added prefix _ to schemas

demos/hello_wolf/schema/SensorRangeBearing.schema

 follow: SensorBase.schema
 
 noise_range_metres_std:
-  mandatory: true
-  type: double
+  _mandatory: true
+  _type: double
   yaml_type: scalar
-  doc: Standard deviation of the noise of the range measurements (meters)
+  _doc: Standard deviation of the noise of the range measurements (meters)
 
 noise_bearing_degrees_std:
-  mandatory: true
-  type: double
+  _mandatory: true
+  _type: double
   yaml_type: scalar
-  doc: Standard deviation of the noise of the bearing measurements (degrees)
+  _doc: Standard deviation of the noise of the bearing measurements (degrees)
 
 states:
   P:

schema/map/MapBase.schema

-type:
-  mandatory: false
-  type: string
-  default: MapBase
-  doc: Type of the Map used in the problem.
+_type:
+  _mandatory: false
+  _type: string
+  _default: MapBase
+  _doc: Type of the Map used in the problem.
 plugin:
-  mandatory: false
-  type: string
-  default: core
-  doc: Name of the wolf plugin where the map type is implemented.
\ No newline at end of file
+  _mandatory: false
+  _type: string
+  _default: core
+  _doc: Name of the wolf plugin where the map type is implemented.
\ No newline at end of file

schema/none.schema

-type:
-  mandatory: false
-  options: ["none"]
-  type: string
+_type:
+  _mandatory: false
+  _options: ["none"]
+  _type: string
   yaml_type: scalar
-  doc: Nothing to say here
+  _doc: Nothing to say here

schema/problem/Problem.schema

 problem:
   tree_manager:
-    type: derived
-    base: TreeManagerBase.schema
-    mandatory: true
-    doc: Tree manager parameters
+    _type: derived
+    _base: TreeManagerBase.schema
+    _mandatory: true
+    _doc: Tree manager parameters
   dimension:
-    type: int
-    mandatory: true
-    options: [2, 3]
-    doc: Dimension of the problem. '2' for 2D or '3' for 3D
+    _type: int
+    _mandatory: true
+    _options: [2, 3]
+    _doc: Dimension of the problem. '2' for 2D or '3' for 3D
 map:
-  type: derived
-  base: MapBase.schema
-  mandatory: false
-  doc: The map used in the wolf problem.
+  _type: derived
+  _base: MapBase.schema
+  _mandatory: false
+  _doc: The map used in the wolf problem.
 sensors:
-  type: derived[]
-  base: SensorSequence.schema
-  mandatory: true
-  doc: A sequence of all the sensors.
+  _type: derived[]
+  _base: SensorSequence.schema
+  _mandatory: true
+  _doc: A sequence of all the sensors.
 processors:
-  type: derived[]
-  base: ProcessorSequence.schema
-  mandatory: true
-  doc: A sequence of all the processors.
+  _type: derived[]
+  _base: ProcessorSequence.schema
+  _mandatory: true
+  _doc: A sequence of all the processors.

schema/problem/SpecState.schema

-type:
-  type: string
-  mandatory: true
-  doc: The derived type of the StateBlock
+_type:
+  _type: string
+  _mandatory: true
+  _doc: The derived type of the StateBlock
 state:
-  type: VectorXd
-  mandatory: true
-  doc: A vector containing the state values
+  _type: VectorXd
+  _mandatory: true
+  _doc: A vector containing the state values
 mode:
-  type: string
-  mandatory: true
-  options: ["fix", "factor", "initial_guess"]
-  doc: The prior mode can be 'factor' to add an absolute factor (requires 'noise_std'), 'fix' to set the values constant or 'initial_guess' to just set the values
+  _type: string
+  _mandatory: true
+  _options: ["fix", "factor", "initial_guess"]
+  _doc: The prior mode can be 'factor' to add an absolute factor (requires 'noise_std'), 'fix' to set the values constant or 'initial_guess' to just set the values
 noise_std:
-  type: VectorXd
-  mandatory: false
-  default: []
-  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.
\ No newline at end of file
+  _type: VectorXd
+  _mandatory: false
+  _default: []
+  _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.
\ No newline at end of file

schema/problem/SpecStateO2d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StateAngle
-  options: [StateAngle]
-  doc: The derived type of the StateBlock
+_type:
+  _type: string
+  _mandatory: false
+  _default: StateAngle
+  _options: [StateAngle]
+  _doc: The derived type of the StateBlock
 state:
-  type: Vector1d
-  mandatory: true
-  doc: A vector containing the state values
\ No newline at end of file
+  _type: Vector1d
+  _mandatory: true
+  _doc: A vector containing the state values
\ No newline at end of file

