Function tf2::transformCovariance

• Defined in File tf2_geometry_msgs.hpp

Function Documentation

inline geometry_msgs::msg::PoseWithCovariance::_covariance_type tf2::transformCovariance(const geometry_msgs::msg::PoseWithCovariance::_covariance_type &cov_in, const tf2::Transform &transform)

Transform the covariance matrix of a PoseWithCovariance message to a new frame.

Parameters:

• cov_in – The covariance matrix to transform.

• transform – The transform to apply, as a tf2::Transform structure.

Returns:

The transformed covariance matrix.