tuple CMonteCarloLocalization2D_getCovarianceAndMean(CMonteCarloLocalization2D& self) { list ret_val; mrpt::math::CMatrixDouble33 cov; CPose2D mean_point; self.getCovarianceAndMean(cov, mean_point); ret_val.append(cov); ret_val.append(mean_point); return tuple(ret_val); }