mavros
  • Python API
    • mavros package
      • Subpackages
        • mavros.cmd package
      • Submodules
        • mavros.base module
        • mavros.command module
        • mavros.ftp module
        • mavros.global_position module
        • mavros.local_position module
        • mavros.mavlink module
        • mavros.mission module
        • mavros.nuttx_crc32 module
        • mavros.param module
        • mavros.setpoint module
        • mavros.system module
        • mavros.utils module
      • Module contents
  • C++ API
    • Class Hierarchy
    • File Hierarchy
    • Full C++ API
      • Namespaces
        • Namespace mavros
        • Namespace mavros::ftf
        • Namespace mavros::ftf::detail
        • Namespace mavros::plugin
        • Namespace mavros::plugin::filter
        • Namespace mavros::router
        • Namespace mavros::uas
        • Namespace mavros::utils
        • Namespace mavros_msgs
        • Namespace mavros_msgs::msg
        • Namespace px4
        • Namespace rclcpp
        • Namespace rclcpp::executors
        • Namespace std
        • Namespace std::chrono_literals
        • Namespace std::placeholders
      • Classes and Structs
        • Struct mode_type
        • Class Filter
        • Class AnyOk
        • Class ComponentAndOk
        • Class SystemAndOk
        • Class MissionBase
        • Class MissionItem
        • Class Plugin
        • Class PluginFactory
        • Template Class PluginFactoryTemplate
        • Template Class SetAttitudeTargetMixin
        • Template Class SetPositionTargetGlobalIntMixin
        • Template Class SetPositionTargetLocalNEDMixin
        • Template Class TF2ListenerMixin
        • Class Endpoint
        • Class MAVConnEndpoint
        • Class ROSEndpoint
        • Class Router
        • Class Data
        • Class UAS
        • Class UASExecutor
      • Enums
        • Enum StaticEcefTF
        • Enum StaticTF
        • Enum timesync_mode
      • Unions
        • Union custom_mode
      • Functions
        • Template Function mavros::ftf::covariance_to_mavlink
        • Template Function mavros::ftf::covariance_urt_to_mavlink
        • Function mavros::ftf::detail::transform_frame(const Eigen::Vector3d&, const Eigen::Quaterniond&)
        • Function mavros::ftf::detail::transform_frame(const Covariance3d&, const Eigen::Quaterniond&)
        • Function mavros::ftf::detail::transform_frame(const Covariance6d&, const Eigen::Quaterniond&)
        • Function mavros::ftf::detail::transform_frame(const Covariance9d&, const Eigen::Quaterniond&)
        • Function mavros::ftf::detail::transform_orientation
        • Function mavros::ftf::detail::transform_static_frame(const Eigen::Vector3d&, const StaticTF)
        • Function mavros::ftf::detail::transform_static_frame(const Covariance3d&, const StaticTF)
        • Function mavros::ftf::detail::transform_static_frame(const Covariance6d&, const StaticTF)
        • Function mavros::ftf::detail::transform_static_frame(const Covariance9d&, const StaticTF)
        • Function mavros::ftf::detail::transform_static_frame(const Eigen::Vector3d&, const Eigen::Vector3d&, const StaticEcefTF)
        • Function mavros::ftf::mavlink_to_quaternion
        • Template Function mavros::ftf::mavlink_urt_to_covariance_matrix
        • Function mavros::ftf::quaternion_from_rpy(const Eigen::Vector3d&)
        • Function mavros::ftf::quaternion_from_rpy(const double, const double, const double)
        • Function mavros::ftf::quaternion_get_yaw
        • Template Function mavros::ftf::quaternion_to_mavlink
        • Function mavros::ftf::quaternion_to_rpy(const Eigen::Quaterniond&)
        • Function mavros::ftf::quaternion_to_rpy(const Eigen::Quaterniond&, double&, double&, double&)
        • Function mavros::ftf::to_eigen(const geometry_msgs::msg::Point)
        • Function mavros::ftf::to_eigen(const geometry_msgs::msg::Vector3)
        • Function mavros::ftf::to_eigen(const geometry_msgs::msg::Quaternion)
        • Template Function mavros::ftf::transform_frame_aircraft_baselink
