diff --git a/demos/hello_wolf/schema/SensorRangeBearing.schema b/demos/hello_wolf/schema/SensorRangeBearing.schema
index bc40eef77ba6a6a4cdb0f640c4bb1f19ad0531c1..c6ce2e0f5658f85d4b85a8c2d813e890d9fae642 100644
--- a/demos/hello_wolf/schema/SensorRangeBearing.schema
+++ b/demos/hello_wolf/schema/SensorRangeBearing.schema
@@ -1,16 +1,16 @@
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:
diff --git a/schema/map/MapBase.schema b/schema/map/MapBase.schema
index 0b8f4dafc65e225cee0edd5e21910e2cec3585dd..f48322117619676fc53152400f54e373ab510cd7 100644
--- a/schema/map/MapBase.schema
+++ b/schema/map/MapBase.schema
@@ -1,10 +1,10 @@
-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
diff --git a/schema/none.schema b/schema/none.schema
index d3ba158a270402b0a8c639a1ccc661ab5e6178e7..65b0480249ed74dd5eaf9464dd860091556c9ed0 100644
--- a/schema/none.schema
+++ b/schema/none.schema
@@ -1,6 +1,6 @@
-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
diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema
index 3355230bc4a9535f7ef3873b89ab80b816d3f8fe..effd887627b2f151d5a7bdd3ba77544584ac3ada 100644
--- a/schema/problem/Problem.schema
+++ b/schema/problem/Problem.schema
@@ -1,26 +1,26 @@
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.
diff --git a/schema/problem/SpecState.schema b/schema/problem/SpecState.schema
index e3e9a75493f259a1a013f3dbcfc43d2ec4e7bf64..59db3fe7ff25cc9569a1f9553daecf03a0c50162 100644
--- a/schema/problem/SpecState.schema
+++ b/schema/problem/SpecState.schema
@@ -1,18 +1,18 @@
-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
diff --git a/schema/problem/SpecStateO2d.schema b/schema/problem/SpecStateO2d.schema
index f578fde61cc2f354e0670ca3ba6805ff569ada90..c74b052d949ce62da46bf70b907072ff1a93a81b 100644
--- a/schema/problem/SpecStateO2d.schema
+++ b/schema/problem/SpecStateO2d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/problem/SpecStateO3d.schema b/schema/problem/SpecStateO3d.schema
index 803c6bed7c5c42088d813d960c9217c640ad8979..c3a71a80cae334e8181306496fd254f014c1c47f 100644
--- a/schema/problem/SpecStateO3d.schema
+++ b/schema/problem/SpecStateO3d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/problem/SpecStateP2d.schema b/schema/problem/SpecStateP2d.schema
index a6465f8452f0ab54aa4345e44c36f615fe62cdb2..43429fa085dbdc215a776ae123193ee6a6fac0e0 100644
--- a/schema/problem/SpecStateP2d.schema
+++ b/schema/problem/SpecStateP2d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/problem/SpecStateP3d.schema b/schema/problem/SpecStateP3d.schema
index e7c9d9509c251403b618ac19f36e1a9d1ea89c51..c376e118a704d799ddf30cde8fc024a139ce847c 100644
--- a/schema/problem/SpecStateP3d.schema
+++ b/schema/problem/SpecStateP3d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/problem/SpecStateV2d.schema b/schema/problem/SpecStateV2d.schema
index 9ff77d35de43558acf1983c6f29b957539a1e4a4..010990f14ef5e161c4f0938e9d673a0bf10a3748 100644
--- a/schema/problem/SpecStateV2d.schema
+++ b/schema/problem/SpecStateV2d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/problem/SpecStateV3d.schema b/schema/problem/SpecStateV3d.schema
index 99d34bf559f54a5509bed93ff37cd3bc6c455203..1dcf3d48eabb2429c4e625820585c8fdce6c1b82 100644
--- a/schema/problem/SpecStateV3d.schema
+++ b/schema/problem/SpecStateV3d.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/processor/MotionProvider.schema b/schema/processor/MotionProvider.schema
index eaa5d84cc4a70c6171aab67cf2f2d839de1aa923..7ee7acbd63ee0956439479c418d65e6f1b447f9e 100644
--- a/schema/processor/MotionProvider.schema
+++ b/schema/processor/MotionProvider.schema
@@ -1,8 +1,8 @@
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
diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema
index c7b855d90e2df428acb441b3d57c0399575e4293..ccab8c38c48c339bbb9a56244a11d724a54102bb 100644
