Add covariance attribute to ProvidedObjectPose

source/RobotAPI/interface/objectpose/object_pose_types.ice

@@ -23,6 +23,9 @@
 
 #pragma once
 
+//fq
+#include <ArmarXCore/interface/core/BasicVectorTypes.ice>
+
 #include <RobotAPI/interface/core/PoseBase.ice>
 #include <RobotAPI/interface/core/NameValueMap.ice>
 #include <RobotAPI/interface/ArmarXObjects/ArmarXObjectsTypes.ice>
@@ -61,6 +64,11 @@ module armarx
 
         module data
         {
+            class PoseCovariance  // class: optional
+            {
+                Ice::FloatSeq translation3x3; // fq std::vector<float>
+
+            };
             /// An object pose provided by an ObjectPoseProvider.
             struct ProvidedObjectPose
             {
@@ -77,6 +85,8 @@ module armarx
                 /// Pose in `objectPoseFrame`.
                 PoseBase objectPose;
                 string objectPoseFrame;
+                PoseCovariance objectPoseCovariance;
+
 
                 /// The object's joint values if it is articulated.
                 NameValueMap objectJointValues;