utiasASRL / steam

The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.

BSD 3-Clause "New" or "Revised" License

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Upgrade steam to be thread-safe and use Eigen3.3+ and c++17 #56

Closed cheneyuwu closed 3 years ago

cheneyuwu commented 3 years ago

New Feature

the object pool in STEAM is replaced by shared_ptrs by default, with slightly lower performance but thread-safe. Define STEAM_USE_OBJECT_POOL to re-enable the object pool

Major Changes

Requirement: Eigen>=3.2.5 => Eigen>=3.3.7
Requirement: c++11 => c++17
Build system: catkin => colcon+ament+cmake

Bug Fix

In PointToPointErrorEval first constructor, this->T_ba is incorrectly set to T_a_b.

Other changes

dropped catkin_optional submodule
test infrastructure: catch => googletest, dropped catch submodule
dropped jenkins submodule, Jenkinsfile has been re-written