--- a/schema/processor/ProcessorBase.schema
+++ b/schema/processor/ProcessorBase.schema
@@ -1,20 +1,20 @@
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
diff --git a/schema/processor/ProcessorMotion.schema b/schema/processor/ProcessorMotion.schema
index a6d9f6baec4b19008860032106b72a36bc8b1d86..3a55a522ba7bbd5d2e3f7a38c9133813be03c077 100644
--- a/schema/processor/ProcessorMotion.schema
+++ b/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
diff --git a/schema/processor/ProcessorOdom2d.schema b/schema/processor/ProcessorOdom2d.schema
index 35918ef4e980ce5d726cf1f83349ee51710277f1..ff361291ac3d45d95ae17c73af094f7f0a64554e 100644
--- a/schema/processor/ProcessorOdom2d.schema
+++ b/schema/processor/ProcessorOdom2d.schema
@@ -1,6 +1,6 @@
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
diff --git a/schema/processor/ProcessorSequence.schema b/schema/processor/ProcessorSequence.schema
index 642aec847aa7317ae514593a46f7e5e04868c278..2e2c25c8a08b3a1f1d4960b34af4eab7cebadfde 100644
--- a/schema/processor/ProcessorSequence.schema
+++ b/schema/processor/ProcessorSequence.schema
@@ -1,11 +1,11 @@
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
diff --git a/schema/processor/ProcessorTracker.schema b/schema/processor/ProcessorTracker.schema
index 6ec2f90d2e712f7bdac064847514b103443f73be..0c60a6c2ac417d0df0eaa68594aa30adfe355677 100644
--- a/schema/processor/ProcessorTracker.schema
+++ b/schema/processor/ProcessorTracker.schema
@@ -1,11 +1,11 @@
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.)
diff --git a/schema/sensor/SensorBase.schema b/schema/sensor/SensorBase.schema
index d6a3693568b7f7811dd81443391869a088fe7af9..de1f6dbaa73829d921f4fff2113af2b0a15e9e9d 100644
--- a/schema/sensor/SensorBase.schema
+++ b/schema/sensor/SensorBase.schema
@@ -1,4 +1,4 @@
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
diff --git a/schema/sensor/SensorDiffDrive.schema b/schema/sensor/SensorDiffDrive.schema
index 3454b2f3d1af807541c85bda9fe07d2f9dd0dbb5..76bb2fbc8ff38107c74438e9e5e1623fe59a42b2 100644
--- a/schema/sensor/SensorDiffDrive.schema
+++ b/schema/sensor/SensorDiffDrive.schema
@@ -1,28 +1,28 @@
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)
diff --git a/schema/sensor/SensorOdom2d.schema b/schema/sensor/SensorOdom2d.schema
index 317355b62db745d0cf51b0fa178f76f75e54e1c5..dd89f77c9d3d523a08c9ca0b877f2e81ae556b56 100644
--- a/schema/sensor/SensorOdom2d.schema
+++ b/schema/sensor/SensorOdom2d.schema
@@ -1,29 +1,29 @@
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:
diff --git a/schema/sensor/SensorOdom3d.schema b/schema/sensor/SensorOdom3d.schema
index a5107c0945654d8424bcfa830f4c9f209acdb00e..b8fd02f4fb9aa765637f260a7f0e62b0c4c9732f 100644
--- a/schema/sensor/SensorOdom3d.schema
+++ b/schema/sensor/SensorOdom3d.schema
@@ -1,43 +1,43 @@
follow: SensorBase.schema
-type:
- mandatory: false
- type: string
- default: SensorOdom3d
- options: [SensorOdom3d]
- doc: The sensor's class name.
+_type:
+ _mandatory: false
+ _type: string
+ _default: SensorOdom3d
+ _options: [SensorOdom3d]
+ _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.
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:
diff --git a/schema/sensor/SensorPose2d.schema b/schema/sensor/SensorPose2d.schema
index 8122490cc66e34a97d287fd83698d33ad007fd89..3e8557e3737c1541e0a6731dcef12aa0e5db3732 100644
--- a/schema/sensor/SensorPose2d.schema
+++ b/schema/sensor/SensorPose2d.schema
@@ -1,14 +1,14 @@
follow: SensorBase.schema
std_p:
- mandatory: true
- type: double
- doc: standard deviation of the position measurement.
+ _mandatory: true
+ _type: double
+ _doc: standard deviation of the position measurement.
std_o:
- mandatory: true
- type: double
- doc: standard deviation of the orientation measurement.
