diff --git a/schema/Prior.schema b/schema/Prior.schema
index 8cf11e6341a115101bc245bd5f2b713313160a67..5556861da585a34130950e32939dcb797b192344 100644
--- a/schema/Prior.schema
+++ b/schema/Prior.schema
@@ -12,10 +12,7 @@ mode:
type: string
yaml_type: scalar
mandatory: true
- options:
- - "fix"
- - "factor"
- - "initial_guess"
+ 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
dynamic:
type: bool
diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema
index 587f7bdb1d4bd005930e6650ea37c01bcaaa3ba1..12519e7b93eb693dcc4d0eb8d5f4c91fb960d414 100644
--- a/schema/problem/Problem.schema
+++ b/schema/problem/Problem.schema
@@ -1,6 +1,7 @@
problem:
tree_manager:
type: derived
+ base: TreeManagerBase.schema
yaml_type: scalar
mandatory: true
doc: Tree manager parameters
@@ -18,18 +19,19 @@ problem:
#prior:
map:
type: derived
+ base: Map.schema
yaml_type: scalar
mandatory: false
doc: The map used in the wolf problem.
-solver:
- follow: Solver.schema
sensors:
yaml_type: sequence
type: derived
+ base: SensorSequence.schema
mandatory: true
doc: A sequence of all the sensors.
processors:
yaml_type: sequence
type: derived
+ base: ProcessorSequence.schema
mandatory: true
doc: A sequence of all the processors.
diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema
index d5dcf369411efd0fea86f59b845cd7afe8758fc3..0d33f7357bd2333494ff59c763ff3530c9d8da77 100644
--- a/schema/processor/ProcessorBase.schema
+++ b/schema/processor/ProcessorBase.schema
@@ -4,18 +4,6 @@ name:
yaml_type: scalar
doc: The processor's name. It has to be unique.
-type:
- mandatory: true
- type: string
- yaml_type: scalar
- doc: The processor's class name.
-
-plugin:
- mandatory: true
- type: string
- yaml_type: scalar
- doc: The name of the wolf plugin where the processor is implemented.
-
time_tolerance:
mandatory: true
type: double
diff --git a/schema/processor/ProcessorSequence.schema b/schema/processor/ProcessorSequence.schema
new file mode 100644
index 0000000000000000000000000000000000000000..a9e6b75128229de8af68304e1b0811877ead4e94
--- /dev/null
+++ b/schema/processor/ProcessorSequence.schema
@@ -0,0 +1,13 @@
+follow: ProcessorBase.schema
+
+type:
+ mandatory: true
+ type: string
+ yaml_type: scalar
+ doc: The processor's class name.
+
+plugin:
+ mandatory: true
+ type: string
+ yaml_type: scalar
+ doc: The name of the wolf plugin where the processor is implemented.
\ No newline at end of file
diff --git a/schema/sensor/SensorBase.schema b/schema/sensor/SensorBase.schema
index 07ebae6f5a36b79f3e18abbcbc41e932a468ded6..f06ab44a7ab230fa3a8a2a249223a3ab15e28647 100644
--- a/schema/sensor/SensorBase.schema
+++ b/schema/sensor/SensorBase.schema
@@ -2,16 +2,4 @@ name:
mandatory: true
type: string
yaml_type: scalar
- doc: The sensor's name. It has to be unique.
-
-type:
- mandatory: true
- type: string
- yaml_type: scalar
- doc: The sensor's class name.
-
-plugin:
- mandatory: true
- type: string
- yaml_type: scalar
- doc: The name of the wolf plugin where the sensor is implemented.
\ No newline at end of file
+ doc: The sensor's name. It has to be unique.
\ No newline at end of file
diff --git a/schema/sensor/SensorSequence.schema b/schema/sensor/SensorSequence.schema
new file mode 100644
index 0000000000000000000000000000000000000000..832d665f270897233d7f4cfe0d529ea9c911740e
--- /dev/null
+++ b/schema/sensor/SensorSequence.schema
@@ -0,0 +1,13 @@
+follow: SensorBase.schema
+
+type:
+ mandatory: true
+ type: string
+ yaml_type: scalar
+ doc: The sensor's class name.
