Did some basic rearranging because the main experiment script was getting unwieldy.
I think we're still safe in putting formal 'map classes' and other fancy ROS stuff for now while we're still experimenting.
Also @tylerferrara looks like you'll have some merge conflicts with your branch just with the experiment printouts, but aside from that things should be relatively simple.
experiments.py also now contains the test on the low-to-no overlap maps Ashay mentioned in slack; it seemed to completely fail across all methods so I guess that gives us something to think about (although that scenario is REALLY hard and probably unrealistic).
Did some basic rearranging because the main experiment script was getting unwieldy.
I think we're still safe in putting formal 'map classes' and other fancy ROS stuff for now while we're still experimenting.
Also @tylerferrara looks like you'll have some merge conflicts with your branch just with the experiment printouts, but aside from that things should be relatively simple.
experiments.pyalso now contains the test on the low-to-no overlap maps Ashay mentioned in slack; it seemed to completely fail across all methods so I guess that gives us something to think about (although that scenario is REALLY hard and probably unrealistic).