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Code organization

If I remember correctly, once we agreed on creating some more folders in /base/include and /src:

  • problem: problem.h/cpp
  • hardware: hardware_base.h/cpp
  • trajectory: trajectory_base.h/cpp
  • map: map_base.h/cpp
  • frame: frame_base.h/cpp
  • state_block: state_XXX.h/cpp, local_parameterization_XXX.h/cpp

There are some files that should be moved to the existing processor folder: diff_drive_tools.h/hpp, motion_buffer.h/cpp, track_matrix.h/cpp.

Then, there are a bunch of files that, in my opinion, should be also stored in any (new?) folder. I think we didn't agree on any solution for these files... I just put an initial proposal, it shouldn't be difficult to converge to a consensus solution with comments in this issue:

  • eigen_assert.h new utils
  • eigen_predicates.h new utils
  • factory.h new utils
  • logging.h new utils
  • make_unique.h new utils
  • node_base.h/cpp new utils or new common
  • pinhole_tools.h new utils or new math
  • rotations.h new math
  • SE3.h new math
  • singleton.h new utils
  • time_stamp.h/cpp new utils
  • wolf.h new utils or new common

(Someday, math will soon be substituted by manif library.)

So... opinions?