/// <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; }