Refactor SearchablePoseList into its own package

mola/package.xml

@@ -24,6 +24,7 @@
   <depend>mola_launcher</depend>
   <depend>mola_metric_maps</depend>
   <depend>mola_navstate_fuse</depend>
+  <depend>mola_pose_list</depend>
   <depend>mola_traj_tools</depend>
   <depend>mola_viz</depend>
   <depend>mola_yaml</depend>

mola_pose_list/.clang-format

@@ -0,0 +1,83 @@
+Language:        Cpp
+BasedOnStyle: Google
+# ---
+#AccessModifierOffset: -4
+AlignAfterOpenBracket: AlwaysBreak # Values: Align, DontAlign, AlwaysBreak
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+#AlignEscapedNewlinesLeft: true
+#AlignOperands:   false
+AlignTrailingComments: false # Should be off, causes many dummy problems!!
+#AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: true
+#AllowShortCaseLabelsOnASingleLine: false
+#AllowShortFunctionsOnASingleLine: Empty
+#AllowShortIfStatementsOnASingleLine: false
+#AllowShortLoopsOnASingleLine: false
+#AlwaysBreakAfterDefinitionReturnType: None
+#AlwaysBreakAfterReturnType: None
+#AlwaysBreakBeforeMultilineStrings: true
+#AlwaysBreakTemplateDeclarations: true
+#BinPackArguments: false
+#BinPackParameters: false
+#BraceWrapping:
+  #AfterClass:      false
+  #AfterControlStatement: false
+  #AfterEnum:       false
+  #AfterFunction:   false
+  #AfterNamespace:  false
+  #AfterObjCDeclaration: false
+  #AfterStruct:     false
+  #AfterUnion:      false
+  #BeforeCatch:     false
+  #BeforeElse:      true
+  #IndentBraces:    false
+#BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Allman
+#BreakBeforeTernaryOperators: true
+#BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 80
+#CommentPragmas:  ''
+#ConstructorInitializerAllOnOneLineOrOnePerLine: true
+#ConstructorInitializerIndentWidth: 4
+#ContinuationIndentWidth: 4
+#Cpp11BracedListStyle: true
+#DerivePointerAlignment: false
+#DisableFormat:   false
+#ExperimentalAutoDetectBinPacking: false
+##FixNamespaceComments: true # Not applicable in 3.8
+#ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+#IncludeCategories:
+  #- Regex:           '.*'
+    #Priority:        1
+IndentCaseLabels: true
+IndentWidth:     4
+IndentWrappedFunctionNames: true
+#KeepEmptyLinesAtTheStartOfBlocks: true
+#MacroBlockBegin: ''
+#MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+#PenaltyBreakBeforeFirstCallParameter: 19
+#PenaltyBreakComment: 300
+#PenaltyBreakFirstLessLess: 120
+#PenaltyBreakString: 1000
+#PenaltyExcessCharacter: 1000000
+#PenaltyReturnTypeOnItsOwnLine: 200
+DerivePointerAlignment: false
+#PointerAlignment: Left
+ReflowComments:  true # Should be true, otherwise clang-format doesn't touch comments
+SortIncludes:    true
+#SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+#SpaceBeforeParens: ControlStatements
+#SpaceInEmptyParentheses: false
+#SpacesBeforeTrailingComments: 2
+#SpacesInAngles:  false
+#SpacesInContainerLiterals: true
+#SpacesInCStyleCastParentheses: false
+#SpacesInParentheses: false
+#SpacesInSquareBrackets: false
+Standard:        Cpp11
+TabWidth:        4
+UseTab:          Never # Available options are Never, Always, ForIndentation

mola_pose_list/CHANGELOG.rst

@@ -0,0 +1,3 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mola_pose_list
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

mola_pose_list/CMakeLists.txt

@@ -0,0 +1,43 @@
+# ------------------------------------------------------------------------------
+#        A Modular Optimization framework for Localization and mApping
+#                               (MOLA)
+#
+# Copyright (C) 2018-2024, Jose Luis Blanco-Claraco, contributors (AUTHORS.md)
+# All rights reserved.
+# Released under GNU GPL v3. See LICENSE file
+# ------------------------------------------------------------------------------
+
+# Minimum CMake vesion: limited by CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS
+cmake_minimum_required(VERSION 3.4)
+
+# Tell CMake we'll use C++ for use in its tests/flags
+project(mola_pose_list LANGUAGES CXX)
+
+# MOLA CMake scripts: "mola_xxx()"
+find_package(mola_common REQUIRED)
+
+# find CMake dependencies:
+find_package(mrpt-maps)
+find_package(mrpt-poses)
+
+# -----------------------
+# define lib:
+file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
+file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+
+mola_add_library(
+	TARGET ${PROJECT_NAME}
+	SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
+	PUBLIC_LINK_LIBRARIES
+		mrpt::maps
+		mrpt::poses
+	CMAKE_DEPENDENCIES
+		mola_common
+		mrpt-maps
+		mrpt-poses
+)
+
+# -----------------------
+# define tests:
+enable_testing()
+add_subdirectory(tests)