该消息表示带有时间标签和参考坐标的估计位姿。两部分构成:
std_msgs/Header header
geometry_msgs/PoseWithCovariance pose
1. std_msgs/Header.msg主要由三部分构成:
(1) unit32 seq
# sequence ID: consecutively increasing ID
(2)time stamp
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch
# * stamp.nsec: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
(3) string frame_id
#Frame this data is associated with
# 0: no frame
# 1: global frame
2. geometry_msgs/PoseWithCovariance表示带有不确定性的一个空间位姿。由两部分组成:
geometry_msgs/Pose pose
float64[36] covariance
(1)Pose由两部分组成,分为为点和四元数表示的旋转。
geometry_msgs/Point position和geometry_msgs/Quaternion orientation
Point:
float64 x
float64 y
float64 z
Quaternion:
float64 x
float64 y
float64 z
float64 w
(2) covariance表示方差矩阵,具体的顺序为
(x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
本文内容由网友自发贡献,版权归原作者所有,本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容,请联系:hwhale#tublm.com(使用前将#替换为@)