Todo List

File mapl.cc

Provide centralized interface to allow map updates during operation. Could be done in maplanes or in a separate node that reads the RNDF and publishes the graph.

Class poly

change the class name to something like Quad

Class PolyOps

This class has no state. It should be replaced by a collection of functions in an appropriate namespace.

File PolyOps.cc

Rewrite this mess. PolyOps need not be a class.