Things to do for packagerelease
- Clean up Oct-Class: make two classes (thread, nothread) 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?
Tom Olsson