Pose Sensor

Returns the orientation (see OrientationSensor) and position of the sensor in a 4x4 homogenous matrix in the global frame. If the sensor is placed in a socket other than the COM socket, it will return the global pose of the socket it is placed in (the location of the vehicle plus the offset from vehicle COM to socket).

The 4x4 matrix is in the following form:

[R, p]
[0, 1]

Where R is a 3x3 rotation matrix and p is a 3x1 position vector. The last row is always [0, 0, 0, 1].

See PoseSensor for the Python API and more details.

Example sensor definition:

{
    "sensor_type": "PoseSensor",
    "socket": "COM"
}