose from Pose
Parameters
- pose: Pose
- referenceFrame: string
Returns ControllerPose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:163

`Static`fromRos

fromRos(
transform: IRosTypeGeometryMsgsPose | IRosTypeGeometryMsgsTransform,
referenceFrame: string,
): ControllerPose
Create ControllerPose from ROS transform or pose
Parameters
- transform: IRosTypeGeometryMsgsPose | IRosTypeGeometryMsgsTransform
- referenceFrame: string
Returns ControllerPose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:171

`Static`threeJsPoseIdentityInFrame

threeJsPoseIdentityInFrame(referenceFrame: string): ThreeJsPose
Create ThreeJsPose for identity pose in a given frame
Parameters
- referenceFrame: string
Returns ThreeJsPose
- Defined in node_modules/@universal-robots/contribution-api/lib/types/nodes/models/program/pose.model.d.ts:183

Class PoseUtils

Index

Constructors

Methods

Constructors

constructor

Returns PoseUtils

Methods

StaticasControllerPose

Parameters

Returns ControllerPose

StaticasPose

Parameters

Returns Pose

StaticasThreeJsEuler

Parameters

Returns Euler

StaticasThreeJsPose

Parameters

Returns ThreeJsPose

StaticasThreeJsQuaternion

Parameters

Returns Quaternion

StaticasThreeJsVector3

Parameters

Returns Vector3

StaticasYUpEulerRotationRadians

Parameters

Returns YUpEulerRotationRadians

StaticasYUpPositionMeters

Parameters

Returns YUpPositionMeters

StaticasYUpQuaternion

Parameters

Returns YUpQuaternion

StaticasZUpEulerRotationRadians

Parameters

Returns ZUpEulerRotationRadians

StaticasZUpPositionMeters

Parameters

Returns ZUpPositionMeters

StaticasZUpRotationVectorRadians

Parameters

Returns ZUpRotationVectorRadians

StaticcontrollerPoseIdentityInFrame

Parameters

Returns ControllerPose

StaticfromObject3DInWorld

Parameters

Returns ThreeJsPose

StaticfromPose

Parameters

Returns ControllerPose

StaticfromRos

Parameters

Returns ControllerPose

StaticthreeJsPoseIdentityInFrame

Parameters

Returns ThreeJsPose

Settings

On This Page

`Static`asControllerPose

`Static`asPose

`Static`asThreeJsEuler

`Static`asThreeJsPose

`Static`asThreeJsQuaternion

`Static`asThreeJsVector3

`Static`asYUpEulerRotationRadians

`Static`asYUpPositionMeters

`Static`asYUpQuaternion

`Static`asZUpEulerRotationRadians

`Static`asZUpPositionMeters

`Static`asZUpRotationVectorRadians

`Static`controllerPoseIdentityInFrame

`Static`fromObject3DInWorld

`Static`fromPose

`Static`fromRos

`Static`threeJsPoseIdentityInFrame