// # This represents a pose in free space with uncertainty.

// Pose pose

// # Row-major representation of the 6x6 covariance matrix
// # The orientation parameters use a fixed-axis representation.
// # In order, the parameters are:
// # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
// float64[36] covariance

#ifndef POSE_WITH_COVARIANCE_H
#define POSE_WITH_COVARIANCE_H

#include <array>
#include <geometry_msgs/Pose.h>


namespace geometry_msgs
{

struct PoseWithCovariance
{
    Pose pose;
    std::array<double, 36> covariance;

    PoseWithCovariance() = default;
};

} // namespace geometry_msgs

#endif // POSE_WITH_COVARIANCE_H