31 lines
671 B
C++
31 lines
671 B
C++
// # This represents a pose in free space with uncertainty.
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// Pose pose
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// # Row-major representation of the 6x6 covariance matrix
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// # The orientation parameters use a fixed-axis representation.
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// # In order, the parameters are:
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// # (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
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// float64[36] covariance
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#ifndef POSE_WITH_COVARIANCE_H
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#define POSE_WITH_COVARIANCE_H
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#include <array>
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#include <geometry_msgs/Pose.h>
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namespace geometry_msgs
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{
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struct PoseWithCovariance
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{
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Pose pose;
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std::array<double, 36> covariance;
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PoseWithCovariance() = default;
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};
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} // namespace geometry_msgs
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#endif // POSE_WITH_COVARIANCE_H
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