Template Function tf2::toMsg(const Sophus::SE3<Scalar>&, const Eigen::Matrix<Scalar, 6, 6>&)

• Defined in File tf2_sophus.hpp

Function Documentation

template<typename Scalar>
inline beluga_ros::msg::PoseWithCovariance tf2::toMsg(const Sophus::SE3<Scalar> &in, const Eigen::Matrix<Scalar, 6, 6> &covariance)

Converts an SE3 pose and its covariance to a ROS message. NOTE: Input covariance is expected to use tangent space parametrization, consistent with the one in beluga’s estimation libraries.