+
+plugin:
+ mandatory: true
+ type: string
+ yaml_type: scalar
+ doc: The name of the wolf plugin where the sensor is implemented.
\ No newline at end of file
diff --git a/schema/solver/SolverCeres.schema b/schema/solver/SolverCeres.schema
index 81663b67834840d0c91613699d498f054d2fdb65..c262f81cbab2b13bb462380e3cdc30abcb0cb48c 100644
--- a/schema/solver/SolverCeres.schema
+++ b/schema/solver/SolverCeres.schema
@@ -25,18 +25,18 @@ function_tolerance:
mandatory: true
type: double
yaml_type: scalar
- doc: Function tolerance. Convergence criterion. Typical value: 1e-8
+ doc: "Function tolerance. Convergence criterion. Typical value: 1e-8"
gradient_tolerance:
mandatory: true
type: double
yaml_type: scalar
- doc: gradient tolerance. Convergence criterion. Typical value: 1e-8
+ doc: "Gradient tolerance. Convergence criterion. Typical value: 1e-8"
num_threads:
mandatory: true
type: unsigned int
options: [1, 2, 3, 4]
yaml_type: scalar
- doc: threads used by ceres.
+ doc: Amount of hreads used by ceres.
use_nonmonotonic_steps:
mandatory: false
default: false
diff --git a/schema/solver/SolverManager.schema b/schema/solver/SolverManager.schema
index 5386ee1aef1e8cf049eddfd8a8c3288634368c3d..0bb50994f2ae97685e8969ddef5a1ca6c857a764 100644
--- a/schema/solver/SolverManager.schema
+++ b/schema/solver/SolverManager.schema
@@ -8,7 +8,7 @@ verbose:
type: int
yaml_type: scalar
options: [0, 1, 2]
- doc: Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report.
+ doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report."
compute_cov:
mandatory: true
type: bool
@@ -20,7 +20,7 @@ cov_enum:
type: int
options: [0, 1, 2, 3, 4, 5]
yaml_type: scalar
- 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.
+ 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
diff --git a/schema/tree_manager/None.schema b/schema/tree_manager/None.schema
new file mode 100644
index 0000000000000000000000000000000000000000..355f0ebec57d032df08c916caf2f4e9cece9631b
--- /dev/null
+++ b/schema/tree_manager/None.schema
@@ -0,0 +1 @@
+follow: TreeManagerBase.schema
\ No newline at end of file
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 63b8a78f50f33d1f8e5a6046fe24e0731e45c960..d6f838d4fcf18bf385208c9bbf1c840667da6380 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -149,8 +149,12 @@ ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::ve
WOLF_INFO("Loading tree manager parameters");
YAML::Node tree_manager_node = problem_node["tree_manager"];
std::string tree_manager_type = tree_manager_node["type"].as<std::string>();
- problem->setTreeManager(FactoryTreeManager::create(tree_manager_type, tree_manager_node));
-
+ if (tree_manager_type != "none" and
+ tree_manager_type != "None" and
+ tree_manager_type != "NONE")
+ {
+ problem->setTreeManager(FactoryTreeManager::create(tree_manager_type, tree_manager_node));
+ }
// TODO: Prior -- first keyframe
// std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");
// assert((prior_mode == "nothing" || prior_mode == "initial_guess" || prior_mode == "fix" || prior_mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index ad07f30443ed9cb9049bdd656d288a9ca1ff6eb7..c2c6857f74bf9f266b1fe143530c67ef0d1fb404 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -214,6 +214,9 @@ wolf_add_gtest(gtest_tree_manager gtest_tree_manager.cpp)
# wolf_add_gtest(gtest_processor_tracker_landmark_dummy gtest_processor_tracker_landmark_dummy.cpp)
# target_link_libraries(gtest_processor_tracker_landmark_dummy PUBLIC dummy)
+# Schema test
+wolf_add_gtest(gtest_schema gtest_schema.cpp)
+
