Problem specification

The WOLF problem requires four things to be specified in the YAML configuration file:

• dimension: The dimension of the estimation problem. It is specified with an integer (2 or 3).

• tree_manager: Responsible of handling the evolution of the tree. So far, WOLF provides three implementations of this class:

  • none, which does not limit the number of keyframes in the tree.

  • TreeManagerSlidingWindow, which limits the number of keyframes in the tree to a fixed size, removing the oldest keyframes when the limit is reached.

  • TreeManagerSlidingWindowDualRate, which is similar to TreeManagerSlidingWindow but with two different windows, only some of the frames falling out of the first window are kept in the second window.

• first_frame: The initialization of the problem, including the initial state (first frame) of the trajectory. It is specified as a state. See State YAML specification for more details on how to specify it.

Note

Remember that the YAML templates contains all the parameters of each class and a brief doc. You can start from the templates and modify them to suit your needs. See more information in the YAML schema section.

The following is the part of the WOLF ROS2 application example configuration file, containing the problem specification.

problem:
  dimension: 2
  tree_manager:
    type: "none"

  first_frame:
    P:
      value: [0.0, 0.0]
      prior:
        mode: "fix"
    O:
      value: [0.0]
      prior:
        mode: "fix"