WOLF doc: Add a chapter with WOLF logic and algorithms
In particular, explain:
-
Processor Motion API -
How the state & odometry of the robot is recovered ( state_getter_
andstate_priority_
) -
How pre-integration works -
How keyframes are broadcasted -
How and why captures and frames are buffered in processors -
How trackers work -
How loop closers work -
How dynamic/static parameters are handled -
How to use libraries implementing front-ends in wolf processors -
How Tree managers work
Edited by Joan Solà Ortega