0.11.10: Database update with occupancy grid and laser scan info. Added class LaserScanInfo and OccupancyGrid (incremental 2d grid map). Gui: 2d grid and octomap are udpated using occupancy grids saved in nodes.

corelib/src/OdometryThread.cpp

@@ -97,6 +97,7 @@ void OdometryThread::mainLoop()
 		Transform pose = _odometry->process(data, &info);
 		// a null pose notify that odometry could not be computed
 		double variance = info.variance>0?info.variance:1;
+		UDEBUG("Odom pose = %s", pose.prettyPrint().c_str());
 		this->post(new OdometryEvent(data, pose, variance, variance, info));
 	}
 }