Changes to Problem to actually close #219

include/core/problem/problem.h

@@ -61,7 +61,7 @@ class Problem : public std::enable_shared_from_this<Problem>
 
     public:
         static ProblemPtr create(const std::string& _frame_structure, SizeEigen _dim); // USE THIS AS A CONSTRUCTOR!
-        static ProblemPtr autoSetup(const std::string& _frame_structure, SizeEigen _dim, const std::string& _yaml_file);
+        static ProblemPtr autoSetup(const std::string& _yaml_file);
         virtual ~Problem();
 
         // Properties -----------------------------------------

src/problem/problem.cpp

@@ -72,13 +72,15 @@ ProblemPtr Problem::create(const std::string& _frame_structure, SizeEigen _dim)
     p->setup();
     return p->shared_from_this();
 }
-ProblemPtr Problem::autoSetup(const std::string& _frame_structure, SizeEigen _dim, const std::string& _yaml_file)
+ProblemPtr Problem::autoSetup(const std::string& _yaml_file)
 {
-    auto p = Problem::create(_frame_structure, _dim);
     // string file = "/home/jcasals/catkin_ws/src/wolf_ros_wrapper/src/params.yaml";
     parserYAML parser = parserYAML(_yaml_file);
     parser.parse();
     paramsServer server = paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
+    std::string frame_structure = server.getParam<std::string>("problem/frame structure", "PO");
+    int dim = server.getParam<int>("problem/dimension", "2");
+    auto p = Problem::create(frame_structure, dim);
     // cout << "PRINTING SERVER MAP" << endl;
     // server.print();
     // cout << "-----------------------------------" << endl;