Spatial
=======

Spatial provides TF tree access plus local pose, transform, and geometry types.

.. tab-set::
   :sync-group: sdk-language

   .. tab-item:: Python
      :sync: python

      .. automodule:: olo.spatial
         :no-members:

      **Client interfaces**

      .. autoclass:: olo.spatial.Spatial
         :members:

      .. autoclass:: olo.spatial.RobotFrames
         :members:

      .. autoclass:: olo.spatial.TransformSubscription
         :members:

      .. autoclass:: olo.spatial.TreeSubscription
         :members:

      .. autoclass:: olo.spatial.TreeDelta
         :members:

      **Types**

      .. autoclass:: olo.spatial.types.Point
         :members:

      .. autoclass:: olo.spatial.types.Vector
         :members:

      .. autoclass:: olo.spatial.types.Quaternion
         :members:

      .. autoclass:: olo.spatial.types.Pose
         :members:

      .. autoclass:: olo.spatial.types.Transform
         :members:

      .. autoclass:: olo.spatial.types.Twist
         :members:

      .. autoclass:: olo.spatial.types.FrameInfo
         :members:

      .. autoclass:: olo.spatial.types.FrameTreeNode
         :members:

      .. autoclass:: olo.spatial.types.FrameTree
         :members:

   .. tab-item:: TypeScript
      :sync: typescript

      Import from ``olo/spatial``:

      The TypeScript surface mirrors the Python module: method names are
      camelCase, keyword arguments become an options object with millisecond
      timeouts, and Python's ``*`` operator maps to ``multiply()``.

      **Client interfaces**

      - :doc:`Spatial </typescript/api/generated/olo/spatial/classes/Spatial>`
        — TF tree access: ``lookup()``, ``tree()``, ``handle()``,
        ``subscribe()``, ``subscribeTree()``, and ``publishStatic()``.
      - :doc:`RobotFrames </typescript/api/generated/olo/spatial/classes/RobotFrames>`
        — namespace-scoped TF frame handle (created via
        ``client.spatial.handle()``), plus ``baseFrame()``.
      - :doc:`TransformSubscription </typescript/api/generated/olo/spatial/classes/TransformSubscription>`
        — async iterable transform stream.
      - :doc:`TreeSubscription </typescript/api/generated/olo/spatial/classes/TreeSubscription>`
        — async iterable tree stream; yields materialized ``FrameTree``
        snapshots, or raw deltas via ``changes()``.
      - :doc:`TreeDelta </typescript/api/generated/olo/spatial/interfaces/TreeDelta>`
        — raw tree change batch (``added`` / ``updated``).

      **Types**

      - :doc:`Point </typescript/api/generated/olo/spatial/classes/Point>`
        — Cartesian position in metres.
      - :doc:`Vector </typescript/api/generated/olo/spatial/classes/Vector>`
        — Cartesian vector in metres with dot/cross, normalization, and
        magnitude clamping.
      - :doc:`Quaternion </typescript/api/generated/olo/spatial/classes/Quaternion>`
        — orientation (xyzw) with RPY, axis-angle, matrix constructors, and
        vector rotation.
      - :doc:`Pose </typescript/api/generated/olo/spatial/classes/Pose>`
        — position plus orientation; ``matrix()``, ``inverse()``, ``apply()``,
        ``rotate()``, and ``multiply()``.
      - :doc:`Transform </typescript/api/generated/olo/spatial/classes/Transform>`
        — rigid transform with optional TF frame metadata and ``stamp``;
        composition validates frame chaining.
      - :doc:`Twist </typescript/api/generated/olo/spatial/classes/Twist>`
        — linear and angular velocity vectors.
      - :doc:`FrameInfo </typescript/api/generated/olo/spatial/interfaces/FrameInfo>`
        — flattened frame entry.
      - :doc:`FrameTreeNode </typescript/api/generated/olo/spatial/classes/FrameTreeNode>`
        — node in a TF subtree.
      - :doc:`FrameTree </typescript/api/generated/olo/spatial/classes/FrameTree>`
        — multi-root tree with ``flatten()`` and a tree-shaped ``toString()``.