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Last edited by Tom Olsson
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Things to do for packagerelease

  • Clean up Oct-Class: make two classes that can be instantiated with a param for target-file.
  • Refactor algorithms/sensor nodes to factories with registration pattern
  • Clean up covariance references from exploration algorithm
  • Fix variance/covariance matrix clusterfuck. Split into two variables -- this lets getVariance() return a const-ref as intended
  • Can sensors use single-function-subclassing? Would be a real help ** Move params currently in constructor rosparam ** Move all business logic to thdCallback()? or expose protected function intermediate?
  • Adhere to ROS code standards?