Implement NDTMapRepresentation
Description
Purpose
We need a representation for NDTs
Desired Behavior
- This should ideally be a subclass of
VoxelGrid
- This may involve making some methods in the
VoxelGrid
class public (i.e. bin, and other lookup functionality)
- This may involve making some methods in the
- The representation should provide basic behaviors:
- iterating through data structure
- conversion through a
PointCloud2
- spatially-based access (i.e. via
xyz
or a point) of centroids and covariance matrices
- The representation should also be extensible to other map types (i.e. adding intensity, RGB, etc., by using templates?)
See proposed architecture for API suggestions: !94 (merged)
Definition of Done
-
Above behaviors are implemented and tested