Implement scan representation for ndt localization.
Description
This feature is a part of #34 (closed) and is necessary to implement ndt localization.
Purpose
The points in a PointCloud2
message needs to be casted to a point type (eigen vector) and iterated. A class encapculating this functionality needs to be implemented to make the code more concise.
Desired Behavior
A scan representation should be a wrapper over some sort of a container that contains the points in a point cloud and allows efficient iteration.
Definition of Done
-
Implement a scan representation -
Implement tests.
Edited by Yunus Emre Çalışkan