From e4a772db1e59f4a675080dae31f7f76d2144f611 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 2 Aug 2019 23:01:33 +0200
Subject: [PATCH] Remove spaces in IMU YAML files
---
demos/processor_imu.yaml | 17 +++++++++--------
demos/processor_imu_no_vote.yaml | 11 -----------
src/yaml/processor_IMU_yaml.cpp | 18 +++++++++---------
test/gtest_IMU.cpp | 2 +-
4 files changed, 19 insertions(+), 29 deletions(-)
delete mode 100644 demos/processor_imu_no_vote.yaml
diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index 405d69fca..b86d47713 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -1,11 +1,12 @@
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
-
\ No newline at end of file
+ voting_aux_active: false
+ 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)
diff --git a/demos/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml
deleted file mode 100644
index e01ed1cc4..000000000
--- a/demos/processor_imu_no_vote.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-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
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp
index b6f3137ea..a0ed78017 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/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;
}
diff --git a/test/gtest_IMU.cpp b/test/gtest_IMU.cpp
index 448437cab..e82663afc 100644
--- a/test/gtest_IMU.cpp
+++ b/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);
--
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