[Rock-dev] RigidBodyState - Uncertainty and Composition

[Javier Hidalgo Carrió]

Hello,

RigidBodyState can represent frames or rigid motions and nowadays I 
don't see the capabilities to make rigid bodies compositions.
This is : rbsTfResult = rbsTf1 * rbsTf2
The key issue is handling the uncertainty specially in rotation which 
will act as a nonlinear transformation on the probability distribution.

I want to extend RigidBodyState class, adding composition of Rigid 
Bodies States as operator *
using the already implemented solution of envire 
(TransformWithUncertainty class) which handles this as a first order 
approximation of Jacobians which perfectly maps to the covariance 
matrices of the existing class.

Comments/suggestions?

Javier