# # SensorDiffDriveSelfcalib class test
# wolf_add_gtest(gtest_sensor_diff_drive gtest_sensor_diff_drive.cpp)
diff --git a/test/gtest_schema.cpp b/test/gtest_schema.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7622f578d126980325b73f9cf8863e87aebe793f
--- /dev/null
+++ b/test/gtest_schema.cpp
@@ -0,0 +1,39 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "core/utils/utils_gtest.h"
+#include "core/internal/config.h"
+#include "yaml-schema-cpp/yaml_schema.hpp"
+
+using namespace yaml_schema_cpp;
+
+std::string wolf_root = _WOLF_ROOT_DIR;
+
+TEST(Schema, validate_all_schemas)
+{
+ ASSERT_TRUE(validateAllSchemas({wolf_root}));
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/test/yaml/params1.yaml b/test/yaml/params1.yaml
index 5e6431172cc2dc5acc9d5b1acfebe2f41ba0350e..142e0059b8d23480f796a2df21ed2945ad0d9235 100644
--- a/test/yaml/params1.yaml
+++ b/test/yaml/params1.yaml
@@ -1,41 +1,40 @@
-config:
- problem:
- frame_structure: "POV"
- dimension: 3
- sensors:
- -
- type: "ODOM 2d"
- name: "odom"
- plugin: "core"
- intrinsic:
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
- extrinsic:
- pose: [1,2,3]
- -
- type: "RANGE BEARING"
- name: "rb"
- plugin: "core"
- processors:
- -
- type: "ODOM 2d"
- name: "processor1"
- sensor_name: "odom"
- plugin: "core"
- -
- type: "RANGE BEARING"
- name: "rb_processor"
- sensor_name: "rb"
- plugin: "core"
- -
- type: "ODOM 2d"
- name: "my_proc_test"
- sensor_name: "odom"
- plugin: "core"
- follow: "params3.1.yaml"
- -
- type: "ODOM 3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- follow: "processor_odom_3d.yaml"
+problem:
+ frame_structure: "POV"
+ dimension: 3
+sensors:
+ -
+ type: "ODOM 2d"
+ name: "odom"
+ plugin: "core"
+ intrinsic:
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
+ extrinsic:
+ pose: [1,2,3]
+ -
+ type: "RANGE BEARING"
+ name: "rb"
+ plugin: "core"
+processors:
+ -
+ type: "ODOM 2d"
+ name: "processor1"
+ sensor_name: "odom"
+ plugin: "core"
+ -
+ type: "RANGE BEARING"
+ name: "rb_processor"
+ sensor_name: "rb"
+ plugin: "core"
+ -
+ type: "ODOM 2d"
+ name: "my_proc_test"
+ sensor_name: "odom"
+ plugin: "core"
+ follow: "params3.1.yaml"
+ -
+ type: "ODOM 3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ follow: "processor_odom_3d.yaml"
diff --git a/test/yaml/params2.yaml b/test/yaml/params2.yaml
index 1aadb76249e83db650ee7a3c2d55aa0b0bcce2af..38cfe68d2c4a46e2877a7d7b150c4e359f86183e 100644
--- a/test/yaml/params2.yaml
+++ b/test/yaml/params2.yaml
@@ -1,38 +1,37 @@
-config:
- problem:
- frame_structure: "POV"
- dimension: 2
- sensors:
- -
- type: "ODOM 2d"
- name: "odom"
- plugin: "core"
- intrinsic:
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
- extrinsic:
- pose: [1,2,3]
- -
- type: "RANGE BEARING"
- name: "rb"
- plugin: "core"
- processors:
- -
- type: "ODOM 2d"
- name: "processor1"
- sensor_name: "odom"
- plugin: "core"
- $mymap:
- k1: v1
- k2: v2
- k3: [v3,v4,v5]
- -
- type: "RANGE BEARING"
- name: "rb_processor"
- sensor_name: "rb"
- plugin: "core"
- -
- type: "ODOM 2d"
- name: "my_proc_test"
- sensor_name: "odom"
- plugin: "core"
+problem:
+ frame_structure: "POV"
+ dimension: 2
+sensors:
+ -
+ type: "ODOM 2d"
+ name: "odom"
+ plugin: "core"
+ intrinsic:
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
+ extrinsic:
+ pose: [1,2,3]
+ -
+ type: "RANGE BEARING"
+ name: "rb"
+ plugin: "core"
+processors:
+ -
+ type: "ODOM 2d"
+ name: "processor1"
+ sensor_name: "odom"
+ plugin: "core"
+ $mymap:
+ k1: v1
+ k2: v2
+ k3: [v3,v4,v5]
+ -
+ type: "RANGE BEARING"
+ name: "rb_processor"
+ sensor_name: "rb"
+ plugin: "core"
+ -