schema/problem/SpecStateO3d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StateQuaternion
-  options: [StateQuaternion]
-  doc: The derived type of the State in 'O'
+_type:
+  _type: string
+  _mandatory: false
+  _default: StateQuaternion
+  _options: [StateQuaternion]
+  _doc: The derived type of the State in 'O'
 state:
-  type: Vector4d
-  mandatory: true
-  doc: A vector containing the state values. It should be a quaternion (i.e. four values and normalized)
\ No newline at end of file
+  _type: Vector4d
+  _mandatory: true
+  _doc: A vector containing the state values. It should be a quaternion (i.e. four values and normalized)
\ No newline at end of file

schema/problem/SpecStateP2d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StatePoint2d
-  options: [StatePoint2d]
-  doc: The derived type of the StateBlock
+_type:
+  _type: string
+  _mandatory: false
+  _default: StatePoint2d
+  _options: [StatePoint2d]
+  _doc: The derived type of the StateBlock
 state:
-  type: Vector2d
-  mandatory: true
-  doc: A vector containing the state values
\ No newline at end of file
+  _type: Vector2d
+  _mandatory: true
+  _doc: A vector containing the state values
\ No newline at end of file

schema/problem/SpecStateP3d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StatePoint3d
-  options: [StatePoint3d]
-  doc: The derived type of the state in 'P'
+_type:
+  _type: string
+  _mandatory: false
+  _default: StatePoint3d
+  _options: [StatePoint3d]
+  _doc: The derived type of the state in 'P'
 state:
-  type: Vector3d
-  mandatory: true
-  doc: A vector containing the state 'P' values
\ No newline at end of file
+  _type: Vector3d
+  _mandatory: true
+  _doc: A vector containing the state 'P' values
\ No newline at end of file

schema/problem/SpecStateV2d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StateVector2d
-  options: [StateVector2d]
-  doc: The derived type of the StateBlock
+_type:
+  _type: string
+  _mandatory: false
+  _default: StateVector2d
+  _options: [StateVector2d]
+  _doc: The derived type of the StateBlock
 state:
-  type: Vector2d
-  mandatory: true
-  doc: A vector containing the state values
\ No newline at end of file
+  _type: Vector2d
+  _mandatory: true
+  _doc: A vector containing the state values
\ No newline at end of file

schema/problem/SpecStateV3d.schema

 follow: SpecState.schema
-type:
-  type: string
-  mandatory: false
-  default: StateVector3d
-  options: [StateVector3d]
-  doc: The derived type of the state in 'V'
+_type:
+  _type: string
+  _mandatory: false
+  _default: StateVector3d
+  _options: [StateVector3d]
+  _doc: The derived type of the state in 'V'
 state:
-  type: Vector3d
-  mandatory: true
-  doc: A vector containing the state 'V' values
\ No newline at end of file
+  _type: Vector3d
+  _mandatory: true
+  _doc: A vector containing the state 'V' values
\ No newline at end of file

schema/processor/MotionProvider.schema

 state_provider:
-  mandatory: true
-  type: bool
-  doc: If the processor is used by the problem as provider of state.
+  _mandatory: true
+  _type: bool
+  _doc: If the processor is used by the problem as provider of state.
 state_provider_order:
-  mandatory: false
-  type: double
-  doc: The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased).
\ No newline at end of file
+  _mandatory: false
+  _type: double
+  _doc: The order number of this processor when problem gets the state (only used if state_provider = true). Two processors cannot have the same priority (if so, when installing the second is increased).
\ No newline at end of file

schema/processor/ProcessorBase.schema

 name:
-  mandatory: true
-  type: string
-  doc: The processor's name. It has to be unique.
+  _mandatory: true
+  _type: string
+  _doc: The processor's name. It has to be unique.
 
 time_tolerance:
-  mandatory: true
-  type: double
-  doc: The time tolerance for joining captures into frames [s].
+  _mandatory: true
+  _type: double
+  _doc: The time tolerance for joining captures into frames [s].
 
 keyframe_vote:
   voting_active:
-    mandatory: true
-    type: bool
-    doc: If the processor is allowed to decide to create a frame.
+    _mandatory: true
+    _type: bool
+    _doc: If the processor is allowed to decide to create a frame.
 
 apply_loss_function:
-  mandatory: true
-  type: bool
-  doc: If the factors created by the processor have loss function.
\ No newline at end of file
+  _mandatory: true
+  _type: bool
+  _doc: If the factors created by the processor have loss function.
\ No newline at end of file

