Geometry Messages

Spatial data types for positions, orientations, velocities, and coordinate transforms.

from horus import Pose2D, Pose3D, Twist, Vector3, Quaternion, TransformStamped

Pose2D

2D position and orientation — the most common pose type for ground robots.

import horus

pose = horus.Pose2D(x=1.0, y=2.0, theta=0.5)  # meters, radians

Field	Type	Unit	Description
`x`	`float`	m	X position
`y`	`float`	m	Y position
`theta`	`float`	rad	Heading angle

Pose3D

6-DOF pose — position + quaternion orientation.

pose = horus.Pose3D(
    x=1.0, y=2.0, z=0.5,
    qx=0.0, qy=0.0, qz=0.0, qw=1.0,  # identity rotation
)

Field	Type	Unit	Description
`x`, `y`, `z`	`float`	m	Position
`qx`, `qy`, `qz`, `qw`	`float`	—	Quaternion orientation

Twist

6-DOF velocity — linear + angular.

twist = horus.Twist(
    linear_x=0.5, linear_y=0.0, linear_z=0.0,
    angular_x=0.0, angular_y=0.0, angular_z=0.3,
)

Field	Type	Unit	Description
`linear_x`, `linear_y`, `linear_z`	`float`	m/s	Linear velocity
`angular_x`, `angular_y`, `angular_z`	`float`	rad/s	Angular velocity

ROS2 equivalent: geometry_msgs/msg/Twist

Vector3

3D vector for general-purpose spatial math.

v = horus.Vector3(x=1.0, y=0.0, z=0.0)

Point3

3D point (semantically distinct from Vector3 — a position, not a direction).

p = horus.Point3(x=1.0, y=2.0, z=3.0)

Quaternion

Rotation quaternion (x, y, z, w format).

q = horus.Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)  # identity

Accel

6-DOF acceleration.

accel = horus.Accel(
    linear_x=0.0, linear_y=0.0, linear_z=9.81,
    angular_x=0.0, angular_y=0.0, angular_z=0.0,
)

TransformStamped

Timestamped transform between two coordinate frames.

tf = horus.TransformStamped(
    parent_frame="base_link",
    child_frame="camera",
    x=0.1, y=0.0, z=0.3,
    qx=0.0, qy=0.0, qz=0.0, qw=1.0,
    timestamp_ns=horus.timestamp_ns(),
)

PoseStamped

Timestamped pose.

ps = horus.PoseStamped(
    x=1.0, y=2.0, z=0.0,
    qx=0.0, qy=0.0, qz=0.0, qw=1.0,
    frame_id="map",
    timestamp_ns=horus.timestamp_ns(),
)

PoseWithCovariance / TwistWithCovariance

Pose or twist with uncertainty estimate (6x6 covariance matrix).

pwc = horus.PoseWithCovariance(
    x=1.0, y=2.0, z=0.0,
    qx=0.0, qy=0.0, qz=0.0, qw=1.0,
    covariance=[0.01] * 36,  # 6x6 row-major
)