`struct` CovarianceUpperTriangle21f

Upper-triangular 6x6 covariance matrix stored row-major as 21 float values. State order is x, y, z translation followed by rotation about x, y, z.

Name	Type	Notes
`c0`	`float`	Matrix element (0,0).
`c1`	`float`	Matrix element (0,1).
`c2`	`float`	Matrix element (0,2).
`c3`	`float`	Matrix element (0,3).
`c4`	`float`	Matrix element (0,4).
`c5`	`float`	Matrix element (0,5).
`c6`	`float`	Matrix element (1,1).
`c7`	`float`	Matrix element (1,2).
`c8`	`float`	Matrix element (1,3).
`c9`	`float`	Matrix element (1,4).
`c10`	`float`	Matrix element (1,5).
`c11`	`float`	Matrix element (2,2).
`c12`	`float`	Matrix element (2,3).
`c13`	`float`	Matrix element (2,4).
`c14`	`float`	Matrix element (2,5).
`c15`	`float`	Matrix element (3,3).
`c16`	`float`	Matrix element (3,4).
`c17`	`float`	Matrix element (3,5).
`c18`	`float`	Matrix element (4,4).
`c19`	`float`	Matrix element (4,5).
`c20`	`float`	Matrix element (5,5).

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