From 226cd5ae5e54a358173132a5cc0b8f2eabe722ed Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 17 Jul 2019 19:10:14 +0300
Subject: [PATCH] Update hello_wolf_autoconf.cpp
---
hello_wolf/hello_wolf_autoconf.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/hello_wolf/hello_wolf_autoconf.cpp b/hello_wolf/hello_wolf_autoconf.cpp
index 32230c4cf..447d7792a 100644
--- a/hello_wolf/hello_wolf_autoconf.cpp
+++ b/hello_wolf/hello_wolf_autoconf.cpp
@@ -101,21 +101,21 @@ int main()
using namespace wolf;
+ WOLF_TRACE("======== CONFIGURE PROBLEM =======")
+
// Config file to parse
- std::string wolf_root = _WOLF_ROOT_DIR;
- std::string file = wolf_root + "/hello_wolf/hello_wolf_config.yaml";
+ std::string file = std::string(_WOLF_ROOT_DIR) + "/hello_wolf/hello_wolf_config.yaml";
// parse file into params server
parserYAML parser = parserYAML(file);
parser.parse();
paramsServer server = paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
-
// Wolf problem
ProblemPtr problem = Problem::autoSetup(server);
-// ProblemPtr problem = Problem::autoSetup(file);
- problem->print(4,1,1,0);
+ // Print problem to see its status before processing any sensor data
+ problem->print(4,0,1,0);
// recover sensor pointers for later use (access by sensor name)
SensorBasePtr sensor_odo = problem->getSensor("odom");
@@ -138,7 +138,7 @@ int main()
// The position is however not observable, and thus self-calibration would not work. You can try uncommenting it too.
// sensor_rb->getP()->unfix();
- // CONFIGURE ==========================================================
+ // CONFIGURE observations ==============================================
// Motion data
Vector2s motion_data(1.0, 0.0); // Will advance 1m at each keyframe, will not turn.
--
GitLab