diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index 1b7d7a551b1de4ba0a1fed374a24da716fce29df..39d5558eb7e2925352a78694531aefdea16ee6f1 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -275,72 +275,79 @@ int main()
*
* P: wolf tree status ---------------------
Hardware
- S1 ODOM 2d // Sensor 1, type ODOMETRY 2d.
- Extr [Sta] = [ Fix( 0 0 ) Fix( 0 ) ] // Static extrinsics, fixed position, fixed orientation (See notes 1 and 2 below)
- Intr [Sta] = [ ] // Static intrinsics, but no intrinsics anyway
- pm1 ODOM 2d // Processor 1, type ODOMETRY 2d
- o: C7 - F3 // origin at Capture 7, Frame 3
- l: C10 - F4 // last at Capture 10, frame 4
- S2 RANGE BEARING // Sensor 2, type RANGE and BEARING.
- Extr [Sta] = [ Fix( 1 1 ) Est( 0 ) ] // Static extrinsics, fixed position, estimated orientation (See notes 1 and 2 below)
- Intr [Sta] = [ ] // Static intrinsics, but no intrinsics anyway
- pt2 RANGE BEARING // Processor 2: type Range and Bearing
+ Sen1 SensorOdom2d "sen odom" // Sensor 1, type odometry 2D
+ sb: P[Sta,Fix] = ( 0 0 ); O[Sta,Fix] = ( 0 ); // Static extrinsics, fixed position, fixed orientation (See notes 1 and 2 below)
+ PrcM1 ProcessorOdom2d "prc odom" // Processor 1, type odometry 2D
+ o: Cap6 - KFrm3 // origin at Capture 6, Frame 3
+ l: Cap8 - Frm4 // last at Capture 8, Frame 4
+ Sen2 SensorRangeBearing "sen rb" // Sensor 2, type range and bearing
+ sb: P[Sta,Fix] = ( 1 1 ); O[Sta,Fix] = ( 0 ); // Static extrinsics, fixed position, estimated orientation (See notes 1 and 2 below)
+ Prc2 ProcessorRangeBearing "prc rb" // Processor 2, type rande and bearing
Trajectory
- KF1 <-- c3 // KeyFrame 1, constrained by Factor 3
- Est, ts=0, x = ( -1.6e-13 9.4e-11 1.4e-10 ) // State is estimated; time stamp and state vector
- sb: Est Est // State's pos and orient are estimated
- C1 FIX -> S- [ <-- // Capture 1, type FIX or Absolute
- f1 FIX <-- // Feature 1, type Fix
- m = ( 0 0 0 ) // The absolute measurement for this frame is (0,0,0) --> origin
- c1 FIX --> A // Factor 1, type FIX, it is Absolute
- CM2 ODOM 2d -> S1 [Sta, Sta] <-- // Capture 2, type ODOM, from Sensor 1 (static extr and intr)
- C5 RANGE BEARING -> S2 [Sta, Sta] <-- // Capture 5, type R+B, from Sensor 2 (static extr and intr)
- f2 RANGE BEARING <-- // Feature 2, type R+B
- m = ( 1 1.57 ) // The feature's measurement is 1m, 1.57rad
- c2 RANGE BEARING --> L1 // Factor 2 against Landmark 1
- KF2 <-- c6
- Est, ts=1, x = ( 1 2.5e-10 1.6e-10 )
- sb: Est Est
- CM3 ODOM 2d -> S1 [Sta, Sta] <--
- f3 ODOM 2d <--
+ KFrm1 <-- Fac4 //KeyFrame 1, constrained by Factor 4
+ P[Est] = ( -4.4e-12 1.5e-09 ) //Position is estimated
+ O[Est] = ( 2.6e-09 ) //Orientation is estimated
+ Cap1 CaptureVoid -> Sen- <-- // This is an "artificial" capture used to hold the features relative to the prior
+ Ftr1 trk0 prior <-- // Position prior
+ m = ( 0 0 )
+ Fac1 FactorBlockAbsolute --> Abs
+ Ftr2 trk0 prior <-- // Orientation prior
+ m = ( 0 )
+ Fac2 FactorBlockAbsolute --> Abs
+ CapM2 CaptureOdom2d -> Sen1 <-- // Capture 2 of type motion odom 2d from sensor 1.
