From 1874c01ae01d879d132508299b7cc02cc8a640a2 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Wed, 9 Apr 2025 16:36:40 +0200
Subject: [PATCH] [skip ci] yaml templates added or modified

---
 yaml_templates/landmark/LandmarkPolyline2d.yaml                | 2 +-
 yaml_templates/processor/ProcessorLoopClosureFalko.yaml        | 1 +
 yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml     | 1 +
 yaml_templates/processor/ProcessorLoopClosureIcp.yaml          | 1 +
 yaml_templates/processor/ProcessorOdomIcp.yaml                 | 3 ++-
 .../processor/ProcessorTrackerFeaturePolyline2d.yaml           | 1 +
 6 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/yaml_templates/landmark/LandmarkPolyline2d.yaml b/yaml_templates/landmark/LandmarkPolyline2d.yaml
index 9ee511d33..88c41e9b7 100644
--- a/yaml_templates/landmark/LandmarkPolyline2d.yaml
+++ b/yaml_templates/landmark/LandmarkPolyline2d.yaml
@@ -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]
       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:
-    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:
       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
diff --git a/yaml_templates/processor/ProcessorLoopClosureFalko.yaml b/yaml_templates/processor/ProcessorLoopClosureFalko.yaml
index 5f56eff45..c2ad7f53f 100644
--- a/yaml_templates/processor/ProcessorLoopClosureFalko.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureFalko.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - 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
+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
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml b/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml
index 637415f4d..1b0a2b5b3 100644
--- a/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureFalkoIcp.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - 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
+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
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorLoopClosureIcp.yaml b/yaml_templates/processor/ProcessorLoopClosureIcp.yaml
index e4073e6d8..639fa305b 100644
--- a/yaml_templates/processor/ProcessorLoopClosureIcp.yaml
+++ b/yaml_templates/processor/ProcessorLoopClosureIcp.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - 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
+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
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
diff --git a/yaml_templates/processor/ProcessorOdomIcp.yaml b/yaml_templates/processor/ProcessorOdomIcp.yaml
index 7e1226876..f769bef00 100644
--- a/yaml_templates/processor/ProcessorOdomIcp.yaml
+++ b/yaml_templates/processor/ProcessorOdomIcp.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - 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
+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
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
@@ -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
 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_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]
 icp:
   verbose: false  # DOC prints debug messages - TYPE bool
diff --git a/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml b/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml
index 60e926e79..3c4eb0fa3 100644
--- a/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml
+++ b/yaml_templates/processor/ProcessorTrackerFeaturePolyline2d.yaml
@@ -1,6 +1,7 @@
 type: "whatever"  # DOC The class name - 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
+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
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
-- 
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