Problem

The class Problem is the root of the WOLF tree. Differently to the rest of the WOLF tree nodes, it is not a base class designed to be derived from.

Problem holds the three main branches of the WOLF tree: the robot’s hardware, the robot’s trajectory, and the map of the surroundings. Also, it is accessible directly from all wolf nodes via getProblem() method.

Apart from the methods to navigate the tree, it provides methods to:

Set up and manage sensors and processors.
Set up and manage the initial robot state (first frame).
Access the state estimation, covariances and odometry integration (see accessing robot state section).
Emplace frames and emplace states to existing frames.
Notify frame creation to all the processors.
Maintain a notification mechanism to interface with the solver.

The following are the main methods that a developer will use to interact with the Problem class.