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Hi Pablo,
The new package pose_cov_ops in the mrpt_common stack does exactly what you're looking for.
It includes pose (direct and inverse) composition with a rigorous treatment of uncertainty, even when it's given as a 6x6 covariance matrix in yaw-pitch-roll, which is much harder to implement than e.g. as a 7x7 with unit quaternion representation.
The package is actually a wrapper of functionality in the lib mrpt-base, which has dozens of unit tests regarding uncertainty transformations so it should be quite reliable. Much more of mrpt-base functionality is expected to be wrapped in the future.
Check the package wiki for references to a technical report explaining all the internal equations.
Cheers.
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