# Class Pose

Position and orientation.

In computer vision and robotics, a typical task is to identify specific objects in an image and to determine each object's position and orientation relative to some coordinate system. This information can then be used, for example, to allow a robot to manipulate an object or to avoid moving into the object. The combination of position and orientation is referred to as the pose of an object, even though this concept is sometimes used only to describe the orientation. Exterior orientation and translation are also used as synonyms of pose.

## Constructors

• Creates an identity matrix.

#### Returns Pose

• Creates a 4x4 matrix with the given arguments in row-major order.

#### Parameters

• n11: number
• n12: number
• n13: number
• n14: number
• n21: number
• n22: number
• n23: number
• n24: number
• n31: number
• n32: number
• n33: number
• n34: number
• n41: number
• n42: number
• n43: number
• n44: number

## Properties

elements: number[]
timestamp: number = ...

Position recording timestamp

unit: LengthUnit = LengthUnit.METER

Position unit

## Methods

• Sets this matrix to the transformation composed of translation, rotation and scale.

#### Parameters

• translation: Vector3
• rotation: Quaternion
• scale: Vector3

• m: Matrix4

• m: Matrix4

• v: any

#### Deprecated

Use vector.applyMatrix4( matrix ) instead.

• Decomposes this matrix into it's position, quaternion and scale components.

#### Parameters

• translation: Vector3
• rotation: Quaternion
• scale: Vector3

#### Returns this

• Check if this position equals another position

#### Parameters

• matrix: Matrix4

Other position

• #### Parameters

• xAxis: Vector3
• yAxis: Vector3
• zAxis: Vector3

• m: Matrix4

#### Deprecated

Use .copyPosition() instead.

• Copies the rotation component of the supplied matrix m into this matrix rotation component.

• m: Matrix4

• #### Parameters

• array: number[]
• offset: number

#### Deprecated

Use .toArray() instead.

• Sets the values of this matrix from the provided array or array-like.

#### Parameters

• array: number[] | ArrayLike<number>

the source array or array-like.

• `Optional` offset: number

(optional) offset into the array-like. Default is 0.

• #### Parameters

• matrix: Matrix

#### Deprecated

Use .invert() instead.

• #### Returns number

• Resets this matrix to identity.

#### Returns this

• Inverts this matrix.

#### Returns this

• Constructs a rotation matrix, looking from eye towards center with defined up vector.

#### Parameters

• eye: Vector3
• target: Vector3
• up: Vector3

• #### Parameters

• xAxis: Vector3
• yAxis: Vector3
• zAxis: Vector3

#### Returns this

• Creates an orthographic projection matrix.

#### Parameters

• left: number
• right: number
• top: number
• bottom: number
• near: number
• far: number
• `Optional` coordinateSystem: CoordinateSystem

#### Returns this

• Creates a perspective projection matrix.

#### Parameters

• left: number
• right: number
• top: number
• bottom: number
• near: number
• far: number
• `Optional` coordinateSystem: CoordinateSystem

• #### Parameters

• euler: Euler

• #### Parameters

• q: Quaternion

#### Returns this

• Sets this matrix as rotation transform around x axis by theta radians.

#### Parameters

• theta: number

Rotation angle in radians.

#### Returns this

• Sets this matrix as rotation transform around y axis by theta radians.

#### Parameters

• theta: number

Rotation angle in radians.

#### Returns this

• Sets this matrix as rotation transform around z axis by theta radians.

#### Parameters

• theta: number

Rotation angle in radians.

#### Returns this

• Sets this matrix as scale transform.

• x: number
• y: number
• z: number

#### Returns this

• Sets this matrix as shear transform.

• xy: number
• xz: number
• yx: number
• yz: number
• zx: number
• zy: number

#### Returns this

• Sets this matrix as translation transform.

• v: Vector3

• x: number
• y: number
• z: number

#### Returns this

• Multiplies this matrix by m.

• m: Matrix4

#### Returns this

• Sets this matrix to a x b.

• a: Matrix4
• b: Matrix4

#### Returns this

• Multiplies this matrix by s.

• s: number

#### Returns this

• Sets this matrix to a x b and stores the result into the flat array r. r can be either a regular Array or a TypedArray.

#### Parameters

• a: Matrix4
• b: Matrix4
• r: number[]

#### Deprecated

This method has been removed completely.

• #### Parameters

• array: number[]

#### Deprecated

This method has been removed completely.

• m: Matrix4

#### Returns this

• Multiplies the columns of this matrix by vector v.

• v: Vector3

#### Returns this

• Sets all fields of this matrix.

#### Parameters

• n11: number
• n12: number
• n13: number
• n14: number
• n21: number
• n22: number
• n23: number
• n24: number
• n31: number
• n32: number
• n33: number
• n34: number
• n41: number
• n42: number
• n43: number
• n44: number

#### Returns this

• Set the upper 3x3 elements of this matrix to the values of the Matrix3 m.

• m: Matrix3

#### Returns this

• Sets the position component for this matrix from vector v.

• v: Vector3

• x: number
• y: number
• z: number

#### Returns this

• Returns an array with the values of this matrix, or copies them into the provided array.

#### Parameters

• `Optional` array: number[]

(optional) array to store the matrix to. If this is not provided, a new array will be created.

• `Optional` offset: number

(optional) optional offset into the array.

#### Returns number[]

The created or provided array.

• #### Parameters

• `Optional` array: Matrix4Tuple
• `Optional` offset: 0

#### Returns Matrix4Tuple

• Copies he values of this matrix into the provided array-like.

#### Parameters

• `Optional` array: ArrayLike<number>

array-like to store the matrix to.

• `Optional` offset: number

(optional) optional offset into the array-like.

#### Returns ArrayLike<number>

The provided array-like.

• Transposes this matrix.

#### Returns this

• Create a matrix from array

#### Parameters

• array: number[][]

Array

#### Returns T

Matrix4

• Get a pose from a 4d matrix

#### Returns T

Pose instance

• Create a pose from a position

#### Returns T

Output pose

• Create a rotation matrix from euler angles

#### Parameters

• vector: Vector3

Vector

• angle: number

Angle

#### Returns T

Rotation matrix

• Create a rotation matrix from euler angles

#### Parameters

• euler: Euler

Euler angles

#### Returns T

Rotation matrix