removed yaml_type from schemas

schema/map/MapBase.schema

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

schema/problem/Problem.schema

@@ -2,11 +2,9 @@ problem:
   tree_manager:
     type: derived
     base: TreeManagerBase.schema
-    yaml_type: scalar
     mandatory: true
     doc: Tree manager parameters
   dimension:
-    yaml_type: scalar
     type: int
     mandatory: true
     options: [2, 3]
@@ -14,18 +12,15 @@ problem:
 map:
   type: derived
   base: MapBase.schema
-  yaml_type: scalar
   mandatory: false
   doc: The map used in the wolf problem.
 sensors:
-  yaml_type: sequence
-  type: derived
+  type: derived[]
   base: SensorSequence.schema
   mandatory: true
   doc: A sequence of all the sensors.
 processors:
-  yaml_type: sequence
-  type: derived
+  type: derived[]
   base: ProcessorSequence.schema
   mandatory: true
   doc: A sequence of all the processors.

schema/problem/SpecState.schema

 type:
   type: string
-  yaml_type: scalar
   mandatory: true
   doc: The derived type of the StateBlock
 state:
   type: VectorXd
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state values
 mode:
   type: string
-  yaml_type: scalar
   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
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StateAngle
   options: [StateAngle]
   doc: The derived type of the StateBlock
 state:
   type: Vector1d
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StateQuaternion
   options: [StateQuaternion]
   doc: The derived type of the State in 'O'
 state:
   type: Vector4d
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StatePoint2d
   options: [StatePoint2d]
   doc: The derived type of the StateBlock
 state:
   type: Vector2d
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StatePoint3d
   options: [StatePoint3d]
   doc: The derived type of the state in 'P'
 state:
   type: Vector3d
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StateVector2d
   options: [StateVector2d]
   doc: The derived type of the StateBlock
 state:
   type: Vector2d
-  yaml_type: scalar
   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
-  yaml_type: scalar
   mandatory: false
   default: StateVector3d
   options: [StateVector3d]
   doc: The derived type of the state in 'V'
 state:
   type: Vector3d
-  yaml_type: scalar
   mandatory: true
   doc: A vector containing the state 'V' values
\ No newline at end of file

schema/processor/MotionProvider.schema

 state_provider:
   mandatory: true
-  yaml_type: scalar
   type: bool
   doc: If the processor is used by the problem as provider of state.
 state_provider_order:
   mandatory: false
-  yaml_type: scalar
   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
-  yaml_type: scalar
   doc: The processor's name. It has to be unique.
 
 time_tolerance:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: The time tolerance for joining captures into frames [s].
 
 keyframe_vote:
   voting_active:
     mandatory: true
     type: bool
-    yaml_type: scalar
     doc: If the processor is allowed to decide to create a frame.
 
 apply_loss_function:
   mandatory: true
   type: bool
-  yaml_type: scalar
   doc: If the factors created by the processor have loss function.
\ No newline at end of file

schema/processor/ProcessorMotion.schema

@@ -3,26 +3,21 @@ follow: MotionProvider.schema
 keyframe_vote:
   max_time_span:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Time threshold to create a new frame [s].
   max_buff_length:
     mandatory: true
-    yaml_type: scalar
     type: unsigned int
     doc: Maximum size of the buffer of motions.
   dist_traveled:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Threshold of distance traveled to create a new frame [m].
   angle_turned:
     mandatory: true
-    yaml_type: scalar
     type: double
     doc: Threshold of angle turned to create a new frame [rad].
 unmeasured_perturbation_std:
   mandatory: true
-  yaml_type: scalar
   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

@@ -3,5 +3,4 @@ keyframe_vote:
   cov_det:
     mandatory: true
     type: double
-    yaml_type: scalar
     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

@@ -3,11 +3,9 @@ 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

schema/processor/ProcessorTracker.schema

@@ -3,11 +3,9 @@ keyframe_vote:
   min_features_for_keyframe:
     mandatory: true
     type: unsigned int
-    yaml_type: scalar
     doc: Minimum number of features to vote for keyframe.
 
 max_new_features:
   mandatory: true
   type: int
-  yaml_type: scalar
   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
-  yaml_type: scalar
   doc: The sensor's name. It has to be unique.
\ No newline at end of file

schema/sensor/SensorDiffDrive.schema

@@ -3,7 +3,6 @@ follow: SensorBase.schema
 type:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: SensorDiffDrive
   options: [SensorDiffDrive]
   doc: The sensor's class name.
@@ -11,7 +10,6 @@ type:
 plugin:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: core
   options: [core]
   doc: The name of the wolf plugin where the sensor is implemented.
@@ -19,13 +17,11 @@ plugin:
 ticks_per_wheel_revolution:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 ticks_std_factor:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 states:
@@ -37,14 +33,12 @@ states:
     follow: SpecStateSensor.schema
     type:
       type: string
-      yaml_type: scalar
       mandatory: false
       default: StateParams3
       options: [StateParams3]
       doc: The type of the SensorDiffDrive intrinsic parameters is StateParam3.
     state:
       type: Vector3d
-      yaml_type: scalar
       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

@@ -3,31 +3,26 @@ follow: SensorBase.schema
 k_disp_to_disp:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 k_disp_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 k_rot_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of rotation variance to rotation, for odometry noise calculation.
 
 min_disp_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum displacement variance, for odometry noise calculation.
 
 min_rot_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum rotation variance, for odometry noise calculation.
 
 states:

schema/sensor/SensorOdom3d.schema

@@ -3,7 +3,6 @@ follow: SensorBase.schema
 type:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: SensorOdom3d
   options: [SensorOdom3d]
   doc: The sensor's class name.
@@ -11,7 +10,6 @@ type:
 plugin:
   mandatory: false
   type: string
-  yaml_type: scalar
   default: core
   options: [core]
   doc: The name of the wolf plugin where the sensor is implemented.
@@ -19,34 +17,28 @@ plugin:
 k_disp_to_disp:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to displacement, for odometry noise calculation.
 
 k_disp_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of displacement variance to rotation, for odometry noise calculation.
 
 k_rot_to_rot:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: ratio of rotation variance to rotation, for odometry noise calculation.
 
 min_disp_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum displacement variance, for odometry noise calculation.
 
 min_rot_var:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: minimum rotation variance, for odometry noise calculation.
 
-
 states:
   P:
     follow: SpecStateSensorP3d.schema

schema/sensor/SensorPose2d.schema

@@ -3,13 +3,11 @@ follow: SensorBase.schema
 std_p:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the position measurement.
 
 std_o:
   mandatory: true
   type: double
-  yaml_type: scalar
   doc: standard deviation of the orientation measurement.
 
 states: