---
title: "Get all previously set reference targets"
method: GET
path: "/v1/vehicles/{vehicleId}/reference-targets"
tags: ["Vehicle Autonomy"]
---

# Get all previously set reference targets

`GET /v1/vehicles/{vehicleId}/reference-targets`

## Request

- Base URL: `https://api.polymathrobotics.dev`
- URL: `https://api.polymathrobotics.dev/v1/vehicles/{vehicleId}/reference-targets`
- Auth: HTTP bearer

Returns all previously set reference targets.

## Path parameters

- `vehicleId` string, required

## Response `200`

All previously set reference targets.

- ReferenceTargetsResponse
  - `status` string, required
  - `message` string, required
  - `data` ReferenceTargetsModel, required: Base for request bodies: unknown fields are rejected instead of silently dropped.
    - `reference_targets` ReferenceTarget[], required
      - `target_id` string: Unique name or ID of the reference target
      - `timestamp_utc` string: Timestamp in UTC ISO format. Should be provided in ISO 8601 format: 'YYYY-MM-DDTHH:MM:SSZ'. If not provided, it will default to the current UTC time.
      - `pose` GeoPoint, required: Base for request bodies: unknown fields are rejected instead of silently dropped.
        - `lat` number, required: Latitude
        - `lon` number, required: Longitude
        - `altitude` number: Altitude (meters)
        - `yaw` number: Yaw (radians). Robot body frame: x forward, y left, z up; positive yaw is counter-clockwise.
      - `time_validity` number: Time validity in seconds. -1 means forever.
      - `recorded_speed_m_s` number: Recorded speed of the object in m/s. `None` indicates no measurement available.

## Other responses

- `500`: Internal server error

## Changes

- **2026-09-09** `7bb062ddb622`: 1 info
  - endpoint added

[Operation history](https://skmtc.dev/polymathrobotics/apis/polymath-api/changes/v1/vehicles/:vehicleId/reference-targets/get.md)

---

[API](https://skmtc.dev/polymathrobotics/apis/polymath-api.md) - [All operations](https://skmtc.dev/polymathrobotics/apis/polymath-api/llms.txt) - [OpenAPI document](https://skmtc.dev/polymathrobotics/apis/polymath-api/revisions/3b5ff2f21338?raw)