Cleanup for fiducial_slam #175
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These are generally considered dangerous, due to the potential for namespace collisions and unclarity when using types.
Ranged for provides an easier way to interate over every element in a containter. NOTE: This commit changes what I consider to be buggy behavior in the autoInit and findClosestObs code, which was not properly iterating over every elemnent, using obs[0] every time.
We only care if the element exists or not, so a set is a clearer data structure to use.
jim-v
approved these changes
Jun 1, 2019
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This fixes #173
I also found a bug in AutoInit which caused it to not actually use the closest fiducial, and instead use the first one every time.
I would recommend reviewing this commit by commit, the diffs are going to be quite large.