diff --git a/schema/map/MapBase.schema b/schema/map/MapBase.schema index 8b2f4f7562e55b3563f6fea22762f7744f91b070..0b8f4dafc65e225cee0edd5e21910e2cec3585dd 100644 --- a/schema/map/MapBase.schema +++ b/schema/map/MapBase.schema @@ -1,12 +1,10 @@ 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 diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema index 7b24224127a6efef1b12f83ec451026f897f2210..3355230bc4a9535f7ef3873b89ab80b816d3f8fe 100644 --- a/schema/problem/Problem.schema +++ b/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. diff --git a/schema/problem/SpecState.schema b/schema/problem/SpecState.schema index da8eaad3a865ba5091cf91356b03520b36c500f2..e3e9a75493f259a1a013f3dbcfc43d2ec4e7bf64 100644 --- a/schema/problem/SpecState.schema +++ b/schema/problem/SpecState.schema @@ -1,22 +1,18 @@ 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 diff --git a/schema/problem/SpecStateO2d.schema b/schema/problem/SpecStateO2d.schema index 321c4eaf9ef1c1383de33b656aceeb34398e501d..f578fde61cc2f354e0670ca3ba6805ff569ada90 100644 --- a/schema/problem/SpecStateO2d.schema +++ b/schema/problem/SpecStateO2d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/problem/SpecStateO3d.schema b/schema/problem/SpecStateO3d.schema index deb47e1f884354474665cd26beb53e8a85483370..803c6bed7c5c42088d813d960c9217c640ad8979 100644 --- a/schema/problem/SpecStateO3d.schema +++ b/schema/problem/SpecStateO3d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/problem/SpecStateP2d.schema b/schema/problem/SpecStateP2d.schema index 44227445621cce38bdea2353e0f0c5792892131a..a6465f8452f0ab54aa4345e44c36f615fe62cdb2 100644 --- a/schema/problem/SpecStateP2d.schema +++ b/schema/problem/SpecStateP2d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/problem/SpecStateP3d.schema b/schema/problem/SpecStateP3d.schema index 6f1f0c173ce87655627020a15cd1f602c7c8fe13..e7c9d9509c251403b618ac19f36e1a9d1ea89c51 100644 --- a/schema/problem/SpecStateP3d.schema +++ b/schema/problem/SpecStateP3d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/problem/SpecStateV2d.schema b/schema/problem/SpecStateV2d.schema index c76380cbd782d979372728bc8863f6113fe855a2..9ff77d35de43558acf1983c6f29b957539a1e4a4 100644 --- a/schema/problem/SpecStateV2d.schema +++ b/schema/problem/SpecStateV2d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/problem/SpecStateV3d.schema b/schema/problem/SpecStateV3d.schema index 2c3109ae89e77e04024c80e40b1efad483920d06..99d34bf559f54a5509bed93ff37cd3bc6c455203 100644 --- a/schema/problem/SpecStateV3d.schema +++ b/schema/problem/SpecStateV3d.schema @@ -1,13 +1,11 @@ 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 diff --git a/schema/processor/MotionProvider.schema b/schema/processor/MotionProvider.schema index 6fe9328c13e54e6725f2c4b0dab2c4b5acbf671e..eaa5d84cc4a70c6171aab67cf2f2d839de1aa923 100644 --- a/schema/processor/MotionProvider.schema +++ b/schema/processor/MotionProvider.schema @@ -1,10 +1,8 @@ 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 diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema index 0d33f7357bd2333494ff59c763ff3530c9d8da77..c7b855d90e2df428acb441b3d57c0399575e4293 100644 --- a/schema/processor/ProcessorBase.schema +++ b/schema/processor/ProcessorBase.schema @@ -1,24 +1,20 @@ 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 diff --git a/schema/processor/ProcessorMotion.schema b/schema/processor/ProcessorMotion.schema index 057fc772562a0c4d2f19eede78a3fcda7431d69a..a6d9f6baec4b19008860032106b72a36bc8b1d86 100644 --- a/schema/processor/ProcessorMotion.schema +++ b/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 diff --git a/schema/processor/ProcessorOdom2d.schema b/schema/processor/ProcessorOdom2d.schema index 15f0939dec000a30ef2692545b5e20a7373a4ac7..35918ef4e980ce5d726cf1f83349ee51710277f1 100644 --- a/schema/processor/ProcessorOdom2d.schema +++ b/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 diff --git a/schema/processor/ProcessorSequence.schema b/schema/processor/ProcessorSequence.schema index a9e6b75128229de8af68304e1b0811877ead4e94..642aec847aa7317ae514593a46f7e5e04868c278 