+ type: "ODOM 2d"
+ name: "my_proc_test"
+ sensor_name: "odom"
+ plugin: "core"
diff --git a/test/yaml/params3.yaml b/test/yaml/params3.yaml
index 14c6271cd071c4d6d2f525e3c1fc8d0341d052d0..168d0d47aae32ac6952827abd63e7a0b6ed7827f 100644
--- a/test/yaml/params3.yaml
+++ b/test/yaml/params3.yaml
@@ -1,22 +1,21 @@
-config:
- problem:
- frame_structure: "POV"
- dimension: 2
- sensors:
- -
- type: "ODOM 2d"
- name: "odom"
- plugin: "core"
- intrinsic:
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
- extrinsic:
- pose: [1,2,3]
- processors:
- -
- type: "ODOM 2d"
- name: "my_proc_test"
- plugin: "core"
- sensor_name: "odom"
- extern_params:
- follow: "params3.1.yaml"
\ No newline at end of file
+problem:
+ frame_structure: "POV"
+ dimension: 2
+sensors:
+ -
+ type: "ODOM 2d"
+ name: "odom"
+ plugin: "core"
+ intrinsic:
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
+ extrinsic:
+ pose: [1,2,3]
+processors:
+ -
+ type: "ODOM 2d"
+ name: "my_proc_test"
+ plugin: "core"
+ sensor_name: "odom"
+ extern_params:
+ follow: "params3.1.yaml"
\ No newline at end of file
diff --git a/test/yaml/params_basic.yaml b/test/yaml/params_basic.yaml
index 730381520149ef3d51a8428e4cf08778d869a4ea..2033bb4d09b6617722c3c427d8e2294892c399d9 100644
--- a/test/yaml/params_basic.yaml
+++ b/test/yaml/params_basic.yaml
@@ -1,35 +1,34 @@
-config:
- problem:
- dim: 2
-
- int_1: -3
- int_2: 0
- int_3: "6"
- uint_1: 2
- uint_2: 0
- uint_3: "6"
- double_1: 3.6
- double_2: -3
- double_3: "3.6"
- string_1: wolf
- string_2: "Wolf"
- bool_1: true
- bool_2: True
- bool_3: TRUE
- bool_4: "true"
- bool_5: false
- bool_6: False
- bool_7: FALSE
- bool_8: "false"
-
- int_wrong_1: 2.3
- int_wrong_2: "wolf"
- int_wrong_3: true
- uint_wrong_1: -2
- uint_wrong_2: 3.5
- uint_wrong_3: "wolf"
- uint_wrong_4: true
- double_wrong_1: "wolf"
- double_wrong_2: true
- bool_wrong: 1
+problem:
+ dim: 2
+int_1: -3
+int_2: 0
+int_3: "6"
+uint_1: 2
+uint_2: 0
+uint_3: "6"
+double_1: 3.6
+double_2: -3
+double_3: "3.6"
+string_1: wolf
+string_2: "Wolf"
+bool_1: true
+bool_2: True
+bool_3: TRUE
+bool_4: "true"
+bool_5: false
+bool_6: False
+bool_7: FALSE
+bool_8: "false"
+
+int_wrong_1: 2.3
+int_wrong_2: "wolf"
+int_wrong_3: true
+uint_wrong_1: -2
+uint_wrong_2: 3.5
+uint_wrong_3: "wolf"
+uint_wrong_4: true
+double_wrong_1: "wolf"
+double_wrong_2: true
+bool_wrong: 1
+
diff --git a/test/yaml/params_problem_autosetup.yaml b/test/yaml/params_problem_autosetup.yaml
index fdd5b2f39cb7d04fcf2a66b12e42e3dc546de6b2..4f8f593f23cbc301d8a49e96bcacb44f2221530e 100644
--- a/test/yaml/params_problem_autosetup.yaml
+++ b/test/yaml/params_problem_autosetup.yaml
@@ -1,56 +1,55 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "None"
- map:
- type: "MapBase"
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "None"
+map:
+ type: "MapBase"
+ plugin: "core"
+sensors:
+ -
+ type: "SensorOdom3d"
+ name: "odom"
plugin: "core"
- sensors:
- -
- type: "SensorOdom3d"
- name: "odom"
- plugin: "core"
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- states:
- P:
- state: [1,2,3]
- mode: fix
- dynamic: false
- O:
- state: [0,0,0,1]
- mode: "fix"
- dynamic: false
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: true
- max_time_span: 1.95 # seconds
- max_buff_length: 999 # motion deltas
- dist_traveled: 999 # meters
- angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.001
-
- state_getter: true
- state_priority: 1
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+ states:
+ P:
+ state: [1,2,3]
+ mode: fix
+ dynamic: false
+ O:
+ state: [0,0,0,1]
+ mode: "fix"
