def pose_msg(self):
        """:obj:`geometry_msgs.msg.Pose` The rigid transform as a geometry_msg pose.
        """
        pose = msg.Pose()
        pose.orientation.w = float(self.quaternion[0])
        pose.orientation.x = float(self.quaternion[1])
        pose.orientation.y = float(self.quaternion[2])
        pose.orientation.z = float(self.quaternion[3])
        pose.position.x = float(self.translation[0])
        pose.position.y = float(self.translation[1])
        pose.position.z = float(self.translation[2])
        return pose
:obj:`geometry_msgs.msg.Pose` The rigid transform as a geometry_msg pose.