From fc02c5f7a15403709bc0f38d6ed8e79a90d6be30 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 20 Jun 2022 09:45:49 +0200
Subject: [PATCH] Fix YAML files for gtests to pass
---
demos/processor_imu.yaml | 2 +-
demos/processor_imu_bootstrap.yaml | 16 ++++++++++++++++
test/yaml/imu_static_init.yaml | 2 +-
3 files changed, 18 insertions(+), 2 deletions(-)
create mode 100644 demos/processor_imu_bootstrap.yaml
diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index 813c6023e..1afbb00a6 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -11,6 +11,6 @@ keyframe_vote:
angle_turned: 0.2 # radians (1 rad approx 57 deg, approx 60 deg)
bootstrap:
- enable: true
+ enable: false
method: "G"
averaging_length: 0.10 # seconds
\ No newline at end of file
diff --git a/demos/processor_imu_bootstrap.yaml b/demos/processor_imu_bootstrap.yaml
new file mode 100644
index 000000000..813c6023e
--- /dev/null
+++ b/demos/processor_imu_bootstrap.yaml
@@ -0,0 +1,16 @@
+type: "ProcessorImu" # 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:
+ voting_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)
+
+bootstrap:
+ enable: true
+ method: "G"
+ averaging_length: 0.10 # seconds
\ No newline at end of file
diff --git a/test/yaml/imu_static_init.yaml b/test/yaml/imu_static_init.yaml
index 99da4ac07..cc0783591 100644
--- a/test/yaml/imu_static_init.yaml
+++ b/test/yaml/imu_static_init.yaml
@@ -12,6 +12,6 @@ keyframe_vote:
angle_turned: 10000000000 # radians (1 rad approx 57 deg, approx 60 deg)
bootstrap:
- enable: true
+ enable: false
method: "G"
averaging_length: 10
\ No newline at end of file
--
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