From 5b6b812ea17d0ccb93e74821081605cb77d8606f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Tue, 7 Dec 2021 17:21:30 +0100
Subject: [PATCH] Add PoseCovariance c++ type
---
.../libraries/ArmarXObjects/PoseCovariance.cpp | 7 +++++++
.../libraries/ArmarXObjects/PoseCovariance.h | 17 +++++++++++++++++
2 files changed, 24 insertions(+)
create mode 100644 source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp
create mode 100644 source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h
diff --git a/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp
new file mode 100644
index 000000000..5db867a34
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.cpp
@@ -0,0 +1,7 @@
+#include "PoseCovariance.h"
+
+
+namespace armarx::objpose
+{
+
+}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h
new file mode 100644
index 000000000..5897626c4
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/PoseCovariance.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <Eigen/Core>
+
+
+namespace armarx::objpose
+{
+
+ /**
+ * @brief The covariance (matrices) of a pose covariance.
+ */
+ struct PoseCovariance
+ {
+ Eigen::Matrix3f translation;
+ };
+
+}
--
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