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AssignedTo: bfl [..] ...
ReportedBy: meeussen [..] ...
CC: bfl [..] ...
Estimated Hours: 0.0
When constructing an MCPdf
T(unsigned int size). This makes only sense for types T that have a variable
size (MatrixWrapper::Columnvector, std::vector, ...), but not for types T that
have a fixed size (KDL::Twist, Bullet::Vector3, ...).
I think this constructor is now required to make filters with a variable size
type T realtime safe. But now it is not possible any more to use fixed size
type T any move, unless you wrap T, and add a bogus constructor with an
unsigned int. Especially for particle filters, you don't want to get any
performance hits from using either a variable size T, or a wrapper class.
I don't directly see any nice way to allow both realtime safe usage of variable
size T, and allow fixed size T. One possible half-solution would be to create
templete specializations for the BFL variable size T (ColumnVector, RowVector),
and not force the constructor with the unsigned int (this is what BFL used in
the past I think).