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

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

3. p ⊕ a : 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. a ⊖ p : 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

   1 #include <mrpt_cov_ops/mrpt_cov_ops.h>
   2 
   3 ...
   4 geometry_msgs::PoseWithCovariance p1, p2, p;
   5 
   6 // p = p1 (+) p2
   7 // Pose composition, including uncertainty in both p1 and p2:
   8 pose_cov_ops::compose(p1,p2,  p);
   9 
  10 ...
  11 geometry_msgs::Pose p1;
  12 geometry_msgs::PoseWithCovariance p2, p;
  13 
  14 // p = p1 (+) p2
  15 // Pose composition, including uncertainty only in p2 (and in the output, obviously!):
  16 pose_cov_ops::compose(p1,p2,  p);

References

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

• https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/

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