Introduced in version 0.14.0

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This document describes the various ways to define a 3D pose (translation + orientation) in Exwayz YAML configuration files.

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Define from 4x4 matrix

# 4x4 matrix (row major)
matrix: [1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0]
# [optional] offset added to the pose to handle large geographic coordinates
offset: [0.0, 0.0, 0.0]

$$ T = \begin{pmatrix} R & u \\ 0 & 1 \\ \end{pmatrix} \in SE(3) \\

R \in SO(3) \\ u \in \mathbb{R}^3 $$

Define from translation and euler angles

# translation in meters
translation: [1.0, 2.0, 3.0]
# euler angles [Rx, Ry, Rz] (roll, pitch yaw)
euler: [0.0, 0.0, 90.0]
# boolean switch, if true euler angles are interpreted as degrees, otherwise,
# they are interpreted as radians (default: true)
angles_degrees: true
# [optional] offset added to the pose to handle large geographic coordinates
offset: [0.0, 0.0, 0.0]

$$ R(\theta_x, \theta_y, \theta_z)=R_z(\theta_z) \; R_y(\theta_y) \; R_x(\theta_x) $$

$$ R_x(\theta)=\begin{pmatrix} 1 & 0 & 0 \\ 0 & \cos \theta & -\sin \theta \\ 1 & \sin \theta & \cos \theta \\ \end{pmatrix} $$

$$ R_y(\theta)=\begin{pmatrix} \cos \theta & 0 & \sin \theta \\ 0 & 1 & 0 \\ -\sin \theta & 0 & \cos \theta \\ \end{pmatrix} $$

$$ R_z(\theta)=\begin{pmatrix} \cos \theta & -\sin \theta & 0 \\ \sin \theta & \cos \theta & 0 \\ 0 & 0 & 1 \\ \end{pmatrix} $$

Define from translation and quaternion

# translation in meters
translation: [1.0, 2.0, 3.0]
# orientation as quaternion
quaternion: [1.0, 0.0, 0.0, 0.0]
# [optional] offset added to the pose to handle large geographic coordinates
offset: [0.0, 0.0, 0.0]

Quaternions are defined in Hamilton convention $q=\left(q_w,\, q_x,\, q_y,\, q_z \right)$.

⚠️ this is different from JPL convention used in ROS $q=\left(q_x,\, q_y,\, q_z,\, q_w \right)$.