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Commit 52fb61e3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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sen/prc type/name -> type/name

parent 8eb953e1
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2 merge requests!312Adress 244: Do not use default yaml params,!305WIP: Resolve "Do not use default YAML params"
sensor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error. type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
sensor name: "Main IMU" # This is ignored. The name provided to the SensorFactory prevails name: "Main IMU" # This is ignored. The name provided to the SensorFactory prevails
motion variances: motion variances:
a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2 a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2
w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
......
sensor 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.
sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
motion variances: motion variances:
disp_to_disp: 0.02 # m^2 / m disp_to_disp: 0.02 # m^2 / m
disp_to_rot: 0.02 # rad^2 / m disp_to_rot: 0.02 # rad^2 / m
......
sensor 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.
sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
motion variances: motion variances:
disp_to_disp: 0.000001 # m^2 / m disp_to_disp: 0.000001 # m^2 / m
disp_to_rot: 0.000001 # rad^2 / m disp_to_rot: 0.000001 # rad^2 / m
......
processor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
processor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
time tolerance: 0.01 # seconds time tolerance: 0.01 # seconds
keyframe vote: keyframe vote:
max time span: 0.2 # seconds max time span: 0.2 # seconds
max buffer length: 10 # motion deltas max buffer length: 10 # motion deltas
dist traveled: 0.5 # meters dist traveled: 0.5 # meters
angle turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg) 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.
\ No newline at end of file name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
motion variances: 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
disp_to_disp: 0.02 # m^2 / m disp_to_disp: 0.02 # m^2 / m
disp_to_rot: 0.02 # rad^2 / m disp_to_rot: 0.02 # rad^2 / m
rot_to_rot: 0.01 # rad^2 / rad rot_to_rot: 0.01 # rad^2 / rad
......
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