From 67bfea4cf43bec92aa75b4f3841e5d739ced3987 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Fri, 29 Jul 2022 17:18:18 +0200
Subject: [PATCH] removed yaml_type from schemas
---
schema/map/MapBase.schema | 2 --
schema/problem/Problem.schema | 9 ++-------
schema/problem/SpecState.schema | 4 ----
schema/problem/SpecStateO2d.schema | 2 --
schema/problem/SpecStateO3d.schema | 2 --
schema/problem/SpecStateP2d.schema | 2 --
schema/problem/SpecStateP3d.schema | 2 --
schema/problem/SpecStateV2d.schema | 2 --
schema/problem/SpecStateV3d.schema | 2 --
schema/processor/MotionProvider.schema | 2 --
schema/processor/ProcessorBase.schema | 4 ----
schema/processor/ProcessorMotion.schema | 5 -----
schema/processor/ProcessorOdom2d.schema | 1 -
schema/processor/ProcessorSequence.schema | 2 --
schema/processor/ProcessorTracker.schema | 2 --
schema/sensor/SensorBase.schema | 1 -
schema/sensor/SensorDiffDrive.schema | 6 ------
schema/sensor/SensorOdom2d.schema | 5 -----
schema/sensor/SensorOdom3d.schema | 8 --------
schema/sensor/SensorPose2d.schema | 2 --
schema/sensor/SensorPose3d.schema | 2 --
schema/sensor/SensorSequence.schema | 2 --
schema/sensor/SpecStateSensor.schema | 2 --
schema/sensor/SpecStateSensorO2d.schema | 4 ----
schema/sensor/SpecStateSensorO3d.schema | 4 ----
schema/sensor/SpecStateSensorP2d.schema | 4 ----
schema/sensor/SpecStateSensorP3d.schema | 4 ----
schema/solver/SolverCeres.schema | 9 ---------
schema/solver/SolverManager.schema | 5 -----
schema/tree_manager/TreeManagerBase.schema | 1 -
schema/tree_manager/TreeManagerSlidingWindow.schema | 4 ----
.../tree_manager/TreeManagerSlidingWindowDualRate.schema | 2 --
32 files changed, 2 insertions(+), 106 deletions(-)
diff --git a/schema/map/MapBase.schema b/schema/map/MapBase.schema
index 8b2f4f756..0b8f4dafc 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 7b2422412..3355230bc 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 da8eaad3a..e3e9a7549 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 321c4eaf9..f578fde61 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 deb47e1f8..803c6bed7 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 442274456..a6465f845 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 6f1f0c173..e7c9d9509 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 c76380cbd..9ff77d35d 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 2c3109ae8..99d34bf55 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 6fe9328c1..eaa5d84cc 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 0d33f7357..c7b855d90 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 057fc7725..a6d9f6bae 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 15f0939de..35918ef4e 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 a9e6b7512..642aec847 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 1e40aa054..6ec2f90d2 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 f06ab44a7..d6a369356 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 eb2148348..3454b2f3d 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 24615eac3..317355b62 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 02845f9af..a5107c094 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 d042172be..8122490cc 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 2fa18b6e5..e68b9aa30 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 832d665f2..30e981230 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 75e3052c7..0dc92906d 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 a6378199a..b0a05bce7 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 560d94b1d..7937ba035 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 8315a52bd..006741b47 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 83b76542b..9fa39264e 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 5b3a035ca..3a956396f 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 0bb50994f..e79428bd0 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 79e6c6e4a..0f863de9b 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 8d584a1a0..9ed1f5097 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 c7077e1a2..dbce64d14 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
--
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