[WIP] Multithreading

• 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