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[WIP] Multithreading

Julia Sanchez requested to merge Multithreading into master

  • Goals:

    • Be able to receive (to process?) external sensors data while applying Slam algorithm
    • Be able to add a global optimization process (e.g. GPS or any other global pose info)
    • Speed up process parallelizing publishing

  • Changes:

    • Trelative, Tprevious and Log** members are removed
    • LogStates and PublishableList shared list members are added (homemade containers)
    • All accesses to these lists are atomized
    • LogCurrentFrameState extracts and gathers all info to publish and to log in shared lists
    • All processes needing previous pose info refer now to log list
    • Adapt wrappings to manage threads concurrency
Edited by Julia Sanchez

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