SolverManager.schema

follow: TypeAndPlugin.schema

period:
  _mandatory: true
  _type: double
  _doc: Period of the solver thread.

verbose:
  _mandatory: true
  _type: int
  _options: [0, 1, 2]
  _doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report."

compute_cov:
  _mandatory: true
  _type: bool
  _doc: If the solver has to compute any covariance matrix block.

cov_enum:
  _mandatory: $compute_cov
  _type: int
  _options: [0, 1, 2, 3, 4, 5]
  _doc: "Which covariance matrix blocks have to be computed. 0: All blocks and all cross-covariances. 1: All marginals. 2: Marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks. 3: Last frame P and V. 4: Last frame P, O, V and T. 5: Last frame P and T."

cov_period:
  _mandatory: $compute_cov
  _type: double
  _doc: Period of the covariance computation.