ROS & Optimisations for structures & grid-style algorithms & 2D render pipeline improvements & LSTM visualisation

[judicaelclair]

• Optimised Point, Size, DynamicColour and homogenised the interface.
• Implemented TrackedGrid with tests. Emulates basic indexing functionality of a multi-dimensional numpy array.
• Implement a variant of gradient map display that uses a grid (now we have GradientListMapDisplay and GradientGridMapDisplay).
• Using TrackedGrid we have scalable performance for OGMs as well as faster & cleaner implementations for Potential Field and Wave-front.
• Incorporated weight_grid in movement cost (tested with A*)
• Real-time updating, downsampled map with custom headless scripts for turtlebot3 ROS demo.
• Optimisation and bug fixes to 2D rendering pipeline.
• Updated LSTM code to run with reworked framework.
• Implemented visualisation for LSTM.

[codecov-io]

Codecov Report

Merging #54 (6100d53) into master (0a85554) will increase coverage by 0.74%. The diff coverage is 76.39%.

@@            Coverage Diff             @@
##           master      #54      +/-   ##
==========================================
+ Coverage   83.37%   84.11%   +0.74%     
==========================================
  Files          61       63       +2     
  Lines        3079     3192     +113     
==========================================
+ Hits         2567     2685     +118     
+ Misses        512      507       -5     

Impacted Files	Coverage Δ
src/maps.py	100.00% <ø> (ø)
tests/test_entities/test_agent.py	100.00% <ø> (+2.56%)	:arrow_up:
tests/test_entities/test_entity.py	100.00% <ø> (+2.63%)	:arrow_up:
tests/test_entities/test_extended_wall.py	100.00% <ø> (+2.56%)	:arrow_up:
tests/test_entities/test_goal.py	100.00% <ø> (+2.56%)	:arrow_up:
tests/test_entities/test_obstacle.py	100.00% <ø> (+2.56%)	:arrow_up:
tests/test_entities/test_trace.py	100.00% <ø> (+2.85%)	:arrow_up:
tests/test_maps/test_dense_map.py	100.00% <ø> (+0.89%)	:arrow_up:
tests/test_maps/test_map.py	100.00% <ø> (+2.63%)	:arrow_up:
tests/test_maps/test_sparse_3d.py	100.00% <ø> (+0.93%)	:arrow_up:
... and 24 more

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