        • Template Function mavros::ftf::transform_frame_aircraft_enu
        • Template Function mavros::ftf::transform_frame_aircraft_ned
        • Template Function mavros::ftf::transform_frame_baselink_aircraft
        • Template Function mavros::ftf::transform_frame_baselink_enu
        • Template Function mavros::ftf::transform_frame_ecef_enu
        • Template Function mavros::ftf::transform_frame_enu_aircraft
        • Template Function mavros::ftf::transform_frame_enu_baselink
        • Template Function mavros::ftf::transform_frame_enu_ecef
        • Template Function mavros::ftf::transform_frame_enu_ned
        • Template Function mavros::ftf::transform_frame_ned_aircraft
        • Template Function mavros::ftf::transform_frame_ned_enu
        • Template Function mavros::ftf::transform_orientation_absolute_frame_aircraft_baselink
        • Template Function mavros::ftf::transform_orientation_absolute_frame_baselink_aircraft
        • Template Function mavros::ftf::transform_orientation_aircraft_baselink
        • Template Function mavros::ftf::transform_orientation_baselink_aircraft
        • Template Function mavros::ftf::transform_orientation_enu_ned
        • Template Function mavros::ftf::transform_orientation_ned_enu
        • Function mavros::plugin::operator<<
        • Function mavros::utils::enum_to_name
        • Template Function mavros::utils::enum_value
        • Function mavros::utils::landing_target_type_from_str
        • Function mavros::utils::mav_frame_from_str
        • Function mavros::utils::mav_type_from_str
        • Function mavros::utils::sensor_orientation_from_str
        • Function mavros::utils::sensor_orientation_matching
        • Function mavros::utils::timesync_mode_from_str
        • Function mavros::utils::to_string(timesync_mode)
        • Function mavros::utils::to_string(mavlink::common::MAV_SENSOR_ORIENTATION)
        • Function mavros::utils::to_string(mavlink::minimal::MAV_AUTOPILOT)
        • Function mavros::utils::to_string(mavlink::minimal::MAV_TYPE)
        • Function mavros::utils::to_string(mavlink::minimal::MAV_STATE)
        • Function mavros::utils::to_string(mavlink::minimal::MAV_COMPONENT)
        • Function mavros::utils::to_string(mavlink::common::MAV_ESTIMATOR_TYPE)
        • Function mavros::utils::to_string(mavlink::common::ADSB_ALTITUDE_TYPE)
        • Function mavros::utils::to_string(mavlink::common::ADSB_EMITTER_TYPE)
        • Function mavros::utils::to_string(mavlink::common::MAV_MISSION_RESULT)
        • Function mavros::utils::to_string(mavlink::common::MAV_FRAME)
        • Function mavros::utils::to_string(mavlink::common::MAV_DISTANCE_SENSOR)
        • Function mavros::utils::to_string(mavlink::common::LANDING_TARGET_TYPE)
        • Template Function mavros::utils::to_string_enum
        • Function px4::define_mode
        • Function px4::define_mode_auto
      • Variables
        • Variable mavros::uas::MAV_COMP_ID_ONBOARD_COMPUTER
      • Defines
        • Define MAVROS__FRAME_TF_HPP_
        • Define MAVROS__MAVROS_PLUGIN_REGISTER_MACRO_HPP_
        • Define MAVROS__MAVROS_ROUTER_HPP_
        • Define MAVROS__MAVROS_UAS_HPP_
        • Define MAVROS__MISSION_PROTOCOL_BASE_HPP_
        • Define MAVROS__PLUGIN_FILTER_HPP_
        • Define MAVROS__PLUGIN_HPP_
        • Define MAVROS__PX4_CUSTOM_MODE_HPP_
        • Define MAVROS__SETPOINT_MIXIN_HPP_
        • Define MAVROS__UAS_EXECUTOR_HPP_
        • Define MAVROS__UTILS_HPP_
        • Define MAVROS_PLUGIN_REGISTER
      • Typedefs
        • Typedef mavros::ftf::Covariance3d
        • Typedef mavros::ftf::Covariance6d
        • Typedef mavros::ftf::Covariance9d
        • Typedef mavros::ftf::EigenMapConstCovariance3d
        • Typedef mavros::ftf::EigenMapConstCovariance6d
        • Typedef mavros::ftf::EigenMapConstCovariance9d
        • Typedef mavros::ftf::EigenMapCovariance3d
        • Typedef mavros::ftf::EigenMapCovariance6d
        • Typedef mavros::ftf::EigenMapCovariance9d
