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Package Summary

The pose_cov_ops package

mrpt_common: mrpt_bridge | mrpt_libs | mrpt_msgs | pose_cov_ops | rawlog_play

Package Summary

The pose_cov_ops package

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

Library with C++ functions for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Package Summary

C++ library for SE(2/3) pose and 2D/3D point composition operations with uncertainty

Provided functionality

See the C++ API documentation for the namespace pose_cov_ops.

This module provides implementations for the four main operations between poses (p,p1,p2) and points (a), which are the following (using the "o plus" and "o minus" notation):

1. p1p2 : Composition of two poses p1 and p2: the resulting pose is p2 "as if" p1 was the new origin of coordinates for p2.

2. p2p1 : Inverse composition of two poses p1 and p2: the resulting pose is p2 "as seen from" p1.

3. pa : Composition of a pose p and a point a: the resulting point is a "as if" p was the new origin of coordinates of a.

4. ap : Inverse composition of a pose p and a point a: the resulting point is a "as seen from" p.

Is better to illustrate these operations graphically: Examples of usage

#include <mrpt_cov_ops/mrpt_cov_ops.h>

...
geometry_msgs::PoseWithCovariance p1, p2, p;

// p = p1 (+) p2
// Pose composition, including uncertainty in both p1 and p2:
pose_cov_ops::compose(p1,p2,  p);

...
geometry_msgs::Pose p1;
geometry_msgs::PoseWithCovariance p2, p;

// p = p1 (+) p2
// Pose composition, including uncertainty only in p2 (and in the output, obviously!):
pose_cov_ops::compose(p1,p2,  p);

Further references on the geometry and the maths behind these functions:

• A tutorial on SE(3) transformation parameterizations and on-manifold optimization, J.L. Blanco, Technical report, 2010 PDF.

2019-10-19 13:00