schema/processor/ProcessorMotion.schema

@@ -2,22 +2,22 @@ follow: ProcessorBase.schema
 follow: MotionProvider.schema
 keyframe_vote:
   max_time_span:
-    mandatory: true
-    type: double
-    doc: Time threshold to create a new frame [s].
+    _mandatory: true
+    _type: double
+    _doc: Time threshold to create a new frame [s].
   max_buff_length:
-    mandatory: true
-    type: unsigned int
-    doc: Maximum size of the buffer of motions.
+    _mandatory: true
+    _type: unsigned int
+    _doc: Maximum size of the buffer of motions.
   dist_traveled:
-    mandatory: true
-    type: double
-    doc: Threshold of distance traveled to create a new frame [m].
+    _mandatory: true
+    _type: double
+    _doc: Threshold of distance traveled to create a new frame [m].
   angle_turned:
-    mandatory: true
-    type: double
-    doc: Threshold of angle turned to create a new frame [rad].
+    _mandatory: true
+    _type: double
+    _doc: Threshold of angle turned to create a new frame [rad].
 unmeasured_perturbation_std:
-  mandatory: true
-  type: double
-  doc: Noise (standard deviation) of the integrated movement in the not observed directions.
\ No newline at end of file
+  _mandatory: true
+  _type: double
+  _doc: Noise (standard deviation) of the integrated movement in the not observed directions.
\ No newline at end of file

schema/processor/ProcessorOdom2d.schema

 follow: ProcessorMotion.schema
 keyframe_vote:
   cov_det:
-    mandatory: true
-    type: double
-    doc: The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe.
\ No newline at end of file
+    _mandatory: true
+    _type: double
+    _doc: The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe.
\ No newline at end of file

schema/processor/ProcessorSequence.schema

 follow: ProcessorBase.schema
 
-type:
-  mandatory: true
-  type: string
-  doc: The processor's class name.
+_type:
+  _mandatory: true
+  _type: string
+  _doc: The processor's class name.
 
 plugin:
-  mandatory: true
-  type: string
-  doc: The name of the wolf plugin where the processor is implemented.
\ No newline at end of file
+  _mandatory: true
+  _type: string
+  _doc: The name of the wolf plugin where the processor is implemented.
\ No newline at end of file

schema/processor/ProcessorTracker.schema

 follow: ProcessorBase.schema
 keyframe_vote:
   min_features_for_keyframe:
-    mandatory: true
-    type: unsigned int
-    doc: Minimum number of features to vote for keyframe.
+    _mandatory: true
+    _type: unsigned int
+    _doc: Minimum number of features to vote for keyframe.
 
 max_new_features:
-  mandatory: true
-  type: int
-  doc: Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.)
+  _mandatory: true
+  _type: int
+  _doc: Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.)

schema/sensor/SensorBase.schema

 name:
-  mandatory: true
-  type: string
-  doc: The sensor's name. It has to be unique.
\ No newline at end of file
+  _mandatory: true
+  _type: string
+  _doc: The sensor's name. It has to be unique.
\ No newline at end of file

schema/sensor/SensorDiffDrive.schema

 follow: SensorBase.schema
 
-type:
-  mandatory: false
-  type: string
-  default: SensorDiffDrive
-  options: [SensorDiffDrive]
-  doc: The sensor's class name.
+_type:
+  _mandatory: false
+  _type: string
+  _default: SensorDiffDrive
+  _options: [SensorDiffDrive]
+  _doc: The sensor's class name.
 
 plugin:
-  mandatory: false
-  type: string
-  default: core
-  options: [core]
-  doc: The name of the wolf plugin where the sensor is implemented.
+  _mandatory: false
+  _type: string
+  _default: core
+  _options: [core]
+  _doc: The name of the wolf plugin where the sensor is implemented.
 
 ticks_per_wheel_revolution:
-  mandatory: true
-  type: double
-  doc: ratio of displacement variance to displacement, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 ticks_std_factor:
-  mandatory: true
-  type: double
-  doc: ratio of displacement variance to rotation, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 states:
   P:
@@ -31,16 +31,16 @@ states:
     follow: SpecStateSensorO2d.schema
   I:
     follow: SpecStateSensor.schema
-    type:
-      type: string
-      mandatory: false
-      default: StateParams3
-      options: [StateParams3]
-      doc: The type of the SensorDiffDrive intrinsic parameters is StateParam3.
+    _type:
+      _type: string
+      _mandatory: false
+      _default: StateParams3
+      _options: [StateParams3]
+      _doc: The type of the SensorDiffDrive intrinsic parameters is StateParam3.
     state:
-      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)
+      _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)
 
 
 

schema/sensor/SensorOdom2d.schema

 follow: SensorBase.schema
 
 k_disp_to_disp:
-  mandatory: true
-  type: double
-  doc: ratio of displacement variance to displacement, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 k_disp_to_rot:
-  mandatory: true
-  type: double
-  doc: ratio of displacement variance to rotation, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 k_rot_to_rot:
-  mandatory: true
-  type: double
-  doc: ratio of rotation variance to rotation, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: ratio of rotation variance to rotation, for odometry noise calculation.
 
 min_disp_var:
-  mandatory: true
-  type: double
-  doc: minimum displacement variance, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: minimum displacement variance, for odometry noise calculation.
 
 min_rot_var:
-  mandatory: true
-  type: double
-  doc: minimum rotation variance, for odometry noise calculation.
+  _mandatory: true
+  _type: double
+  _doc: minimum rotation variance, for odometry noise calculation.
 
 states:
   P: