diff --git a/schema/sensor/SensorDiffDrive.schema b/schema/sensor/SensorDiffDrive.schema index 0b277ac262b6a958f7f26b6f8d275fd82a53014c..0e9c0453ef61818f4014e5ab0bae76be04d7f5c3 100644 --- a/schema/sensor/SensorDiffDrive.schema +++ b/schema/sensor/SensorDiffDrive.schema @@ -41,8 +41,11 @@ states: _type: Vector3d _mandatory: true _doc: A vector containing the intrinsic state values. 0=left wheel radius (m), 1=right wheel radius (m), 2=wheel separation (m) - - - - - + noise_std: + _type: Vector3d + _mandatory: false + _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. + drift_std: + _type: Vector3d + _mandatory: false + _doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. diff --git a/schema/sensor/SpecStateSensor.schema b/schema/sensor/SpecStateSensor.schema index 870d1f5457b7c45f48643fecfcb3be7af902c2d7..7db0767f6b3df1166d76807da8388b485d6dd12b 100644 --- a/schema/sensor/SpecStateSensor.schema +++ b/schema/sensor/SpecStateSensor.schema @@ -6,5 +6,4 @@ dynamic: drift_std: _type: VectorXd _mandatory: false - _default: [] _doc: A vector containing the stdev values of the noise of the drift factor (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix. \ No newline at end of file