code: def update(self):
          '''
          Updates Pose3d.
          '''
          pos = Pose3d()
          if self.hasproxy():
              pose = self.proxy.getPose3DData()
              pos.yaw = self.quat2Yaw(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.pitch = self.quat2Pitch(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.roll = self.quat2Roll(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.x = pose.x
              pos.y = pose.y
              pos.z = pose.z 
              pos.h = pose.h
              pos.q = [pose.q0, pose.q1, pose.q2, pose.q3]
  
          self.lock.acquire()
          self.pose = pos
          self.lock.release(f update(self):
          '''
          Updates Pose3d.
          '''
          pos = Pose3d()
          if self.hasproxy():
              pose = self.proxy.getPose3DData()
              pos.yaw = self.quat2Yaw(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.pitch = self.quat2Pitch(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.roll = self.quat2Roll(pose.q0, pose.q1, pose.q2, pose.q3)
              pos.x = pose.x
              pos.y = pose.y
              pos.z = pose.z 
              pos.h = pose.h
              pos.q = [pose.q0, pose.q1, pose.q2, pose.q3]
  
          self.lock.acquire()
          self.pose = pos
          self.lock.release()
docs: Updates Pose3d.