+ _mandatory: true
+ _type: double
+ _doc: standard deviation of the orientation measurement.
states:
P:
diff --git a/schema/sensor/SensorPose3d.schema b/schema/sensor/SensorPose3d.schema
index e68b9aa30fa7ee2c4c05b534281e0b7319ea6531..f00a9ef433301bff8b49835a7a03e5affac8f045 100644
--- a/schema/sensor/SensorPose3d.schema
+++ b/schema/sensor/SensorPose3d.schema
@@ -1,14 +1,14 @@
follow: SensorBase.schema
std_p:
- mandatory: true
- type: double
- doc: standard deviation of the position measurement.
+ _mandatory: true
+ _type: double
+ _doc: standard deviation of the position measurement.
std_o:
- mandatory: true
- type: double
- doc: standard deviation of the orientation measurement.
+ _mandatory: true
+ _type: double
+ _doc: standard deviation of the orientation measurement.
states:
P:
diff --git a/schema/sensor/SensorSequence.schema b/schema/sensor/SensorSequence.schema
index 30e98123029aef4d6cd534edda954a8179253ad6..79e3e4115a074ef04d26ad9fefba37bd8e2f199e 100644
--- a/schema/sensor/SensorSequence.schema
+++ b/schema/sensor/SensorSequence.schema
@@ -1,11 +1,11 @@
follow: SensorBase.schema
-type:
- mandatory: true
- type: string
- doc: The sensor's class name.
+_type:
+ _mandatory: true
+ _type: string
+ _doc: The sensor's class name.
plugin:
- mandatory: true
- type: string
- doc: The name of the wolf plugin where the sensor is implemented.
\ No newline at end of file
+ _mandatory: true
+ _type: string
+ _doc: The name of the wolf plugin where the sensor is implemented.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensor.schema b/schema/sensor/SpecStateSensor.schema
index 0dc92906d849da036764541b1c8c1c7110e79358..870d1f5457b7c45f48643fecfcb3be7af902c2d7 100644
--- a/schema/sensor/SpecStateSensor.schema
+++ b/schema/sensor/SpecStateSensor.schema
@@ -1,10 +1,10 @@
follow: SpecState.schema
dynamic:
- type: bool
- mandatory: true
- doc: If the state is dynamic, i.e. it changes along time.
+ _type: bool
+ _mandatory: true
+ _doc: If the state is dynamic, i.e. it changes along time.
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
+ _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
diff --git a/schema/sensor/SpecStateSensorO2d.schema b/schema/sensor/SpecStateSensorO2d.schema
index b0a05bce726292cd42d6252ffbddd6c32116cd55..2b3c6e8039e36b388b8a4ac38570a136e67f9114 100644
--- a/schema/sensor/SpecStateSensorO2d.schema
+++ b/schema/sensor/SpecStateSensorO2d.schema
@@ -1,19 +1,19 @@
follow: SpecStateSensor.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
+ _type: Vector1d
+ _mandatory: true
+ _doc: A vector containing the state values
noise_std:
- type: Vector1d
- 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.
+ _type: Vector1d
+ _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: Vector1d
- 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.
\ No newline at end of file
+ _type: Vector1d
+ _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.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorO3d.schema b/schema/sensor/SpecStateSensorO3d.schema
index 7937ba035f7647dacf4654ed9e37b8f3c7e7e211..df61ffd38c0508dd0f0a5b6aedc7f357332dfbc7 100644
--- a/schema/sensor/SpecStateSensorO3d.schema
+++ b/schema/sensor/SpecStateSensorO3d.schema
@@ -1,19 +1,19 @@
follow: SpecStateSensor.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)
+ _type: Vector4d
+ _mandatory: true
+ _doc: A vector containing the state values. It should be a quaternion (i.e. four values and normalized)
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.
+ _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.
\ No newline at end of file
+ _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.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorP2d.schema b/schema/sensor/SpecStateSensorP2d.schema
index 006741b47f899016ad13c04bc8790f445862c49d..673aa3176a17ae00384233c41a4e4b5355e6afb6 100644
--- a/schema/sensor/SpecStateSensorP2d.schema
+++ b/schema/sensor/SpecStateSensorP2d.schema
@@ -1,19 +1,19 @@
follow: SpecStateSensor.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
+ _type: Vector2d
+ _mandatory: true
+ _doc: A vector containing the state values
noise_std:
- type: Vector2d
- 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.
+ _type: Vector2d
+ _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: Vector2d
- 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.
