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Extract pose

ExtractPose reduces a 4 by 4 pose matrix to planar position and heading.

Inputs​

transform is a 4 by 4 transformation matrix, or None.

Outputs​

pose_2d is {"x": x, "y": y, "rotation": yaw}. Rotation is in radians. None produces None.

When to use​

Use this when a downstream operation needs a simple 2D pose dictionary instead of a matrix.

Configuration​

This operation has no user parameters.

Limitations​

A non-None input with any other shape raises an error. Height, roll, and pitch are discarded.