Pose (position + orientation) primitives.
Pose (position + orientation) primitives.
(->pose {:keys [position orientation velocity acceleration timestamp frame]
:or {position [0.0 0.0 0.0] orientation frame/identity-quaternion}})Construct a pose map. Keys: :position vector [x y z] :orientation quaternion [w x y z] Optional: :velocity, :acceleration, :timestamp, :frame
Construct a pose map. Keys: :position vector [x y z] :orientation quaternion [w x y z] Optional: :velocity, :acceleration, :timestamp, :frame
(interpolate pose-a pose-b t)Interpolate between pose a and b by t in [0,1].
Interpolate between pose a and b by t in [0,1].
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