I want to add a new sensor to amcl. The problem is, that in line 898 -
905 (amcl.cc) it is hard coded that amcl should only use the latest non
active sensor data. If I have only one not active sensor (at the moment
this is the case (laser)) this is ok. However if I have multiple sensors
this will discard readings from other sensors. My suggestion is to add a
map (map[sensorid] sensorpointer ) and a RegisterSensor function to
amcl.cc. Then it is possible to exchange the above mentioned lines with
an update of each non active sensor.
Btw. the complete models folder is not used any longer. Perhaps it can
be removed from the Makefile.am to speed up compiling.
Any notes to this extension of amcl and what else I have to consider?