This repository has been archived by the owner on Mar 12, 2020. It is now read-only.
Class Diagram discussion
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Old ICP and RANSAC will be eliminated from envire1
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In general eliminate envire unneeded classes. like Layers, Pointclouds, Segments, LaserScans (important for envire maps)
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Substitution of other class. Like Grid::list class by std::list class (important for envire maps)
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Use class_loader to load a plugin instance of envire::Entity, envire::Operator and envire::CollisionInterface
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Use singleton objects to automatically register entities, transformations and operators
- Removes the need for a Environment class
- Event listeners are attached to an entity or to the transformation tree
- Entities get a unique ID by using boost::UUID
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Transformation Tree is a singleton class which holds all transformations and exchanges them between the task level (orocos transformer) and the envire objects.
- frames are identified by name (each envire::Entity has also a frame name)
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Serialization and type transport is done by typelib with opaque conversions.
- this is a temporary solution, it shall be determined if clang can be used to automatically parse types and create opaques or if typelib can be extended.
- envire::Operators are not forwarded
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Envire 2 shall support partial updates
- A implementation of envire::MergeOperator has to be provided
- The merge operator can be used to combine a map at time (t) and an update of this map to the new map at time (t+1). Only the update of the map is forwarded.