100644 --- a/schema/processor/ProcessorSequence.schema +++ b/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 diff --git a/schema/processor/ProcessorTracker.schema b/schema/processor/ProcessorTracker.schema index 1e40aa0543ca9c7c78af6530d2cedf1366cc96bb..6ec2f90d2e712f7bdac064847514b103443f73be 100644 --- a/schema/processor/ProcessorTracker.schema +++ b/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.) diff --git a/schema/sensor/SensorBase.schema b/schema/sensor/SensorBase.schema index f06ab44a7ab230fa3a8a2a249223a3ab15e28647..d6a3693568b7f7811dd81443391869a088fe7af9 100644 --- a/schema/sensor/SensorBase.schema +++ b/schema/sensor/SensorBase.schema @@ -1,5 +1,4 @@ name: mandatory: true type: string - yaml_type: scalar 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 eb21483483c301beccb36b248c56e71e1cbde04a..3454b2f3d1af807541c85bda9fe07d2f9dd0dbb5 100644 --- a/schema/sensor/SensorDiffDrive.schema +++ b/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) diff --git a/schema/sensor/SensorOdom2d.schema b/schema/sensor/SensorOdom2d.schema index 24615eac3b6f0330de3e7865d6e5f973a66f827a..317355b62db745d0cf51b0fa178f76f75e54e1c5 100644 --- a/schema/sensor/SensorOdom2d.schema +++ b/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: diff --git a/schema/sensor/SensorOdom3d.schema b/schema/sensor/SensorOdom3d.schema index 02845f9af3f74ca3b77d5f564ebc2b24ff08c93f..a5107c0945654d8424bcfa830f4c9f209acdb00e 100644 --- a/schema/sensor/SensorOdom3d.schema +++ b/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 diff --git a/schema/sensor/SensorPose2d.schema b/schema/sensor/SensorPose2d.schema index d042172be34d684157e91d392be82b7c9c58b539..8122490cc66e34a97d287fd83698d33ad007fd89 100644 --- a/schema/sensor/SensorPose2d.schema +++ b/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: diff --git a/schema/sensor/SensorPose3d.schema b/schema/sensor/SensorPose3d.schema index 2fa18b6e500200784924e35139e403bb20e7aee4..e68b9aa30fa7ee2c4c05b534281e0b7319ea6531 100644 --- a/schema/sensor/SensorPose3d.schema +++ b/schema/sensor/SensorPose3d.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: diff --git a/schema/sensor/SensorSequence.schema b/schema/sensor/SensorSequence.schema index 832d665f270897233d7f4cfe0d529ea9c911740e..30e98123029aef4d6cd534edda954a8179253ad6 100644 --- a/schema/sensor/SensorSequence.schema +++ b/schema/sensor/SensorSequence.schema @@ -3,11 +3,9 @@ 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/sensor/SpecStateSensor.schema b/schema/sensor/SpecStateSensor.schema index 75e3052c71fe8c4b9d5adc51f80a305c9e1448b2..0dc92906d849da036764541b1c8c1c7110e79358 100644 --- a/schema/sensor/SpecStateSensor.schema +++ b/schema/sensor/SpecStateSensor.schema @@ -1,12 +1,10 @@ follow: SpecState.schema dynamic: type: bool - yaml_type: scalar mandatory: true doc: If the state is dynamic, i.e. it changes along time. drift_std: type: VectorXd - yaml_type: scalar 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 a6378199ab198dc9baf33a1afe687e70801baadc..b0a05bce726292cd42d6252ffbddd6c32116cd55 100644 --- a/schema/sensor/SpecStateSensorO2d.schema +++ b/schema/sensor/SpecStateSensorO2d.schema @@ -1,23 +1,19 @@ follow: SpecStateSensor.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 noise_std: type: Vector1d - yaml_type: scalar 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 - yaml_type: scalar 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 560d94b1d70f559ebf0a1e18aefb6f3d2a663f1b..7937ba035f7647dacf4654ed9e37b8f3c7e7e211 100644 --- a/schema/sensor/SpecStateSensorO3d.schema +++ b/schema/sensor/SpecStateSensorO3d.schema @@ -1,23 +1,19 @@ follow: SpecStateSensor.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) noise_std: type: Vector3d - yaml_type: scalar 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 - yaml_type: scalar 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 8315a52bde28ec279121b66d218b39bacddf0c1e..006741b47f899016ad13c04bc8790f445862c49d 100644 --- a/schema/sensor/SpecStateSensorP2d.schema +++ b/schema/sensor/SpecStateSensorP2d.schema @@ -1,23 +1,19 @@ follow: SpecStateSensor.