位置姿态类

class Point:
    x: float  # X坐标 (米)
    y: float  # Y坐标 (米) 
    z: float  # Z坐标 (米)

class Quaternion:
    x: float  # 四元数X分量
    y: float  # 四元数Y分量
    z: float  # 四元数Z分量
    w: float  # 四元数W分量

class Pose:
    position: Point         # 位置
    orientation: Quaternion # 姿态

class Pose:
    header: Header
    pose: Pose       # 位置

class PoseWithCovariance:
    pose: Pose
    covariance: float

class HeadPose:
    pitch: float
    yaw: float

class Vector3:
    x: float
    y: float
    z: float

class Twist:
    linear: Vector3        
    angular: Vector3

class TwistWithCovariance:
    twist: Twist
    covariance: float