Feature/lifelong compression

include/slam_toolbox/experimental/slam_toolbox_lifelong.hpp

@@ -66,6 +66,17 @@ class LifelongSlamToolbox : public SlamToolbox
   void updateScoresSlamGraph(const double & score, Vertex<LocalizedRangeScan> * vertex);
   void checkIsNotNormalized(const double & value);
 
+  /*****************************************************************************/
+  /*******************************Implementation********************************/
+  std::vector<int> getGridPosition(float x, float y, float resolution);
+  std::vector<float> getLaserHit(std::vector<float> const& robot_pose, float distance, float angle);
+  std::pair<std::vector<int>, std::vector<int>> Bresenham(int x_1, int y_1, int x_2, int y_2);
+  int getSign(int n_1, int n_2);
+  float calculateProbability(float range);
+  float calculateDistance(float x_1, float y_1, float x_2, float y_2);
+  void scannerTest();
+  /*****************************************************************************/
+
   bool use_tree_;
   double iou_thresh_;
   double removal_score_;