+ dynamic: false
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 1.95 # seconds
+ max_buff_length: 999 # motion deltas
+ dist_traveled: 999 # meters
+ angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.001
+
+ state_getter: true
+ state_priority: 1
diff --git a/test/yaml/params_problem_autosetup_no_map.yaml b/test/yaml/params_problem_autosetup_no_map.yaml
index 840d40624092f3cce3a779ed69a3aeeeb585dfbc..e7aa7c81b9c030259fead40bb72943b369e9964d 100644
--- a/test/yaml/params_problem_autosetup_no_map.yaml
+++ b/test/yaml/params_problem_autosetup_no_map.yaml
@@ -1,53 +1,52 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "None"
- sensors:
- -
- type: "SensorOdom3d"
- name: "odom"
- plugin: "core"
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- states:
- P:
- state: [1,2,3]
- mode: fix
- dynamic: false
- O:
- state: [0,0,0,1]
- mode: "fix"
- dynamic: false
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: true
- max_time_span: 1.95 # seconds
- max_buff_length: 999 # motion deltas
- dist_traveled: 999 # meters
- angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "None"
+sensors:
+ -
+ type: "SensorOdom3d"
+ name: "odom"
+ plugin: "core"
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+ states:
+ P:
+ state: [1,2,3]
+ mode: fix
+ dynamic: false
+ O:
+ state: [0,0,0,1]
+ mode: "fix"
+ dynamic: false
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 1.95 # seconds
+ max_buff_length: 999 # motion deltas
+ dist_traveled: 999 # meters
+ angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
diff --git a/test/yaml/params_problem_odom_3d.yaml b/test/yaml/params_problem_odom_3d.yaml
index 6c5ed47c2efc2afc3ba960b075e60cea73b58a73..b5e8c455bc8eafe7bc51020878240aadb42aaec5 100644
--- a/test/yaml/params_problem_odom_3d.yaml
+++ b/test/yaml/params_problem_odom_3d.yaml
@@ -1,46 +1,45 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "None"
- sensors:
- -
- type: "SensorOdom3d"
- name: "odom"
- plugin: "core"
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- extrinsic:
- pose: [1,2,3,0,0,0,1]
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: true
- max_time_span: 1.95 # seconds
- max_buff_length: 999 # motion deltas
- dist_traveled: 999 # meters
- angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "None"
+sensors:
+ -
+ type: "SensorOdom3d"
+ name: "odom"
+ plugin: "core"
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+ extrinsic:
+ pose: [1,2,3,0,0,0,1]
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 1.95 # seconds
+ max_buff_length: 999 # motion deltas
+ dist_traveled: 999 # meters
+ angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml
index 2cc4c231e5a282fb1742c18cc629b739985ff647..a51cf0355f324260a077161b44c583767b8f246e 100644
--- a/test/yaml/params_tree_manager1.yaml
+++ b/test/yaml/params_tree_manager1.yaml
@@ -1,58 +1,57 @@
-config:
- problem:
- frame_structure: "POV"
- dimension: 3
- prior:
- mode: "factor"
- # state: [0,0,0,0,0,0,1,0,0,0]
- # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- V: [0,0,0]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- V: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- follow: "tree_manager_dummy.yaml"
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: false
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 0.5 # meters
- angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
-
+problem:
+ frame_structure: "POV"
+ dimension: 3
+ prior:
+ mode: "factor"
+ # state: [0,0,0,0,0,0,1,0,0,0]
+ # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ V: [0,0,0]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ V: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ follow: "tree_manager_dummy.yaml"
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
+
diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml
index 555052c63d6b1aec789f1e1674ed2506e903dd0f..b38cefd896c77a257001ef9d6746d7ce6eaa7367 100644
--- a/test/yaml/params_tree_manager2.yaml
+++ b/test/yaml/params_tree_manager2.yaml
@@ -1,58 +1,57 @@
-config:
- problem:
- frame_structure: "POV"
- dimension: 3
- prior:
- mode: "factor"
- # state: [0,0,0,0,0,0,1,0,0,0]
- # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- V: [0,0,0]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- V: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "None"
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: false
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 0.5 # meters
- angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
-
+problem:
+ frame_structure: "POV"
+ dimension: 3
+ prior:
+ mode: "factor"
+ # state: [0,0,0,0,0,0,1,0,0,0]
+ # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ V: [0,0,0]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ V: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "None"
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
+
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 5a6f7cac245fe5cad8d09f733960a787fb7bb6d7..a317726ac748b5353a320517b2c20ac8f7e10597 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -1,54 +1,53 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- follow: "tree_manager_sliding_window1.yaml"
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: false
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 0.5 # meters
- angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
-
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ follow: "tree_manager_sliding_window1.yaml"
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
+
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index 768cedbe454a8df03ff6e67d9ca7231ec2c8e51e..935f0899fe5330a382c8581954fb2166c546de72 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -1,54 +1,53 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- follow: "tree_manager_sliding_window2.yaml"
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: false
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 0.5 # meters
- angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
-
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ follow: "tree_manager_sliding_window2.yaml"
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: false
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 0.5 # meters
+ angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
+
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml
index 12d338a330ee4eb3112cbd46a9347b0bb41af258..6a7b21625aac524b72da9fcb35d01573dfd655aa 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate1.yaml
@@ -1,15 +1,14 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- follow: "tree_manager_sliding_window_dual_rate1.yaml"
\ No newline at end of file
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ follow: "tree_manager_sliding_window_dual_rate1.yaml"
\ No newline at end of file
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml
index 609fb96f585545376756279956377ee6730dbc0d..12f59ad4a91a0adb50f433ace29e4d910a3354e0 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate2.yaml
@@ -1,21 +1,20 @@
-config:
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "TreeManagerSlidingWindowDualRate"
- plugin: "core"
- n_frames: 5
- n_frames_recent: 3