\ No newline at end of file
+ _type: Vector2d
+ _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.
\ No newline at end of file
diff --git a/schema/sensor/SpecStateSensorP3d.schema b/schema/sensor/SpecStateSensorP3d.schema
index 9fa39264ee27687966a3c53d63322468a4e1e350..e1784ae9ca4e3d4cc9e4aa43784977b6238799e2 100644
--- a/schema/sensor/SpecStateSensorP3d.schema
+++ b/schema/sensor/SpecStateSensorP3d.schema
@@ -1,19 +1,19 @@
follow: SpecStateSensor.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
+ _type: Vector3d
+ _mandatory: true
+ _doc: A vector containing the state 'P' values
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.
+ _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.
\ No newline at end of file
+ _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.
\ No newline at end of file
diff --git a/schema/solver/SolverCeres.schema b/schema/solver/SolverCeres.schema
index 3a956396f3f14fe9786af18d2d7edbb3b7a466df..019470bf39210972744602c5ad9992cbcfa9bc0a 100644
--- a/schema/solver/SolverCeres.schema
+++ b/schema/solver/SolverCeres.schema
@@ -1,42 +1,42 @@
follow: SolverManager.schema
minimizer:
- mandatory: true
- type: string
- options: [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs]
- doc: Type of minimizer.
+ _mandatory: true
+ _type: string
+ _options: [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs]
+ _doc: Type of minimizer.
interrupt_on_problem_change:
- mandatory: true
- type: bool
- doc: If the solver has to interrupted each time the problem changes to rebuild the problem.
+ _mandatory: true
+ _type: bool
+ _doc: If the solver has to interrupted each time the problem changes to rebuild the problem.
min_num_iterations:
- mandatory: false
- default: 0
- type: unsigned int
- doc: Amount of solver iterations during which the solver cannot be interrupted (used in interrupt_on_problem_change == true).
+ _mandatory: false
+ _default: 0
+ _type: unsigned int
+ _doc: Amount of solver iterations during which the solver cannot be interrupted (used in interrupt_on_problem_change == true).
max_num_iterations:
- mandatory: true
- type: unsigned int
- doc: Maximum amount of solver iterations. If the solver didn't converge after this amount of iterations, it stops anyway.
+ _mandatory: true
+ _type: unsigned int
+ _doc: Maximum amount of solver iterations. If the solver didn't converge after this amount of iterations, it stops anyway.
function_tolerance:
- mandatory: true
- type: double
- doc: "Function tolerance. Convergence criterion. Typical value: 1e-8"
+ _mandatory: true
+ _type: double
+ _doc: "Function tolerance. Convergence criterion. Typical value: 1e-8"
gradient_tolerance:
- mandatory: true
- type: double
- doc: "Gradient tolerance. Convergence criterion. Typical value: 1e-8"
+ _mandatory: true
+ _type: double
+ _doc: "Gradient tolerance. Convergence criterion. Typical value: 1e-8"
n_threads:
- mandatory: true
- type: unsigned int
- options: [1, 2, 3, 4]
- doc: Amount of threads used by ceres.
+ _mandatory: true
+ _type: unsigned int
+ _options: [1, 2, 3, 4]
+ _doc: Amount of threads used by ceres.
use_nonmonotonic_steps:
- mandatory: false
- default: false
- type: bool
- doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
+ _mandatory: false
+ _default: false
+ _type: bool
+ _doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
max_consecutive_nonmonotonic_steps:
- mandatory: false
- default: 0
- type: unsigned int
- doc: Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
\ No newline at end of file
+ _mandatory: false
+ _default: 0
+ _type: unsigned int
+ _doc: Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
\ No newline at end of file
diff --git a/schema/solver/SolverManager.schema b/schema/solver/SolverManager.schema
index e79428bd0c28ca8511a61ac26d6d432f17d3d86f..a2395dbaeeb348fe0c01fb2bc44235867f79d215 100644
--- a/schema/solver/SolverManager.schema
+++ b/schema/solver/SolverManager.schema
@@ -1,23 +1,23 @@
period:
- mandatory: true
- type: double
- doc: Period of the solver thread.
+ _mandatory: true
+ _type: double
+ _doc: Period of the solver thread.
verbose:
- mandatory: true
- type: int
- options: [0, 1, 2]
- doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report."
+ _mandatory: true
+ _type: int
+ _options: [0, 1, 2]
+ _doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report."
compute_cov:
- mandatory: true
- type: bool
- doc: If the solver has to compute any covariance matrix block.
