namespace RobotNet10.Shared.Geometry;

/// <summary>
/// PoseWithCovarianceStamped message (geometry_msgs/PoseWithCovarianceStamped)
/// A PoseWithCovariance with reference coordinate frame and timestamp
/// </summary>
public struct PoseWithCovarianceStamped
{
    /// <summary>
    /// Header with timestamp and frame ID
    /// </summary>
    public Header Header { get; set; }

    /// <summary>
    /// Pose with covariance
    /// </summary>
    public PoseWithCovariance Pose { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public PoseWithCovarianceStamped()
    {
        Header = new Header();
        Pose = new PoseWithCovariance();
    }

    /// <summary>
    /// Constructor with parameters
    /// </summary>
    public PoseWithCovarianceStamped(Header header, PoseWithCovariance pose)
    {
        Header = header;
        Pose = pose;
    }
}