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[doc][refact] Update doc and refact for loop closure

Tong Fu requested to merge refact/UpdateDocForLoopClosure into master

Goal

Update documentation for loop closure. Some refacts and fixs to prepare the integration loop closure in ros_wrapping

Changes

  • Refact PGO Constraint and External Sensor enum and add namespace everywhere
  • Add a sanity check (whether a pair of loop indices are in range of LogStates) before adding a loop closure constraint into pose graph
Edited by Tong Fu

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