Remove spaces in IMU YAML files

demos/processor_imu.yaml

 type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025         # Time tolerance for joining KFs
-keyframe vote:
-    max time span:      2.0   # seconds
-    max buffer length:  20000    # motion deltas
-    dist traveled:      2.0   # meters
-    angle turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)
+time_tolerance: 0.0025         # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.00001
+
+keyframe_vote:
     voting_active:      false
-    
+    voting_aux_active:  false
\ No newline at end of file
+    max_time_span:      2.0   # seconds
+    max_buff_length:  20000    # motion deltas
+    dist_traveled:      2.0   # meters
+    angle_turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)

demos/processor_imu_no_vote.yaml

-type: "IMU"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-
-time tolerance: 0.0025         # Time tolerance for joining KFs
-unmeasured perturbation std: 0.00001
-keyframe vote:
-    max time span:      999999.0   # seconds
-    max buffer length:  999999     # motion deltas
-    dist traveled:      999999.0   # meters
-    angle turned:       999999     # radians (1 rad approx 57 deg, approx 60 deg)
-    voting_active:      false
-    
\ No newline at end of file

src/yaml/processor_IMU_yaml.cpp

@@ -26,18 +26,18 @@ static ProcessorParamsBasePtr createProcessorIMUParams(const std::string & _file
 
     if (config["type"].as<std::string>() == "IMU")
     {
-        YAML::Node kf_vote = config["keyframe vote"];
+        YAML::Node kf_vote = config["keyframe_vote"];
 
         ProcessorParamsIMUPtr params = std::make_shared<ProcessorParamsIMU>();
-        params->time_tolerance = config["time tolerance"]           .as<Scalar>();
-        params->unmeasured_perturbation_std = config["unmeasured perturbation std"].as<Scalar>();
-
-        params->unmeasured_perturbation_std = config["unmeasured perturbation std"].as<Scalar>();
-        params->max_time_span       = kf_vote["max time span"]      .as<Scalar>();
-        params->max_buff_length     = kf_vote["max buffer length"]  .as<SizeEigen  >();
-        params->dist_traveled       = kf_vote["dist traveled"]      .as<Scalar>();
-        params->angle_turned        = kf_vote["angle turned"]       .as<Scalar>();
+        params->time_tolerance = config["time_tolerance"]           .as<Scalar>();
+        params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"].as<Scalar>();
+
+        params->max_time_span       = kf_vote["max_time_span"]      .as<Scalar>();
+        params->max_buff_length     = kf_vote["max_buff_length"]    .as<SizeEigen>();
+        params->dist_traveled       = kf_vote["dist_traveled"]      .as<Scalar>();
+        params->angle_turned        = kf_vote["angle_turned"]       .as<Scalar>();
         params->voting_active       = kf_vote["voting_active"]      .as<bool>();
+        params->voting_aux_active   = kf_vote["voting_aux_active"]  .as<bool>();
         return params;
     }
 

test/gtest_IMU.cpp

@@ -98,7 +98,7 @@ class Process_Factor_IMU : public testing::Test
 
             // SENSOR + PROCESSOR IMU
             SensorBasePtr       sensor = problem->installSensor   ("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/demos/sensor_imu.yaml");
-            ProcessorBasePtr processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu_no_vote.yaml");
+            ProcessorBasePtr processor = problem->installProcessor("IMU", "IMU pre-integrator", "Main IMU", wolf_root + "/demos/processor_imu.yaml");
             sensor_imu    = static_pointer_cast<SensorIMU>   (sensor);
             processor_imu = static_pointer_cast<ProcessorIMU>(processor);