How to write my covariance matrix to PoseWithCovarianceStamped [closed]

asked 2020-05-17 12:58:20 -0600

Aquas gravatar image

Hello! I want to write the covariance I have calculated into the covariance field of a PoseWIthCovarianceStamped message.

First, I need to call a function(void Dynamic_covariance(..., ..., type? Cov_matrix);) that receives the vector(Cov_matrix) and two more variables. This function adds the elements to Cov_matrix so that, when it finishes, the main function could load those values saved in Cov_matrix into the message (pub_msg.pose.covariance=Cov_matrix;).

The problem is that the type does not match the ones specified by the message (boost::array< double, 36ul > (?)). If I try to use that type, I am not allowed to modify the vector because the compiler says that it is a read only one. What kind of type should I use for Cov_matrix or how can I fill it without doing any brute force code?

Thanks.

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by Aquas
close date 2020-06-25 13:50:59.368480