Implement RelativeLocalizerIntializerBase, and a simple implementation
Description
Purpose
RelativeLocalizers generally require a good starting estimate. If a system provides odometry, a reasonably accurate initial guess can be provided. If the relative localizer is the only source of localization, then some more advanced initialization techniques might be needed.
Desired Behavior
A basic interface should be implemented according to the proposed API, and proposed behaviors, which include wrapping a transform tree and trying first to get the transform at the requested time.
A placeholder implementation can also be provided, i.e. one that throws when no transform is available, or one that simply uses the latest transform
Definition of Done
-
Implement and test base class -
Implement and test simple subclass