+ buffer size : 0
+ Cap4 CaptureRangeBearing -> Sen2 <--
+ Ftr3 trk0 FeatureRangeBearing <--
+ m = ( 1 1.6 )
+ Fac3 RANGE BEARING --> Lmk1
+ KFrm2 <-- Fac7
+ P[Est] = ( 1 5.7e-09 )
+ O[Est] = ( 5.7e-09 )
+ CapM3 CaptureOdom2d -> Sen1 -> OCap2 ; OFrm1 <-- // Capture 3 of type motion odom2d from sensor 1.
+ // Its origin is at Capture 2; Frame 1
+ buffer size : 2
+ delta preint : (1 0 0)
+ Ftr4 trk0 ProcessorOdom2d <--
m = ( 1 0 0 )
- c3 ODOM 2d --> F1 // Factor 3, type ODOM, against Frame 1
- C9 RANGE BEARING -> S2 [Sta, Sta] <--
- f4 RANGE BEARING <--
- m = ( 1.41 2.36 )
- c4 RANGE BEARING --> L1
- f5 RANGE BEARING <--
- m = ( 1 1.57 )
- c5 RANGE BEARING --> L2
- KF3 <--
- Est, ts=2, x = ( 2 4.1e-10 1.7e-10 )
- sb: Est Est
- CM7 ODOM 2d -> S1 [Sta, Sta] <--
- f6 ODOM 2d <--
+ Fac4 FactorOdom2d --> Frm1
+ Cap7 CaptureRangeBearing -> Sen2 <--
+ Ftr5 trk0 FeatureRangeBearing <--
+ m = ( 1.4 2.4 )
+ Fac5 RANGE BEARING --> Lmk1
+ Ftr6 trk0 FeatureRangeBearing <--
+ m = ( 1 1.6 )
+ Fac6 RANGE BEARING --> Lmk2
+ KFrm3 <--
+ P[Est] = ( 2 1.2e-08 )
+ O[Est] = ( 6.6e-09 )
+ CapM6 CaptureOdom2d -> Sen1 -> OCap3 ; OFrm2 <--
+ buffer size : 2
+ delta preint : (1 0 0)
+ Ftr7 trk0 ProcessorOdom2d <--
m = ( 1 0 0 )
- c6 ODOM 2d --> F2
- C12 RANGE BEARING -> S2 [Sta, Sta] <--
- f7 RANGE BEARING <--
- m = ( 1.41 2.36 )
- c7 RANGE BEARING --> L2
- f8 RANGE BEARING <--
- m = ( 1 1.57 )
- c8 RANGE BEARING --> L3
- F4 <--
- Est, ts=2, x = ( 0.11 -0.045 0.26 )
- sb: Est Est
- CM10 ODOM 2d -> S1 [Sta, Sta] <--
+ Fac7 FactorOdom2d --> Frm2
+ Cap9 CaptureRangeBearing -> Sen2 <--
+ Ftr8 trk0 FeatureRangeBearing <--
+ m = ( 1.4 2.4 )
+ Fac8 RANGE BEARING --> Lmk2
+ Ftr9 trk0 FeatureRangeBearing <--
+ m = ( 1 1.6 )
+ Fac9 RANGE BEARING --> Lmk3
+ Frm4 <--
+ P[Est] = ( 2 0 )
+ O[Est] = ( 0 )
+ CapM8 CaptureOdom2d -> Sen1 -> OCap6 ; OFrm3 <--
+ buffer size : 1
+ delta preint : (0 0 0)
Map
- L1 POINT 2d <-- c2 c4 // Landmark 1, constrained by Factors 2 and 4
- Est, x = ( 1 2 ) // L4 state is estimated, state vector
- sb: Est // L4 has 1 state block estimated
- L2 POINT 2d <-- c5 c7
- Est, x = ( 2 2 )
- sb: Est
- L3 POINT 2d <-- c8
- Est, x = ( 3 2 )
- sb: Est
+ Lmk1 LandmarkPoint2d <-- Fac3 Fac5 // Landmark 1 constrained by facotrs 3 & 5
+ P[Est] = ( 1 2 )
+ Lmk2 LandmarkPoint2d <-- Fac6 Fac8
+ P[Est] = ( 2 2 )
+ Lmk3 LandmarkPoint2d <-- Fac9
+ P[Est] = ( 3 2 )
-----------------------------------------
+
*
* ============= GENERAL WOLF NOTES ==================
*