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Commit 1874c01a 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!39Draft: Resolve "Adapt to new sensor constructors in core"
...@@ -17,7 +17,7 @@ states: ...@@ -17,7 +17,7 @@ states:
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] 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] # 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 Vector2d 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 [m]. - TYPE Vector2d
O: O:
value: [0.0] # OPTIONAL - DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d value: [0.0] # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
prior: prior:
mode: "fix" # DOC It 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] mode: "fix" # DOC It 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] # 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 Vector1d 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 [rad]. - TYPE Vector1d
......
type: "whatever" # DOC The class name - TYPE string type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - 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 name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
sensor_name: "whatever" # DOC The name of the sensor corresponding to this processor. - 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 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: keyframe_vote:
voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool
......
type: "whatever" # DOC The class name - TYPE string type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - 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 name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
sensor_name: "whatever" # DOC The name of the sensor corresponding to this processor. - 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 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: keyframe_vote:
voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool
......
type: "whatever" # DOC The class name - TYPE string type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - 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 name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
sensor_name: "whatever" # DOC The name of the sensor corresponding to this processor. - 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 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: keyframe_vote:
voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool
......
type: "whatever" # DOC The class name - TYPE string type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - 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 name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
sensor_name: "whatever" # DOC The name of the sensor corresponding to this processor. - 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 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: keyframe_vote:
voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool
...@@ -12,7 +13,7 @@ keyframe_vote: ...@@ -12,7 +13,7 @@ keyframe_vote:
consecutive_invalid_icp_timeout: 0.0 # MANDATORY if $voting_active - DOC Sufficient condition: Max. amount of time (s) with consecutive invalid ICPs for voting a new keyframe in previous scan - TYPE double consecutive_invalid_icp_timeout: 0.0 # MANDATORY if $voting_active - DOC Sufficient condition: Max. amount of time (s) with consecutive invalid ICPs for voting a new keyframe in previous scan - TYPE double
apply_loss_function: false # DOC If the factors created by the processor have loss function. - TYPE bool apply_loss_function: false # DOC If the factors created by the processor have loss function. - TYPE bool
state_provider: false # DOC If the processor is used by the problem as provider of state. - TYPE bool state_provider: false # DOC If the processor is used by the problem as provider of state. - TYPE bool
state_provider_order: 0.0 # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased). - TYPE double state_provider_order: 0 # MANDATORY if $state_provider - DOC The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same order number. - TYPE unsigned int
initial_guess: "odom" # DOC The initial guess of the tranformation given to ICP algorithm. It can be "zero" for zero initial guess, "odom" will compute the initial guess from the odometry sources and "state" will compute it from the state of the optimization. Recommended: "odom" (if there are other odometry sources). - TYPE string - OPTIONS [odom, state, zero] initial_guess: "odom" # DOC The initial guess of the tranformation given to ICP algorithm. It can be "zero" for zero initial guess, "odom" will compute the initial guess from the odometry sources and "state" will compute it from the state of the optimization. Recommended: "odom" (if there are other odometry sources). - TYPE string - OPTIONS [odom, state, zero]
icp: icp:
verbose: false # DOC prints debug messages - TYPE bool verbose: false # DOC prints debug messages - TYPE bool
......
type: "whatever" # DOC The class name - TYPE string type: "whatever" # DOC The class name - TYPE string
plugin: "whatever" # DOC plugin where the class is implemented - 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 name: "whatever" # DOC The processor"s name. It has to be unique. - TYPE string
sensor_name: "whatever" # DOC The name of the sensor corresponding to this processor. - 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 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: keyframe_vote:
voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool voting_active: false # DOC If the processor is allowed to decide to create a frame. - TYPE bool
......
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