/// <summary>
/// Converts to <see cref="PoseStruct" />.
/// </summary>
/// <returns>
/// The Robot <see cref="PoseStruct" /> for this instance
/// </returns>
internal PoseStruct ToPoseStruct()
{
var result = new PoseStruct
{
X = Position.X,
Y = Position.Y,
Z = Position.Z,
Q0 = Rotation.Q0,
Q1 = Rotation.Q1,
Q2 = Rotation.Q2,
Q3 = Rotation.Q3,
OriginId = OriginId.Value
};
return(result);
}
/// <summary>
/// Initializes a new instance of the <see cref="Pose"/> class.
/// </summary>
/// <param name="poseStruct">The pose structure.</param>
internal Pose(PoseStruct poseStruct)
{
Position = new Position(poseStruct.X, poseStruct.Y, poseStruct.Z);
Rotation = new Quaternion(poseStruct.Q0, poseStruct.Q1, poseStruct.Q2, poseStruct.Q3);
OriginId = poseStruct.OriginId;
}