def sendInitMessage(self, pos, yaw):
        init = indexed_measurement_t()
        init.utime = getUtime()
        init.state_utime = init.utime
        init.measured_dim = 4
        init.z_effective = [ pos[0], pos[1], pos[2] , yaw ]
        init.z_indices = [9, 10, 11, 8]

        init.measured_cov_dim = init.measured_dim*init.measured_dim
        init.R_effective= [0] * init.measured_cov_dim
        init.R_effective[0]  = 0.25
        init.R_effective[5]  = 0.25
        init.R_effective[10] = 0.25
        init.R_effective[15] =  math.pow( 50*math.pi/180 , 2 )

        lcmUtils.publish('MAV_STATE_EST_VIEWER_MEASUREMENT', init)
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/atlasdriver.py/AtlasDriver.sendInitMessage/original