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Major simplification of IncrementalMapperController:Reconstruct. This should make it easier to rewrite it in Python (next step). The logical behavior of the function is unchanged.
cc @B1ueber2y

sarlinpe marked this pull request as ready for review

February 15, 2024 13:35

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Thanks. Huge step. Wrapping the logics from the controller into the sfm incremental mapper makes a lot of sense. After the simplification the whole logic looks better than before.

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Merci, lgtm

sarlinpe deleted the sarlinpe/cleanup-inc-mapper-ctrl branch

February 19, 2024 07:49