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Add ProcessorMotion::processIncomingCapture & Miscellaneous

Jeremie Deray requested to merge miscellaneous into master
  • Define some more types (Affine, Isometry...)
  • ProcessorParamsBase virtual destructor
  • rotation matrix from roll/pitch/yaw
  • missing wolf namespace in macro. This is necessary for this macro to work outside wolf namespace.
  • add ProcessorMotion::processIncomingCapture

About the last point, ProcessorMotion::process takes as argument a CaptureBase but statically cast it to a CaptureMotion within ProcessorMotion::process.
The addition of this virtual function allows one to derive from ProcessorMotion and process a different type of input capture as long as it is to 'turn' it into a CaptureMotion. E.g. a ProcessorLaserOdometry that takes as input argument a CaptureLaser2D, passes it to the newly added ProcessorMotion::processIncomingCapture which does some scans alignment and produces a CaptureMotion out of it.
The base class function holds the current implementation (static_pointer_cast) so there is no modification to the current behavior.

Edited by Jeremie Deray

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