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This commit is contained in:
HiepLM 2025-12-05 16:01:50 +07:00
parent ef5cf7a4ea
commit 3c51b228ec
1 changed files with 3 additions and 3 deletions
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6
tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h
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@ -846,8 +846,8 @@ void doTransform(const geometry_msgs::PoseStamped& t_in, geometry_msgs::PoseStam
* \param transform The timestamped transform to apply, as a TransformStamped message. * \param transform The timestamped transform to apply, as a TransformStamped message.
* \return The transformed covariance matrix. * \return The transformed covariance matrix.
*/ */
inline std::array<double, 36> inline boost::array<double, 36>
transformCovariance(const std::array<double, 36>& cov_in, const Transform& transform) transformCovariance(const boost::array<double, 36>& cov_in, const Transform& transform)
{ {
/** /**
* To transform a covariance matrix: * To transform a covariance matrix:
@ -885,7 +885,7 @@ transformCovariance(const std::array<double, 36>& cov_in, const Transform& trans
const tf3::Matrix3x3 result_22 = transform.getBasis()*cov_22*R_transpose; const tf3::Matrix3x3 result_22 = transform.getBasis()*cov_22*R_transpose;
// form the output // form the output
std::array<double, 36> output; boost::array<double, 36> output;
output[0] = result_11[0][0]; output[0] = result_11[0][0];
output[1] = result_11[0][1]; output[1] = result_11[0][1];
output[2] = result_11[0][2]; output[2] = result_11[0][2];