// # This expresses velocity in free space with uncertainty.

// Twist twist

// # 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 TWIST_WITH_COVARIANCE_H
#define TWIST_WITH_COVARIANCE_H

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


namespace geometry_msgs
{

struct TwistWithCovariance
{
    Twist twist;
    std::array<double, 36> covariance;

    TwistWithCovariance() = default;
};

} // namespace geometry_msgs

#endif // TWIST_WITH_COVARIANCE_H
