switch rtabmap_lib svn co from the 0.3 branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@110 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/KeyPoint.msg

@@ -0,0 +1,17 @@
+#class cv::KeyPoint
+#{
+#    Point2f pt;
+#    float size;
+#    float angle;
+#    float response;
+#    int octave;
+#    int class_id;
+#}
+
+float32 ptx
+float32 pty
+float32 size
+float32 angle
+float32 response
+int32 octave
+int32 class_id

rtabmap/msg/RtabmapInfo.msg

@@ -0,0 +1,13 @@
+#
+#
+#
+#
+#
+
+Header header
+
+int32 refId
+int32 loopClosureId
+
+uint32 actuatorStep
+float32[] actuators

rtabmap/msg/RtabmapInfoEx.msg

@@ -0,0 +1,39 @@
+#
+#
+#
+#
+#
+
+Header header
+
+rtabmap/RtabmapInfo info
+
+sensor_msgs/CompressedImage refImage
+int32 refChild
+
+sensor_msgs/CompressedImage loopClosureImage
+
+#std::map<int, float> posterior;
+int32[] posteriorKeys
+float32[] posteriorValues
+
+#std::map<int, float> likelihood;
+int32[] likelihoodKeys
+float32[] likelihoodValues
+
+#std::map<int, int> weights;
+int32[] weightsKeys
+int32[] weightsValues
+
+#std::map<std::string, float> stats
+string[] statsKeys
+float32[] statsValues
+
+##Keypoints##
+#std::multimap<int, cv::KeyPoint> refWords
+int32[] refWordsKeys
+rtabmap/KeyPoint[] refWordsValues
+
+#std::multimap<int, cv::KeyPoint> loopWords
+int32[] loopWordsKeys
+rtabmap/KeyPoint[] loopWordsValues

rtabmap/msg/SensoryMotorState.msg

@@ -0,0 +1,14 @@
+
+# Wrap the rtabmap::SMState class
+
+Header header
+
+uint32 sensorStep
+float32[] sensors
+
+uint32 actuatorStep
+float32[] actuators
+
+# Optional fields
+sensor_msgs/Image image
+rtabmap/KeyPoint[] keypoints