def __init__(self, wxyz=np.float32([1., 0., 0., 0.]), tvec=np.float32([0., 0., 0.])):
        """Initialize a Pose with Quaternion and 3D Position

        Parameters
        ----------
        wxyz: np.float32 or Quaternion (default: np.float32([1,0,0,0]))
            Quaternion/Rotation (wxyz)

        tvec: np.float32 (default: np.float32([0,0,0]))
            Translation (xyz)
        """
        assert isinstance(wxyz, (np.ndarray, Quaternion))
        assert isinstance(tvec, np.ndarray)

        if isinstance(wxyz, np.ndarray):
            assert np.abs(1.0 - np.linalg.norm(wxyz)) < 1.0e-3

        self.quat = Quaternion(wxyz)
        self.tvec = tvec
Initialize a Pose with Quaternion and 3D Position

        Parameters
        ----------
        wxyz: np.float32 or Quaternion (default: np.float32([1,0,0,0]))
            Quaternion/Rotation (wxyz)

        tvec: np.float32 (default: np.float32([0,0,0]))
            Translation (xyz)
        
tridet/structures/pose.py