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Implement P2D NDT optimization problem

Yunus Emre Çalışkan requested to merge 140-implement-ndt-optimization-problem into master

Description

This MR implements P2D ndt optimization problem.

  • For more details, see the issue which will be linked below.

Notes for Reviewer

  • A cached expression template class is implemented for efficient expression computation. A state machine is implemented to track the state of a cached expression at run time.
  • Optimization problem API had to be refactored to make the templates work and fix Eigen reference issues.
  • A significant portion of the mathematical code is taken from PCL/autoware.ai implementation as they were already nicely named and formulated to begin with.

Checklist

Closes #140 (closed)

Edited by Yunus Emre Çalışkan

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