viam::sdk::WorldState::transform Struct Reference

Represents a pose and two reference frames. More...

#include <world_state.hpp>

Public Attributes
std::string	reference_frame
	The name of this reference frame.
pose_in_frame	pose_in_observer_frame
	The pose of this frame relative to the observer's frame.
boost::optional< GeometryConfig >	physical_object
	An optional geometry representing the physical object at this transform's location.

Detailed Description

Represents a pose and two reference frames.

Describes the pose of a physical object (or coordinate frame) in the observer's frame, allowing the motion planner to account for additional frames beyond those defined by the robot's kinematic chain.

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The documentation for this struct was generated from the following file:

• src/viam/sdk/common/world_state.hpp