YAML with underscores and not spaces

hello_wolf/hello_wolf_config.yaml

 config:
 
   problem:
-    frame structure:      "PO"
+    frame_structure:      "PO"
     dimension:            2
-    prior timestamp:      0.0
-    prior state:          [0,0,0]
-    prior cov:            [[3,3],.01,0,0,0,.01,0,0,0,.01]
-    prior time tolerance: 0.1
+    prior:
+      timestamp:      0.0
+      state:          [0,0,0]
+      cov:            [[3,3],.01,0,0,0,.01,0,0,0,.01]
+      time_tolerance: 0.1
     
- 
   sensors:
     -
       type: "ODOM 2D"
       name: "odom"
+      k_disp_to_disp: 0.1
+      k_rot_to_rot: 0.1
+      extrinsic: 
+        pose: [0,0,0]
 
     - 
       type:                       "RANGE BEARING"
       name:                       "rb"  
-      noise range metres std:     0.1
-      noise bearing degrees std:  0.5  
-      
+      noise_range_metres_std:     0.1
+      noise_bearing_degrees_std:  0.5  
+          
   processors:
     -
       type:           "ODOM 2D"
       name:           "odom"
-      sensor name:    "odom"
-      voting active:  true
-      time tolerance: 0.1
-      max time span:  999
+      sensor_name:    "odom"
+      voting_active:  true
+      voting_aux_active:  false
+      time_tolerance: 0.1
+      max_time_span:  999
       dist_traveled:  0.95
       angle_turned:   999
-      cov_det:        999
+      max_buff_length: 999
       unmeasured_perturbation_std: 0.001
+      cov_det:        999
     
     -
       type:         "RANGE BEARING"
       name:         "rb"
-      sensor name:  "rb"
+      sensor_name:  "rb"
+      voting_active:  false
+      voting_aux_active:  false
+      time_tolerance: 0.1
     
     
 files:
-#    - "/Users/jsola/dev/wolf_lib/core/lib/libhellowolf.dylib"
+#    - "/Users/jsola/dev/wolf lib/core/lib/libhellowolf.dylib"
   
     
\ No newline at end of file

include/core/yaml/parser_yaml.hpp

@@ -297,7 +297,7 @@ void ParserYAML::parseFirstLevel(std::string file){
         _paramsSens.push_back(pSensor);
     }
     for(const auto& kv : n_config["processors"]){
-        ParamsInitProcessor pProc = {kv["type"].Scalar(), kv["name"].Scalar(), kv["sensor name"].Scalar(), kv};
+        ParamsInitProcessor pProc = {kv["type"].Scalar(), kv["name"].Scalar(), kv["sensor_name"].Scalar(), kv};
         _paramsProc.push_back(pProc);
     }
     for(const auto& kv : n_config["callbacks"]){

src/problem/problem.cpp

@@ -107,10 +107,10 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     }
 
     // Prior
-    Eigen::VectorXs prior_state = _server.getParam<Eigen::VectorXs>("problem/prior state");
-    Eigen::MatrixXs prior_cov   = _server.getParam<Eigen::MatrixXs>("problem/prior cov");
-    Scalar prior_time_tolerance = _server.getParam<Scalar>("problem/prior time tolerance");
-    Scalar prior_ts             = _server.getParam<Scalar>("problem/prior timestamp");
+    Eigen::VectorXs prior_state = _server.getParam<Eigen::VectorXs>("problem/prior/state");
+    Eigen::MatrixXs prior_cov   = _server.getParam<Eigen::MatrixXs>("problem/prior/cov");
+    Scalar prior_time_tolerance = _server.getParam<Scalar>("problem/prior/time_tolerance");
+    Scalar prior_ts             = _server.getParam<Scalar>("problem/prior/timestamp");
 
     WOLF_TRACE("prior timestamp:\n"     , prior_ts);
     WOLF_TRACE("prior state:\n"         , prior_state.transpose());

