Hello wolf autoconf

The hello_wolf demo now uses the autoconf capabilities of WOLF.

A YAML file is provided to describe all the hello_wolf robot configuration.

The file is parsed to create a parameter server.

The WOLF problem is automatically configured using the server.

The rest of the demo is exactly the same as the original hello_wolf. Both versions coexist.

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.