Resolve "Implement processor bootstrapping"

Closes #461 (closed)

include/core/problem/problem.h

@@ -86,7 +86,11 @@ class Problem : public std::enable_shared_from_this<Problem>
         StateStructure frame_structure_;
         PriorOptionsPtr prior_options_;
 
-    private: // CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !!
+        std::atomic_bool transformed_;
+        VectorComposite  transformation_;
+        mutable std::mutex mut_transform_;
+
+      private:  // CAUTION: THESE METHODS ARE PRIVATE, DO NOT MAKE THEM PUBLIC !!
         Problem(const std::string& _frame_structure, SizeEigen _dim, MapBasePtr _map); // USE create() below !!
         void setup();
 
@@ -364,6 +368,10 @@ class Problem : public std::enable_shared_from_this<Problem>
         // All branches -------------------------------------------
         // perturb states
         void perturb(double amplitude = 0.01);
+        void transform(const VectorComposite& _transformation);
+        bool isTransformed() const;
+        void resetTransformed();
+        VectorComposite getTransformation() const;
 
         // Covariances
         void clearCovariance();