Code architecture proposal - Framefab_mpp doesn't has be a node!

[yijiangh]

I think framefab_mpp doesn't need to be a node, it can just act as a plugin on Rviz, with a easy-to-change UI interface (say, the framefab_rviz_panel.cpp file in our code)

Designing main computation class as a node will require information exchange in the form of ros::msg, which makes it hard when a class is needed to be transported (ptr_wireframe from readfile in RenderWidget be transported to FrameFab class for computation).

[yijiangh]

Main FrameFab computation container class It will be initiated in the class renderwidget This class is taking up the similar function with FiberPlugIn class, a container class for managing and data interaction between computation class.

It contains:

• MotionPlanning interface class (with a concrete class for Descarte)
• CollisionChecker interface class (with a concrete class for FCL) In Graphcut cost evaluation, searching feasible candidate identification and searching cost evaluation
• Cut (or Decomposition) interface class (with a concrete class for graphcut)
• Seq searching interface class (with a concrete class for FramefabSearching)