Struct Pose

Struct Documentation

struct Pose

A position and orientation for an object or reference frame in 3D space.

Public Functions

FoxgloveError encode(uint8_t *ptr, size_t len, size_t *encoded_len)

Encoded the Pose as protobuf to the provided buffer.

On success, writes the serialized length to *encoded_len. If the provided buffer has insufficient capacity, writes the required capacity to *encoded_len and returns FoxgloveError::BufferTooShort. If the message cannot be encoded, writes the reason to stderr and returns FoxgloveError::EncodeError.

Parameters:

  • ptr – the destination buffer. must point to at least len valid bytes.

  • len – the length of the destination buffer.

  • encoded_len – where the serialized length or required capacity will be written to.

Public Members

std::optional<Vector3> position

Point denoting position in 3D space.

std::optional<Quaternion> orientation

Quaternion denoting orientation in 3D space.

Public Static Functions

static Schema schema()

Get the Pose schema.

The schema data returned is statically allocated.