/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ syntax = "proto3"; package gz.msgs; option java_package = "com.gz.msgs"; option java_outer_classname = "PoseWithCovarianceProtos"; /// \ingroup gz.msgs /// \interface PoseWithCovariance /// \brief Message with pose and a covariance matrix import "gz/msgs/float_v.proto"; import "gz/msgs/pose.proto"; message PoseWithCovariance { /// \brief Pose message. Pose pose = 1; /// \brief 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) Float_V covariance = 2; }