Template Function tf2::covarianceEigenToRowMajor

• Defined in File tf2_sophus.hpp

Function Documentation

template<template<typename, std::size_t> class Array, typename Scalar>
inline Array<Scalar, 36> &tf2::covarianceEigenToRowMajor(const Sophus::Matrix3<Scalar> &in, Array<Scalar, 36> &out)

Converts a Sophus (ie. Eigen) 3x3 covariance matrix to a 6x6 row-major array.

Parameters:

• in – A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

• out – A row-major array of 36 covariance values of a 3D pose.

Returns:

a reference to out.