cuvslam::PoseWithCovariance Struct Reference

Pose with covariance. More...

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

Detailed Description

Pose with covariance.

Pose covariance is exposed over the public pose variables: (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis). Translation is in meters. Rotation uses a fixed-axis representation in radians.

Member Data Documentation

pose

Pose cuvslam::PoseWithCovariance::pose

Pose (transformation between two coordinate frames)

covariance_xyz_rpy

PoseCovariance cuvslam::PoseWithCovariance::covariance_xyz_rpy

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). Translation in meters, rotation in radians.