- rate_old_frames: 2
- n_fix_first_frames: 0
- viral_remove_empty_parent: false
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "TreeManagerSlidingWindowDualRate"
+ plugin: "core"
+ n_frames: 5
+ n_frames_recent: 3
+ rate_old_frames: 2
+ n_fix_first_frames: 0
+ viral_remove_empty_parent: false
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
index 35cd9bc7da15a010b912df30d195c7be0f563ec2..d7c53fb130fadc88f4de1c5a971b23d2f51fdce9 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -1,62 +1,61 @@
-config:
- solver:
- follow: "solver.yaml"
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "TreeManagerSlidingWindowDualRate"
- plugin: "core"
- n_frames: 5
- n_frames_recent: 3
- rate_old_frames: 2
- n_fix_first_frames: 2
- viral_remove_empty_parent: true
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: true
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 10 # meters
- angle_turned: 3.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
-
+solver:
+ follow: "solver.yaml"
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "TreeManagerSlidingWindowDualRate"
+ plugin: "core"
+ n_frames: 5
+ n_frames_recent: 3
+ rate_old_frames: 2
+ n_fix_first_frames: 2
+ viral_remove_empty_parent: true
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 10 # meters
+ angle_turned: 3.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1
+
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
index 769d7376a5a5f988a5d817068d589710a49c0afc..e51b8a14692e17fca9ca6d6194be21a7291dd9d7 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -1,55 +1,54 @@
-config:
- solver:
- follow: "solver.yaml"
- problem:
- frame_structure: "PO"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [0,0,0,1]
- $sigma:
- P: [0.31, 0.31, 0.31]
- O: [0.31, 0.31, 0.31]
- time_tolerance: 0.1
- tree_manager:
- type: "None"
- sensors:
- -
- type: "SensorOdom"
- name: "odom"
- plugin: "core"
- states:
- P:
- mode: fix
- state: [1, 2, 3]
- dynamic: false
- O:
- mode: fix
- state: [0, 0, 0, 1]
- dynamic: false
- k_disp_to_disp: 0.1
- k_disp_to_rot: 0.1
- k_rot_to_rot: 0.1
- min_disp_var: 0.1
- min_rot_var: 0.1
- processors:
- -
- type: "ProcessorOdom3d"
- name: "my_proc_odom3d"
- sensor_name: "odom"
- plugin: "core"
- apply_loss_function: false
- time_tolerance: 0.01 # seconds
- keyframe_vote:
- voting_active: true
- max_time_span: 0.2 # seconds
- max_buff_length: 10 # motion deltas
- dist_traveled: 10 # meters
- angle_turned: 3.1 # radians (1 rad approx 57 deg, approx 60 deg)
-
- unmeasured_perturbation_std: 0.00111
-
- state_getter: true
- state_priority: 1
+solver:
+ follow: "solver.yaml"
+problem:
+ frame_structure: "PO"
+ dimension: 3
+ prior:
+ mode: "factor"
+ $state:
+ P: [0,0,0]
+ O: [0,0,0,1]
+ $sigma:
+ P: [0.31, 0.31, 0.31]
+ O: [0.31, 0.31, 0.31]
+ time_tolerance: 0.1
+ tree_manager:
+ type: "None"
+sensors:
+ -
+ type: "SensorOdom"
+ name: "odom"
+ plugin: "core"
+ states:
+ P:
+ mode: fix
+ state: [1, 2, 3]
+ dynamic: false
+ O:
+ mode: fix
+ state: [0, 0, 0, 1]
+ dynamic: false
+ k_disp_to_disp: 0.1
+ k_disp_to_rot: 0.1
+ k_rot_to_rot: 0.1
+ min_disp_var: 0.1
+ min_rot_var: 0.1
+processors:
+ -
+ type: "ProcessorOdom3d"
+ name: "my_proc_odom3d"
+ sensor_name: "odom"
+ plugin: "core"
+ apply_loss_function: false
+ time_tolerance: 0.01 # seconds
+ keyframe_vote:
+ voting_active: true
+ max_time_span: 0.2 # seconds
+ max_buff_length: 10 # motion deltas
+ dist_traveled: 10 # meters
+ angle_turned: 3.1 # radians (1 rad approx 57 deg, approx 60 deg)
+
+ unmeasured_perturbation_std: 0.00111
+
+ state_getter: true
+ state_priority: 1