        • Typedef mavros::plugin::filter::UASPtr
        • Typedef mavros::plugin::MFilter
        • Typedef mavros::plugin::MRES
        • Typedef mavros::plugin::MTYPE
        • Typedef mavros::plugin::r_unique_lock
        • Typedef mavros::plugin::s_shared_lock
        • Typedef mavros::plugin::s_unique_lock
        • Typedef mavros::plugin::UASPtr
        • Typedef mavros::router::addr_t
        • Typedef mavros::router::id_t
        • Typedef mavros::uas::MAV_AUTOPILOT
        • Typedef mavros::uas::MAV_CAP
        • Typedef mavros::uas::MAV_MODE_FLAG
        • Typedef mavros::uas::MAV_STATE
        • Typedef mavros::uas::MAV_TYPE
        • Typedef mavros::uas::s_shared_lock
        • Typedef mavros::uas::s_unique_lock
        • Typedef mavros::uas::timesync_mode
      • Directories
        • Directory include
        • Directory mavros
      • Files
        • File frame_tf.hpp
        • File mavros_plugin_register_macro.hpp
        • File mavros_router.hpp
        • File mavros_uas.hpp
        • File mission_protocol_base.hpp
        • File plugin.hpp
        • File plugin_filter.hpp
        • File px4_custom_mode.hpp
        • File setpoint_mixin.hpp
        • File uas_executor.hpp
        • File utils.hpp
  • Standard Documents
    • CHANGELOG
      • Changelog for package mavros
        • 2.9.0 (2024-10-10)
        • 2.8.0 (2024-06-07)
        • 1.19.0 (2024-06-06)
        • 2.7.0 (2024-03-03)
        • 1.18.0 (2024-03-03)
        • 2.6.0 (2023-09-09)
        • 2.5.0 (2023-05-05)
        • 2.4.0 (2022-12-30)
        • 2.3.0 (2022-09-24)
        • 2.2.0 (2022-06-27)
        • 1.17.0 (2023-09-09)
        • 1.16.0 (2023-05-05)
        • 1.15.0 (2022-12-30)
        • 1.14.0 (2022-09-24)
        • 2.1.1 (2022-03-02)
        • 2.1.0 (2022-02-02)
        • 2.0.5 (2021-11-28)
        • 2.0.4 (2021-11-04)
        • 2.0.3 (2021-06-20)
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        • 2.0.0 (2021-05-28)
        • 1.13.0 (2022-01-13)
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        • 1.12.1 (2021-11-29)
        • 1.12.0 (2021-11-27)
        • 1.11.1 (2021-11-24)
        • 1.11.0 (2021-11-24)
        • 1.10.0 (2021-11-04)
        • 1.9.0 (2021-09-09)
        • 1.8.0 (2021-05-05)
        • 1.7.1 (2021-04-05)
        • 1.7.0 (2021-04-05)
        • 1.6.0 (2021-02-15)
        • 1.5.2 (2021-02-02)
        • 1.5.1 (2021-01-04)
        • 1.5.0 (2020-11-11)
        • 1.4.0 (2020-09-11)
        • 1.3.0 (2020-08-08)
        • 1.2.0 (2020-05-22)
        • 1.1.0 (2020-04-04)
        • 1.0.0 (2020-01-01)
        • 0.33.4 (2019-12-12)
        • 0.33.3 (2019-11-13)
        • 0.33.2 (2019-11-13)
        • 0.33.1 (2019-11-11)
        • 0.33.0 (2019-10-10)
        • 0.32.2 (2019-09-09)
        • 0.32.1 (2019-08-08)
        • 0.32.0 (2019-07-06)
        • 0.31.0 (2019-06-07)
        • 0.30.0 (2019-05-20)
        • 0.29.2 (2019-03-06)
        • 0.29.1 (2019-03-03)
        • 0.29.0 (2019-02-02)
        • 0.28.0 (2019-01-03)
        • 0.27.0 (2018-11-12)
        • 0.26.3 (2018-08-21)
        • 0.26.2 (2018-08-08)
        • 0.26.1 (2018-07-19)
        • 0.26.0 (2018-06-06)
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        • 0.21.5 (2017-11-16)
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        • 0.21.2 (2017-09-25)
        • 0.21.1 (2017-09-22)
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        • 0.20.1 (2017-08-28)
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mavros
  • C++ API
  • Template Function mavros::ftf::mavlink_urt_to_covariance_matrix
  • View page source

Template Function mavros::ftf::mavlink_urt_to_covariance_matrix

  • Defined in File frame_tf.hpp

Function Documentation

template<class T, std::size_t ARR_SIZE>
inline void mavros::ftf::mavlink_urt_to_covariance_matrix(const std::array<float, ARR_SIZE> &covmsg, T &covmat)

Convert MAVLink float[n] format (upper right triangular of a covariance matrix) to Eigen::MatrixXd<n,n> full covariance matrix.

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