* Split `"name|default"` into `{"name", default}`. * * The second element is `std::nullopt` when no `|` separator is present, * and an (possibly em

Subscribe to map updates. * * Behaves analogously to ROS' `transient_local` durability: any prior * `advertiseUpdatedMap()` call made with `k

── 1. Basic map lifecycle ──────────────────────────────────────────────────

── 3. Bounding box is sensible ────────────────────────────────────────────

── 4. Regression: check() works correctly when fewer than k=20 KFs exist. Before the fix, nn_multiple_search returned sized-20 vectors with trailing g

── 2. clear() empties the map ─────────────────────────────────────────────

── 9. countNearby: empty list returns 0 ─────────────────────────────────

── 8. countNearby: from_last_only mode ───────────────────────────────────

── 7. countNearby: rotation threshold is applied ─────────────────────────

── 6. countNearby: basic translation-only counting ───────────────────────

── 6. TCreationOptions round-trip through serialization ──────────────────

── 18. Default filter parameters are sane ────────────────────────────────

── 10. Points beyond max_search_distance are never paired ────────────────

── 5. from_last_only mode: id-keyed APIs are no-ops ──────────────────────

── 1. id-keyed insertion + setPoseById updates the NN search ──────────────

── 17. Per-KF pose plumbing for online gravity rebake ──────────────────── Covers the additions used by mola_lidar_odometry's TrajectoryRebaker: - cl

── 3. legacy insert(p) (no id) keeps working alongside id-tagged inserts ──

── 5. merge_with() joins two maps ────────────────────────────────────────

── 8. NN pairings are formed (no view filter) ──────────────────────────── Both clouds have identical xy positions but local is lifted by dz. All 30 l

── 9. Pairing local/global indices are self-consistent ───────────────────

--------------------------------------------------------------------------- 5. $(command) substitution The command-run feature has zero test coverage

--------------------------------------------------------------------------- 3. CURRENT_YAML_FILE_PATH built-in token This built-in resolves to YAMLPa

--------------------------------------------------------------------------- 2. Real environment variables Verifies the first step of the resolution o

--------------------------------------------------------------------------- 6. doIncludes=false: $include{} tokens are left intact The include step i

--------------------------------------------------------------------------- 7. Malformed syntax: unclosed delimiters must throw Covers the error-repo

--------------------------------------------------------------------------- 8. Missing $include file must throw --------------------------------------

--------------------------------------------------------------------------- 4. Multiple ${} tokens in a single scalar Tests that the iterative parser

--------------------------------------------------------------------------- 1. parse_yaml STRING overload Verify that the string overload performs th

--------------------------------------------------------------------------- 9. opts.variables propagated through load_yaml_file Write real temporary

── 4. point_count() sums across all keyframes ────────────────────────────

── 2. removeAllFartherThan preserves the id->index mapping ────────────────

Create a set of classes, then serialize and deserialize to test possible bugs:

── 7. Full map serialization preserves points and options ─────────────────

── 12. View filter: similar views are never rejected ───────────────────── All view vectors are (0,0,+1) in both clouds. Even with a very tight thres

── 13. View filter: angle threshold controls exactly which pairs survive ── This test isolates the threshold arithmetic. One pair has a view angle o

── 14. View filter: graceful no-op when clouds have no view fields ───────── If neither cloud carries view_{x,y,z}, do_view_filter is false even when

── 11. View filter: opposite views reject exactly one bad pair ──────────── Scenario -------- Global KF (pose = identity, 30 background pts + P_bad

--------------------------------------------------------------------------- 10. yaml_to_string - additional node shapes The existing test covers Map.

Prevent copying and moving

disabled copy & move ctors:

Delete copy constructor and copy assignment operator

Inverse of ToGlobalIndex(), returning kf_idx and local_pt_idx as a tuple:

Ctor:

Ctor:

Prevent copying and moving

Prevent copying and moving