Exposed alot of callback functions with their corresponding setters in PoseGraph. E.g. setOnKeyFrameLoadedCallback()
Summary of changes
pose_graph
Split up original PoseGraph class into PoseGraph and PoseGraphService
PoseGraphService acts as the interface layer for the entire pose_graph library
KeyFrame properties are now exposed through the KeyFrame::getAttributes() method, which returns a KeyFrame::Attributes struct to minimise external manipulation
Google styling has been enforced on all files except KeyFrame class. I have only modified KeyFrame to working state, and intend to do a deeper cleanup in a future PR. As much as possible, KeyFrames are now passed around via shared pointers.
pose_graph_ros
PoseGraphNode inherits from PoseGraphService
All global variables are now encapsulated within PoseGraphNode
Previous state
PoseGraph. E.g.setOnKeyFrameLoadedCallback()Summary of changes
pose_graph
PoseGraphandPoseGraphServicePoseGraphServiceacts as the interface layer for the entire pose_graph libraryKeyFrameproperties are now exposed through theKeyFrame::getAttributes()method, which returns aKeyFrame::Attributesstruct to minimise external manipulationKeyFrameclass. I have only modifiedKeyFrameto working state, and intend to do a deeper cleanup in a future PR. As much as possible, KeyFrames are now passed around via shared pointers.pose_graph_ros
PoseGraphNodeinherits fromPoseGraphServicePoseGraphNode