Pose2D

Represents a single 2D pose: a planar position plus a heading angle.

Parameters

Field	Type	Description
data	np.ndarray | list | tuple	Array-like input of shape (3,): [x, y, theta], converted to a contiguous float32 array.

Raises

Exception	Condition
TypeError	data can't be converted to float32 (e.g. non-numeric elements)
ValueError	data is not rank-1, or its shape isn't (3,)
ValueError	data contains a non-finite value (NaN/Inf)

Attributes

Attribute	Type	Description
data	np.ndarray	Defensive copy of the underlying (3,) float32 array. Assigning a new value re-validates it the same way as construction.
shape	tuple[int, ...]	Always (3,).
ndim	int	Always 1.
dtype	np.dtype	Always float32.
size	int	Always 3.

Methods

Method	Description
to_numpy(copy=True)	Returns the pose as np.ndarray. Pass copy=False for a reference to the internal array instead — faster, but mutating it mutates the Pose2D too.
copy()	Returns a new Pose2D with an independent copy of the data.
Pose2D.coerce(value)	Returns value unchanged if it's already a Pose2D; otherwise wraps an array-like into one. Raises TypeError for any other input.

Operators

Operation	Behavior
p == other	True only if other is also a Pose2D with element-equal data. False for anything else.
len(p)	Always 3.
np.asarray(p)	Works directly via __array__. Always returns a copy; use to_numpy(copy=False) for a zero-copy view.
p + array	Not implemented on Pose2D — Python falls back to NumPy's array coercion (__array__), so e.g. p + np.array([1.0, 1.0, 0.0]) returns a plain np.ndarray, not a Pose2D.
hash(p)	Not supported — mutable via the data setter.

Visualization

datatypes.visualize(pose, entity_path=...) logs the pose's posed frame (X/Y axes rotated by theta, translated by [x, y]) alongside a labeled world-origin frame. Per-axis labels are omitted; only the world-origin frame is labeled "origin". Passing label="..." attaches a floating text label at the posed frame's translation.

Example

"""Demonstrates the Telekinesis Pose2D datatype."""

import time

import numpy as np
from loguru import logger
import rerun as rr

from telekinesis import datatypes

def pose2d_example():
    """Demonstrate creation, access, visualization, update, NumPy translation, and serialization."""

    # ======================= Create ============================================
    pose = [1.0, 2.0, 0.5]
    pose2d = datatypes.Pose2D(pose)

    logger.info(f"Original Pose2D: {pose2d}")

    # ======================= Inspect ===========================================
    data = pose2d.data
    shape = pose2d.shape
    size = pose2d.size
    dtype = pose2d.dtype
    ndim = pose2d.ndim
    numpy_pose2d = pose2d.to_numpy()
    pose2d_copy = pose2d.copy()

    logger.info(f"shape={shape}, size={size}, ndim={ndim}, dtype={dtype}")
    logger.info(f"Underlying data: {data}")
    logger.info(f"NumPy array: {numpy_pose2d}")
    logger.info(f"Copy: {pose2d_copy}")

    # ======================= Visualize =========================================
    rr.init("pose2d_example", spawn=True)
    datatypes.visualize(pose2d, entity_path="/Pose2D", label="My Pose2D")

    # ======================= Update ============================================
    new_data = [3.0, 4.0, 1.0]
    pose2d.data = new_data
    logger.info(f"Updated Pose2D: {pose2d}")
    datatypes.visualize(pose2d, entity_path="/Pose2D/updated", label="Updated Pose2D")

    # ======================= Translate =========================================
    translated = pose2d + np.array([1.0, 1.0, 0.0])
    logger.info(f"Translated Pose2D: {translated}")

    # ======================= Serialize / Deserialize ===========================
    start = time.perf_counter()
    serialized = datatypes.serialize(pose2d)
    serialization_ms = (time.perf_counter() - start) * 1000

    start = time.perf_counter()
    deserialized = datatypes.deserialize(serialized)["param_0"]
    deserialization_ms = (time.perf_counter() - start) * 1000

    logger.info(f"Deserialized Pose2D: {deserialized}")
    logger.info(f"Round-trip successful: {deserialized.data == new_data}")
    logger.info(f"Serialization time: {serialization_ms:.3f} ms")
    logger.info(f"Deserialization time: {deserialization_ms:.3f} ms")


if __name__ == "__main__":
    pose2d_example()