Make inheriting from simulation world possible

[ToniRV]

This just allows users to be able to inherit from the simulation world to build their own simulation worlds 🚀

[ethzasl-jenkins]

Can one of the admins verify this patch?

[ToniRV]

@alexmillane Hi Alex, would it be possible to merge this? Thank you!

[alexmillane]

Can one of the admins get this tested please :) @mfehr @helenol

[mfehr]

Since you turned the sim world member into a pointer, you should check if it is a nullptr everywhere it is dereferenced, or at least once per function that is using it.

[mfehr]

test this please

[ToniRV]

Since you turned the sim world member into a pointer, you should check if it is a nullptr everywhere it is dereferenced, or at least once per function that is using it.

@mfehr Done! Thanks for the review Marius!

[mfehr]

ok to test

[mfehr]

lgtm
I was expecting the CHECK_NOTNULL(unique_ptr) to fail, I vaguely remember there being some issues with that, which is why we are using CHECK(unique_ptr) or CHECK(unique_ptr != nullptr) everywhere for smart pointers, also in the rest of voxblox. But when it didn't fail here I checked and it turns out this was fixed 3 years ago. Good to know :P

[ToniRV]

Yes! Although I think I did switch to CHECK(unique_ptr) in Kimera as well... bcs earlier versions of glog had this problem.

It's really up to you, I can change that to be consistent with voxblox, but, in principle, new users should not have issues.

[ToniRV]

Friendly ping @mfehr :)