Position and Pose Types

class Point:
    x: float # X coordinate (m)
    y: float # Y coordinate (m)
    z: float  # Z coordinate (m)

class Quaternion:
    x: float  # Quaternion X component
    y: float  # Quaternion Y component
    z: float  # Quaternion Z component
    w: float  # Quaternion W component

class Pose:
    position: Point         # Position
    orientation: Quaternion # Orientation

class Pose:
    header: Header
    pose: Pose        # Position

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