+ _mandatory: true
+ _type: bool
+ _doc: If the solver has to compute any covariance matrix block.
cov_enum:
- mandatory: false
- default: 0
- type: int
- options: [0, 1, 2, 3, 4, 5]
- doc: "Which covariance matrix blocks have to be computed. 0: All blocks and all cross-covariances. 1: All marginals. 2: Marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks. 3: Last frame P and V. 4: Last frame P, O, V and T. 5: Last frame P and T."
+ _mandatory: false
+ _default: 0
+ _type: int
+ _options: [0, 1, 2, 3, 4, 5]
+ _doc: "Which covariance matrix blocks have to be computed. 0: All blocks and all cross-covariances. 1: All marginals. 2: Marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks. 3: Last frame P and V. 4: Last frame P, O, V and T. 5: Last frame P and T."
cov_period:
- mandatory: true
- type: double
- doc: Period of the covariance computation.
\ No newline at end of file
+ _mandatory: true
+ _type: double
+ _doc: Period of the covariance computation.
\ No newline at end of file
diff --git a/schema/tree_manager/TreeManagerBase.schema b/schema/tree_manager/TreeManagerBase.schema
index 0f863de9b6d092d19e4ea0a657072e2d85675a10..5ddf5a8b0f519e90c1244cf30ebca9eb5831c64e 100644
--- a/schema/tree_manager/TreeManagerBase.schema
+++ b/schema/tree_manager/TreeManagerBase.schema
@@ -1,4 +1,4 @@
-type:
- mandatory: true
- type: string
- doc: Type of the TreeManager. To keep all frames, use "none".
\ No newline at end of file
+_type:
+ _mandatory: true
+ _type: string
+ _doc: Type of the TreeManager. To keep all frames, use "none".
\ No newline at end of file
diff --git a/schema/tree_manager/TreeManagerSlidingWindow.schema b/schema/tree_manager/TreeManagerSlidingWindow.schema
index 9ed1f5097548cfaeca94cc263b7b576f365cc261..108b474e55fce8659bb9305b51106310bb1e1a2c 100644
--- a/schema/tree_manager/TreeManagerSlidingWindow.schema
+++ b/schema/tree_manager/TreeManagerSlidingWindow.schema
@@ -1,21 +1,21 @@
follow: TreeManagerBase.schema
-type:
- mandatory: true
- type: string
- doc: Type of the TreeManager. To keep all frames, use "none".
+_type:
+ _mandatory: true
+ _type: string
+ _doc: Type of the TreeManager. To keep all frames, use "none".
n_frames:
- mandatory: true
- type: unsigned int
- doc: Total number of frames of the sliding window.
+ _mandatory: true
+ _type: unsigned int
+ _doc: Total number of frames of the sliding window.
n_fix_first_frames:
- mandatory: true
- type: unsigned int
- doc: Amount of frames fixed at the begining of the sliding window.
+ _mandatory: true
+ _type: unsigned int
+ _doc: Amount of frames fixed at the begining of the sliding window.
viral_remove_empty_parent:
- mandatory: true
- type: bool
- doc: If the other wolf nodes (landmarks) have to be removed when removing frames. Otherwise, they will remain alive but unconstrained.
+ _mandatory: true
+ _type: bool
+ _doc: If the other wolf nodes (landmarks) have to be removed when removing frames. Otherwise, they will remain alive but unconstrained.
diff --git a/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema b/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
index dbce64d140ee88aa9456fadbd7f40206b206bbd3..43b22457f2ddd238a7ba0fb7dfd6adac3222a2d8 100644
--- a/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
+++ b/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema
@@ -1,11 +1,11 @@
follow: TreeManagerSlidingWindow.schema
n_frames_recent:
- mandatory: true
- type: unsigned int
- doc: Amount of frames kept in the recent part of the sliding window.
+ _mandatory: true
+ _type: unsigned int
+ _doc: Amount of frames kept in the recent part of the sliding window.
rate_old_frames:
- mandatory: true
- type: unsigned int
- doc: Rate of keyframes that are kept from the recent part to the sparse part of the sliding window. One of each 'rate_old_frames' will be kept.
\ No newline at end of file
+ _mandatory: true
+ _type: unsigned int
+ _doc: Rate of keyframes that are kept from the recent part to the sparse part of the sliding window. One of each 'rate_old_frames' will be kept.
