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Commit 1181c0ff authored by cont-integration's avatar cont-integration
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[skip ci] yaml templates added or modified

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1 merge request!49Draft: Resolve "Adapt to new sensor constructors in core"
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yaml_templates/processor/ProcessorCompass.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
time_tolerance: 0.0 # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
keyframe_vote:
......
yaml_templates/processor/ProcessorImu2d.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
time_tolerance: 0.0 # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
keyframe_vote:
......
yaml_templates/processor/ProcessorImu2dTester.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
time_tolerance: 0.0 # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
keyframe_vote:
......
yaml_templates/processor/ProcessorImu3d.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
time_tolerance: 0.0 # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
keyframe_vote:
......
yaml_templates/processor/ProcessorImu3dTester.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
time_tolerance: 0.0 # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
keyframe_vote:
......
yaml_templates/sensor/SensorCompass.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
stdev_noise: 0.0 # DOC standard deviation of the compass measurements (square root of the covariance matrix diagonal). - TYPE double
states:
P:
value: [0.0, 0.0, 0.0] # DOC A vector containing the state "P" values - TYPE Vector3d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
value: [0.0, 0.0, 0.0] # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix [m]. - TYPE Vector3d
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector3d
O:
value: [0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values. It should be a quaternion (i.e. four values and normalized) - TYPE Vector4d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
value: [0.0, 0.0, 0.0, 0.0] # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix [rad]. - TYPE Vector3d
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix [rad/sqrt(s)]. - TYPE Vector3d
I:
value: [0.0, 0.0, 0.0] # DOC The initial values of the compass biases - TYPE Vector3d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC (only if mode==factor) A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC (only if dynamic==true) A vector containing the stdev values of the noise of the drift factor , i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
value: [0, 0, 0] # OPTIONAL - DOC A vector containing the compass bias values. Default: zeros - TYPE Vector3d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor. - TYPE Vector3d
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev rate values of the noise of the drift factor (only if dynamic==true). - TYPE Vector3d
F:
value: [0.0, 0.0, 0.0] # DOC The initial values of the compass biases - TYPE Vector3d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC (only if mode==factor) A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE VectorXd
stdev_noise: 0.0 # DOC standard deviation of the compass measurements (square root of the covariance matrix diagonal). - TYPE double
\ No newline at end of file
value: [0.0, 0.0, 0.0] # DOC A vector containing the magnetic field values. - TYPE Vector3d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
\ No newline at end of file
yaml_templates/sensor/SensorImu2d.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
w_noise: 0.0 # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
a_noise: 0.0 # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
orthogonal_gravity: false # DOC If the gravity is orthogonal to Z axis (i.e. it is measured by accelerometers X and Y) - TYPE bool
states:
P:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
prior:
{}
O:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector1d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector1d
prior:
{}
I:
value: [0, 0, 0] # OPTIONAL - DOC State default initial value. - TYPE Vector3d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
value: [0, 0, 0] # OPTIONAL - DOC A vector containing the IMU 2d bias values. Default: zeros - TYPE Vector3d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor. - TYPE Vector3d
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev rate values of the noise of the drift factors (only if dynamic==true). - TYPE Vector3d
G:
value: [0, 0] # OPTIONAL - DOC State default initial value. - TYPE Vector2d
mode: "initial_guess" # OPTIONAL - DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
dynamic: false # OPTIONAL - DOC The projection of G over XY map axis is assumed static by default (i.e. constant slope). - TYPE bool
drift_std: [0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
w_noise: 0.0 # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
a_noise: 0.0 # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
orthogonal_gravity: false # DOC If the gravity is orthogonal to Z axis (i.e. it is measured by accelerometers X and Y) - TYPE bool
\ No newline at end of file
dynamic: false # OPTIONAL - DOC The projection of gravity over the map XY plane. Default: false (i.e. constant slope). - TYPE bool
value: [0.0, 0.0] # DOC State initial values. - TYPE Vector2d
prior:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
\ No newline at end of file
yaml_templates/sensor/SensorImu2dGravity.yaml 0 → 100644
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dynamic: false # OPTIONAL - DOC The projection of gravity over the map XY plane. Default: false (i.e. constant slope). - TYPE bool
value: [0.0, 0.0] # DOC State initial values. - TYPE Vector2d
prior:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector2d
\ No newline at end of file
yaml_templates/sensor/SensorImu3d.yaml
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type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - TYPE string
name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
w_noise: 0.0 # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
a_noise: 0.0 # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
states:
P:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
prior:
{}
O:
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector3d
prior:
{}
I:
value: [0, 0, 0, 0, 0, 0] # OPTIONAL - DOC The initial values of the IMU biases - TYPE Vector6d
mode: "fix" # DOC The prior mode can be "factor" to add an absolute factor (requires "noise_std"), "fix" to set the values constant or "initial_guess" to just set the values - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - DOC (only if mode==factor) A vector containing the stdev values of the noise of the prior factor, i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector6d
dynamic: false # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - DOC (only if dynamic==true) A vector containing the stdev values of the noise of the drift factor , i.e. the sqrt of the diagonal elements of the covariance matrix. - TYPE Vector6d
w_noise: 0.0 # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
a_noise: 0.0 # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
\ No newline at end of file
value: [0, 0, 0, 0, 0, 0] # OPTIONAL - DOC A vector containing the IMU bias values. Default: zeros - TYPE Vector6d
prior:
mode: "fix" # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
factor_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # MANDATORY if $mode == "factor" - DOC A vector containing the stdev values of the noise of the prior factor. - TYPE Vector6d
drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - DOC A vector containing the stdev rate values of the noise of the drift factors (only if dynamic==true). - TYPE Vector6d
\ No newline at end of file
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