Update demos to current wolf

demos/hello_wolf/CMakeLists.txt

@@ -22,17 +22,17 @@ SET(HDRS_PROCESSOR ${HDRS_PROCESSOR}
     
 
 add_library(hellowolf SHARED ${SRCS_HELLOWOLF})
-TARGET_LINK_LIBRARIES(hellowolf ${PROJECT_NAME})
+TARGET_LINK_LIBRARIES(hellowolf ${PLUGIN_NAME})
 
 ADD_EXECUTABLE(hello_wolf hello_wolf.cpp)
-TARGET_LINK_LIBRARIES(hello_wolf ${PROJECT_NAME} hellowolf)
+TARGET_LINK_LIBRARIES(hello_wolf ${PLUGIN_NAME} hellowolf)
 
 ADD_EXECUTABLE(hello_wolf_autoconf hello_wolf_autoconf.cpp)
-#TARGET_LINK_LIBRARIES(hello_wolf_autoconf ${PROJECT_NAME})
-TARGET_LINK_LIBRARIES(hello_wolf_autoconf ${PROJECT_NAME} hellowolf)
+#TARGET_LINK_LIBRARIES(hello_wolf_autoconf ${PLUGIN_NAME})
+TARGET_LINK_LIBRARIES(hello_wolf_autoconf ${PLUGIN_NAME} hellowolf)
 
 #add_library(sensor_odom SHARED ../src/sensor/sensor_odom_2d.cpp ../src/processor/processor_odom_2d.cpp)
-#TARGET_LINK_LIBRARIES(sensor_odom ${PROJECT_NAME} hellowolf)
+#TARGET_LINK_LIBRARIES(sensor_odom ${PLUGIN_NAME} hellowolf)
 #
 #add_library(range_bearing SHARED sensor_range_bearing.cpp processor_range_bearing.cpp)
-#TARGET_LINK_LIBRARIES(range_bearing ${PROJECT_NAME} hellowolf)
+#TARGET_LINK_LIBRARIES(range_bearing ${PLUGIN_NAME} hellowolf)

demos/hello_wolf/hello_wolf.cpp

@@ -105,7 +105,7 @@ int main()
     // Wolf problem and solver
     ProblemPtr problem                      = Problem::create("PO", 2);
     SolverCeresPtr ceres                    = std::make_shared<SolverCeres>(problem);
-    ceres.getSolverOptions().max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
+    ceres->getSolverOptions().max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
 
     // sensor odometer 2d
     ParamsSensorOdom2dPtr intrinsics_odo    = std::make_shared<ParamsSensorOdom2d>();

demos/hello_wolf/hello_wolf_autoconf.cpp

@@ -7,7 +7,8 @@
 
 
 // wolf core includes
-#include "../../include/core/ceres_wrapper/solver_ceres.h"
+#include "core/ceres_wrapper/solver_ceres.h"
+#include "core/solver/factory_solver.h"
 #include "core/common/wolf.h"
 #include "core/capture/capture_odom_2d.h"
 #include "core/processor/processor_motion.h"
@@ -110,9 +111,10 @@ int main()
     problem->print(4,0,1,0);
 
     // Solver. Configure a Ceres solver
-    ceres::Solver::Options options;
-    options.max_num_iterations  = 1000; // We depart far from solution, need a lot of iterations
-    SolverCeresPtr ceres       = std::make_shared<SolverCeres>(problem, options);
+    // ceres::Solver::Options options;
+    // options.max_num_iterations  = 1000; // We depart far from solution, need a lot of iterations
+    // SolverCeresPtr ceres       = std::make_shared<SolverCeres>(problem, options);
+    SolverManagerPtr ceres = FactorySolver::create("SolverCeres", problem, server);
 
     // recover sensor pointers and other stuff for later use (access by sensor name)
     SensorBasePtr sensor_odo    = problem->getSensor("sen odom");

demos/hello_wolf/yaml/hello_wolf_config.yaml

 config:
 
   problem:
-  
     tree_manager:
       type: "TreeManagerSlidingWindow"
       n_key_frames: -1
@@ -20,7 +19,12 @@ config:
         P: [0.31, 0.31]
         O: [0.31]
       time_tolerance:     0.1
-    
+
+  solver:
+    max_num_iterations: 100
+    verbose: 0
+    period: 0.2
+    update_immediately: false
   sensors:
     
     - type:               "SensorOdom2d"