diff --git a/hello_wolf/hello_wolf_config.yaml b/hello_wolf/hello_wolf_config.yaml
index 13472f71bde49c1e5f46272ea248274f8e77a4aa..be03ef1618d7a622b07d2740b76b091d349be02b 100644
--- a/hello_wolf/hello_wolf_config.yaml
+++ b/hello_wolf/hello_wolf_config.yaml
@@ -1,45 +1,54 @@
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
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index 3af5c1630da3e1bbeba9ec0ec4c6cc8ab5c63cfb..837d47ddabe2c52a88720ce2dd8570d2091b8e42 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/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"]){
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index a9044802917df11f6c7e7609b06add76a2c01021..19b594237b58a303f0f320fc2635c7d8c73d9f62 100644
--- a/src/problem/problem.cpp
+++ b/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());
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index 5102157d05185f93874e9ec0e89e9141feaf230e..7dc34e134fa96361c698e61f03a227ff8d1e8125 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/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)
diff --git a/test/yaml/params1.yaml b/test/yaml/params1.yaml
index d7d066b53a333d6beb27b20d7eef7468b29f505e..e23b1a484986615060eff7a8d3ad05c2d7116d6d 100644
--- a/test/yaml/params1.yaml
+++ b/test/yaml/params1.yaml
@@ -1,6 +1,6 @@
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"
diff --git a/test/yaml/params2.yaml b/test/yaml/params2.yaml
index 7830e8cb85f9fef0acea46e81fa293ed7528fc5c..5825166a88c5383b3d7cc4e3264cf51e9605aa5e 100644
--- a/test/yaml/params2.yaml
+++ b/test/yaml/params2.yaml
@@ -1,6 +1,6 @@
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
diff --git a/test/yaml/params3.yaml b/test/yaml/params3.yaml
index 3e0d7a40f9fce04d9f6976518fe3bb900dabdbf9..222fd91b45a9846d0f6b571db36f2f8b680591ae 100644
--- a/test/yaml/params3.yaml
+++ b/test/yaml/params3.yaml
@@ -1,6 +1,6 @@
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"
\ No newline at end of file
+ sensor_name: "odom"
+ extern_params: "@test/yaml/params3.1.yaml"
\ No newline at end of file
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
index 7929a29801c25a22667c3278d26c5a4f910eb755..7df9dd0218f3910c48a8559f5ee6af504989ed7b 100644
--- a/test/yaml/processor_odom_3D.yaml
+++ b/test/yaml/processor_odom_3D.yaml
@@ -1,7 +1,8 @@
-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
diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml
index 4cc241e8476dcdc672fb188d5f0de31651700269..075681ffb8b8162936d5d16301776e15f27a6a84 100644
--- a/test/yaml/sensor_odom_3D.yaml
+++ b/test/yaml/sensor_odom_3D.yaml
@@ -1,6 +1,6 @@
-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