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 noise_std: type: Vector2d - yaml_type: scalar 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 - yaml_type: scalar 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 83b76542b67aa10a262d30bf5d5d9af3f950a977..9fa39264ee27687966a3c53d63322468a4e1e350 100644 --- a/schema/sensor/SpecStateSensorP3d.schema +++ b/schema/sensor/SpecStateSensorP3d.schema @@ -1,23 +1,19 @@ follow: SpecStateSensor.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 noise_std: type: Vector3d - yaml_type: scalar 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 - yaml_type: scalar 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 5b3a035caba29ee20cea97726c7de6fa4cd6b9d5..3a956396f3f14fe9786af18d2d7edbb3b7a466df 100644 --- a/schema/solver/SolverCeres.schema +++ b/schema/solver/SolverCeres.schema @@ -3,49 +3,40 @@ minimizer: mandatory: true type: string options: [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs] - yaml_type: scalar doc: Type of minimizer. interrupt_on_problem_change: mandatory: true type: bool - yaml_type: scalar 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 - yaml_type: scalar 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 - yaml_type: scalar 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 - yaml_type: scalar 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" n_threads: mandatory: true type: unsigned int options: [1, 2, 3, 4] - yaml_type: scalar doc: Amount of threads used by ceres. use_nonmonotonic_steps: mandatory: false default: false type: bool - yaml_type: scalar 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 - yaml_type: scalar 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 0bb50994f2ae97685e8969ddef5a1ca6c857a764..e79428bd0c28ca8511a61ac26d6d432f17d3d86f 100644 --- a/schema/solver/SolverManager.schema +++ b/schema/solver/SolverManager.schema @@ -1,28 +1,23 @@ period: mandatory: true type: double - yaml_type: scalar doc: Period of the solver thread. verbose: mandatory: true type: int - yaml_type: scalar options: [0, 1, 2] doc: "Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report." compute_cov: mandatory: true type: bool - yaml_type: scalar 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] - 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." cov_period: mandatory: true type: double - yaml_type: scalar 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 79e6c6e4aa6fcf58ea7758030af59c399484a5d5..0f863de9b6d092d19e4ea0a657072e2d85675a10 100644 --- a/schema/tree_manager/TreeManagerBase.schema +++ b/schema/tree_manager/TreeManagerBase.schema @@ -1,5 +1,4 @@ type: mandatory: true type: string - yaml_type: scalar 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 8d584a1a04557e0ec146c4e8492dec88a5c27dd8..9ed1f5097548cfaeca94cc263b7b576f365cc261 100644 --- a/schema/tree_manager/TreeManagerSlidingWindow.schema +++ b/schema/tree_manager/TreeManagerSlidingWindow.schema @@ -3,23 +3,19 @@ follow: TreeManagerBase.schema type: mandatory: true type: string - yaml_type: scalar doc: Type of the TreeManager. To keep all frames, use "none". n_frames: mandatory: true type: unsigned int - yaml_type: scalar doc: Total number of frames of the sliding window. n_fix_first_frames: mandatory: true type: unsigned int - yaml_type: scalar doc: Amount of frames fixed at the begining of the sliding window. viral_remove_empty_parent: mandatory: true type: bool - yaml_type: scalar 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 c7077e1a2491296a4970664013a313a4ec89bb31..dbce64d140ee88aa9456fadbd7f40206b206bbd3 100644 --- a/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema +++ b/schema/tree_manager/TreeManagerSlidingWindowDualRate.schema @@ -3,11 +3,9 @@ follow: TreeManagerSlidingWindow.schema n_frames_recent: mandatory: true type: unsigned int - yaml_type: scalar doc: Amount of frames kept in the recent part of the sliding window. rate_old_frames: mandatory: true type: unsigned int - yaml_type: scalar 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