cuvslam::PoseWithCovariance Struct Reference

Pose with covariance. More...

Public Attributes
Pose	pose
	Pose (transformation between two coordinate frames)
PoseCovariance	covariance

Detailed Description

Pose with covariance.

Pose covariance is defined via matrix exponential: for a random zero-mean perturbation u in the tangent space random pose is determined by mean_pose * exp(u).

Member Data Documentation

pose

Pose cuvslam::PoseWithCovariance::pose

Pose (transformation between two coordinate frames)

covariance

PoseCovariance cuvslam::PoseWithCovariance::covariance

Row-major representation of the 6x6 covariance matrix. The orientation parameters use a fixed-axis representation. In order, the parameters are: (rotation about X axis, rotation about Y axis, rotation about Z axis, x, y, z) Rotation in radians, translation in meters.