\ No newline at end of file
diff --git a/test/dummy/ProcessorTrackerFeatureDummy.schema b/test/dummy/ProcessorTrackerFeatureDummy.schema
index f5dcdeed9b298aa72b768b4d27e218152d64bb39..e70a21d59e856d27be8a58a7c423771483ffe31d 100644
--- a/test/dummy/ProcessorTrackerFeatureDummy.schema
+++ b/test/dummy/ProcessorTrackerFeatureDummy.schema
@@ -1,6 +1,6 @@
follow: ProcessorTrackerFeature.schema
n_tracks_lost:
- mandatory: true
- type: unsigned int
+ _mandatory: true
+ _type: unsigned int
yaml_type: scalar
- doc: dummy parameter.
\ No newline at end of file
+ _doc: dummy parameter.
\ No newline at end of file
diff --git a/test/dummy/SensorDummy2d.schema b/test/dummy/SensorDummy2d.schema
index c45f3d5b3fd93ee906ee354e97566559d1ddde0f..43577b1b1655db8b8472dd67c67ff19f137611a5 100644
--- a/test/dummy/SensorDummy2d.schema
+++ b/test/dummy/SensorDummy2d.schema
@@ -5,12 +5,12 @@ states:
O:
follow: SpecStateSensorO2d.schema
noise_p_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in p.
+ _doc: noise std in p.
noise_o_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in p.
\ No newline at end of file
+ _doc: noise std in p.
\ No newline at end of file
diff --git a/test/dummy/SensorDummy3d.schema b/test/dummy/SensorDummy3d.schema
index 588905e62bf8e21ac07d140caa03450fc4884bff..a93e103580c7b490915f312e3deedc4ccabfcae2 100644
--- a/test/dummy/SensorDummy3d.schema
+++ b/test/dummy/SensorDummy3d.schema
@@ -5,12 +5,12 @@ states:
O:
follow: SpecStateSensorO3d.schema
noise_p_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in P.
+ _doc: noise std in P.
noise_o_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in O.
\ No newline at end of file
+ _doc: noise std in O.
\ No newline at end of file
diff --git a/test/dummy/SensorDummyPoia3d.schema b/test/dummy/SensorDummyPoia3d.schema
index a36247c84db2706d0d4ebfa93f036973120eed48..4ccad67ae85cba230c1fbcc99bef9fd861df529c 100644
--- a/test/dummy/SensorDummyPoia3d.schema
+++ b/test/dummy/SensorDummyPoia3d.schema
@@ -6,39 +6,39 @@ states:
follow: SpecStateSensorO3d.schema
I:
follow: SpecStateSensor.schema
- type:
- type: string
+ _type:
+ _type: string
yaml_type: scalar
- mandatory: false
- default: StateParams5
- options: [StateParams5]
- doc: The derived type of the state in 'I'
+ _mandatory: false
+ _default: StateParams5
+ _options: [StateParams5]
+ _doc: The derived type of the state in 'I'
state:
- type: Vector5d
+ _type: Vector5d
yaml_type: scalar
- mandatory: true
- doc: A vector containing the state 'I' values
+ _mandatory: true
+ _doc: A vector containing the state 'I' values
A:
follow: SpecStateSensor.schema
- type:
- type: string
+ _type:
+ _type: string
yaml_type: scalar
- mandatory: false
- default: StateQuaternion
- options: [StateQuaternion]
- doc: The derived type of the state in 'A'
+ _mandatory: false
+ _default: StateQuaternion
+ _options: [StateQuaternion]
+ _doc: The derived type of the state in 'A'
state:
- type: Vector4d
+ _type: Vector4d
yaml_type: scalar
- mandatory: true
- doc: A vector containing the state 'A' values
+ _mandatory: true
+ _doc: A vector containing the state 'A' values
noise_p_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in p.
+ _doc: noise std in p.
noise_o_std:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: noise std in o.
\ No newline at end of file
+ _doc: noise std in o.
\ No newline at end of file
diff --git a/test/dummy/TreeManagerDummy.schema b/test/dummy/TreeManagerDummy.schema
index 32f690f192bb96f341919b8e495cfe4a71d91557..8d2301cd916c0a058148d3e26c50ba13523e7159 100644
--- a/test/dummy/TreeManagerDummy.schema
+++ b/test/dummy/TreeManagerDummy.schema
@@ -1,6 +1,6 @@
follow: TreeManagerBase.schema
toy_param:
- mandatory: true
- type: double
+ _mandatory: true
+ _type: double
yaml_type: scalar
- doc: a toy parameter.
\ No newline at end of file
+ _doc: a toy parameter.
\ No newline at end of file