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I don't think I'm going to have time to work on this going forward @iandareid and @JMoore5353. The estimator has been fully refactored, but none of the other classes have. When you go through and do a large refactor of ROSplane you can consider making use of this, if you like the idea of this kind of relationship. |
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This is a refactor of is-a to has-a for the relationship between ROSplane and ROS for the estimator. The remaining nodes still need to be done. This make the relationship between ROS and the estimator more clear and better separates ROS from the estimator, allowing for estimator development outside of a ROS environment and making it easier to keep the classes separate from each other (like those parameters owned by the ROS class being used two inheritances down, which I changed).