test/gtest_parser_yaml.cpp

@@ -22,7 +22,7 @@ TEST(ParserYAML, RegularParse)
   // for(auto it : params)
   //   cout << it.first << " %% " << it.second << endl;
   EXPECT_EQ(params["odom/intrinsic/k_rot_to_rot"], "0.1");
-  EXPECT_EQ(params["processor1/sensor name"], "odom");
+  EXPECT_EQ(params["processor1/sensor_name"], "odom");
 }
 TEST(ParserYAML, ParseMap)
 {
@@ -34,14 +34,14 @@ TEST(ParserYAML, JumpFile)
 {
   auto parser = parse("test/yaml/params3.yaml", wolf_root);
   auto params = parser.getParams();
-  EXPECT_EQ(params["my_proc_test/extern params/max_buff_length"], "100");
-  EXPECT_EQ(params["my_proc_test/extern params/voting_active"], "false");
+  EXPECT_EQ(params["my_proc_test/extern_params/max_buff_length"], "100");
+  EXPECT_EQ(params["my_proc_test/extern_params/voting_active"], "false");
 }
 TEST(ParserYAML, ProblemConfig)
 {
   auto parser = parse("test/yaml/params2.yaml", wolf_root);
   auto params = parser.getParams();
-  EXPECT_EQ(params["problem/frame structure"], "POV");
+  EXPECT_EQ(params["problem/frame_structure"], "POV");
   EXPECT_EQ(params["problem/dimension"], "2");
 }
 int main(int argc, char **argv)

test/yaml/params1.yaml

 config:
   problem:
-    frame structure: "POV"
+    frame_structure: "POV"
     dimension: 3
   sensors: 
     -
@@ -10,7 +10,7 @@ config:
         k_disp_to_disp: 0.1
         k_rot_to_rot: 0.1 
       extrinsic:
-        pos: [1,2,3]
+        pose: [1,2,3]
     -
       type: "RANGE BEARING"
       name: "rb"
@@ -18,15 +18,15 @@ config:
     -
       type: "ODOM 2D"
       name: "processor1"
-      sensor name: "odom"
+      sensor_name: "odom"
     -
       type: "RANGE BEARING"
       name: "rb_processor"
-      sensor name: "rb"
+      sensor_name: "rb"
     -
       type: "ODOM 2D"
       name: "my_proc_test"
-      sensor name: "odom"
+      sensor_name: "odom"
       follow: "test/yaml/params3.1.yaml"
 files:
   - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"

test/yaml/params2.yaml

 config:
   problem:
-    frame structure: "POV"
+    frame_structure: "POV"
     dimension: 2
   sensors: 
     -
@@ -10,7 +10,7 @@ config:
         k_disp_to_disp: 0.1
         k_rot_to_rot: 0.1 
       extrinsic:
-        pos: [1,2,3]
+        pose: [1,2,3]
     -
       type: "RANGE BEARING"
       name: "rb"
@@ -18,7 +18,7 @@ config:
     -
       type: "ODOM 2D"
       name: "processor1"
-      sensor name: "odom"
+      sensor_name: "odom"
       $mymap:
         k1: v1
         k2: v2
@@ -26,11 +26,11 @@ config:
     -
       type: "RANGE BEARING"
       name: "rb_processor"
-      sensor name: "rb"
+      sensor_name: "rb"
     -
       type: "ODOM 2D"
       name: "my_proc_test"
-      sensor name: "odom"
+      sensor_name: "odom"
 files:
   - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
   - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file

test/yaml/params3.yaml

 config:
   # problem:
-  #   frame structure: "POV"
+  #   frame_structure: "POV"
   #   dimension: 2
   sensors:
     -
@@ -10,10 +10,10 @@ config:
         k_disp_to_disp: 0.1
         k_rot_to_rot: 0.1
       extrinsic:
-        pos: [1,2,3]
+        pose: [1,2,3]
   processors:
     -
       type: "ODOM 2D"
       name: "my_proc_test"
-      sensor name: "odom"
-      extern params: "@test/yaml/params3.1.yaml"
+      sensor_name: "odom"
+      extern_params: "@test/yaml/params3.1.yaml"
\ No newline at end of file

test/yaml/processor_odom_3D.yaml

-time tolerance:         0.01  # seconds
-keyframe vote:
-    max time span:      0.2   # seconds
-    max buffer length:  10    # motion deltas
-    dist traveled:      0.5   # meters
-    angle turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
+time_tolerance:         0.01  # seconds
+keyframe_vote:
+    max_time_span:      0.2   # seconds
+    max_buffer_length:  10    # motion deltas
+    dist_traveled:      0.5   # meters
+    angle_turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file

test/yaml/sensor_odom_3D.yaml

-motion variances: 
 type: "ODOM 3D"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
 name: "Main odometer"        # This is ignored. The name provided to the SensorFactory prevails
+motion_variances: 
     disp_to_disp:   0.02  # m^2   / m
     disp_to_rot:    0.02  # rad^2 / m
     rot_to_rot:     0.01  # rad^2 / rad