Resolve "Implementation of Falko lib"

Closes #26 (closed)

added 3 commits

• 9507ad2e...d555f0a8 - 2 commits from branch master
• 66ce29a7 - corner_falko_class created. CMakelists updated

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added 1 commit

• 9af5aa0e - CornerFalko2d class updated

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added 2 commits

• cdbaaee8 - CornerFalko2d class refactorized with inheritances
• 22ef78f6 - added src/examples/corner_falko_demo.cpp and testData

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added 1 commit

• 65e79c90 - Added CornerFalko2d::findLoopClosure function

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added 1 commit

• 1abdf4ab - findloopClosure function segmentation fault error corrected

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added 3 commits

• eeb02a1b - CMakeLists corrected, corner_falko_demo.cpp corrected
• 416428f0 - corrected public inheritance. Added init params to constructor
• e6ef7245 - improved function cornerFalko2d->findLoopClosure

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added 1 commit

• 0bac60c8 - matching number threshold added

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added 2 commits

• 2d8ef428 - falkolib added as submodule
• 464099aa - README updated with falkolib compilation as submodule

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added 1 commit

• e057cb00 - Changed input to cornerFalko2D to laserscanutils::LaserScan instead of falkolib:LaserScan

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added 2 commits

• cc62e523 - refactor. function created convert2LaserScanFALKO. Added line in CMakelists to solve eigen Error
• 0c88cc69 - scene candidate evaluation added

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added 3 commits

• cc9c7061 - evaluateNewRefScene function modified
• ace29c24 - added the prohibition of two matches for scan
• 60bd46d2 - Scene detection th modified

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added 4 commits

• 837e56b7 - class loopClosureBase2d created
• b7ed32b1 - added cornerScene struct
• 1f0390d9 - added shared ptr for scene extraction
• e24b92e2 - added convert2LaserScanFALKO

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added 8 commits

• c5c16e6f - added gtest for scan2scanFALKO
• 4c532674 - added virtual function in loop_closure_base
• a7b3b977 - added class loopClosureFalko
• 2910aa3f - added typedef for loopClosurFalko class
• 017ef007 - added parameters to loopClosureFalko constructor
• a3c7a7a3 - redefined template parameters name
• e1c5b86d - added template to cornerScene
• 9398ade1 - gtest_loop_closure_falko added but not implemented

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added 12 commits

• 0656f5e6 - gtest for loopClosureFalko.extractScene implemented
• 8c173a88 - modified loopClosureFalko constructor
• ed840a59 - added scene_base
• 58109c7d - added sceneFalko
• 5c065da6 - corner_scene.h deleted and substituted by scene_falko and scene_base
• 756eb988 - implemented loopClosureFalko::extractScene with override
• b1cac066 - changed function convert2LaserScanFALKO to loopClosureFalko
• 75df9800 - added typedef for sceneFalkoBSCPtr
• 6d22d275 - added struct matchLoopClosure
• df3776e7 - added match_loop_closure struct
• 8c539f6c - added function match
• 9e1e17d3 - function matchLoopClosurePtr implemented

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added 1 commit

• 06b90b5b - added gtest for match function

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added 4 commits

• 2992ef0f - function matchScene finished and gtest added
• 93c8821a - sceneExtract moved to .h file
• c19c19a9 - added gtest for findLoopClosure function
• 395dd68b - findLoopClosure function finished

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added 3 commits

• a0b2def9 - renaming of loop_closure_base
• e5730d54 - added another scan to testData in test folder
• f4f75253 - format modification with clang file

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added 6 commits

• b4f6adfa - passed all functions to loop_closure_falko.h. cpp file empty
• 3f2caf0e - added struct loopClosurParams
• cdec0e4b - code guidelines applyied
• 49ced181 - code guidelines
• 8beaf6cf - code guidelines
• ca41f142 - refactoring loop_closure_falko functions

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added 3 commits

• bdd5ae6e - scaneFalkoList created, functions adapted with static_pointer_cast
• 2213dd70 - code guide lines
• bf3c8291 - gtest modified

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added 3 commits

• 084e3ae5 - added id to MatchLoopClosure
• fad84847 - added id to sceneFalko
• fdee6208 - match_loop_closure id

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