[skip ci] working on gtests

schema/Setup.schema

-problem:
-  follow: Poblem.schema
-map:
-  follow: Map.schema
-solver:
-  follow: Solver.schema
-sensors:
-  yaml_type: sequence
-  mandatory: true
-  doc: A sequence of all the sensors.
-processors:
-  yaml_type: sequence
-  mandatory: true
-  doc: A sequence of all the processors.

schema/map/MapBase.schema

+type:
+  mandatory: false
+  type: string
+  yaml_type: scalar
+  default: MapBase
+  doc: Type of the Map used in the problem.
+type:
+  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

-tree_manager:
+problem:
+  tree_manager:
+    type: derived
+    yaml_type: scalar
+    mandatory: true
+    doc: Tree manager parameters
+  frame_structure:
+    yaml_type: scalar
+    type: string
+    mandatory: true
+    doc: The keys of the default frames in problems
+  dimension:
+    yaml_type: scalar
+    type: int
+    mandatory: true
+    options: [2, 3]
+    doc: Dimension of the problem. '2' for 2D or '3' for 3D
+  #prior:
+map:
+  type: derived
   yaml_type: scalar
-  type: string
+  mandatory: false
+  doc: The map used in the wolf problem.
+solver:
+  follow: Solver.schema
+sensors:
+  yaml_type: sequence
+  type: derived
   mandatory: true
-  doc: Tree manager parameters
-frame_structure:
-  yaml_type: scalar
-  type: string
-  mandatory: true
-  doc: The keys of the default frames in problems
-dimension:
-  yaml_type: scalar
-  type: int
+  doc: A sequence of all the sensors.
+processors:
+  yaml_type: sequence
+  type: derived
   mandatory: true
-  options: [2, 3]
-  doc: Dimension of the problem: '2' for 2D or '3' for 3D
-#prior:
+  doc: A sequence of all the processors.
\ No newline at end of file

schema/processor/MotionProvider.schema

+state_getter:
+  mandatory: true
+  yaml_type: scalar
+  type: bool
+  doc: If the processor is used by the problem as provider of state.
+state_priority:
+  mandatory: false
+  yaml_type: scalar
+  type: double
+  doc: The priority of this processor when problem gets the state (only used if state_getter = 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

@@ -2,4 +2,35 @@ name:
   mandatory: true
   type: string
   yaml_type: scalar
-  doc: The processor's name. It has to be unique.
+  doc: The processor's name. It has to be unique.
\ No newline at end of file
+
+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
+  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

+follow: ProcessorBase.schema
+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/ProcessorOdom3d.schema

+follow: ProcessorMotion.schema
\ No newline at end of file

schema/processor/ProcessorTracker.schema

 follow: ProcessorBase.schema
-min_features_for_keyframe:
-  mandatory: true
-  type: unsigned int
-  yaml_type: scalar
-  doc: Minimum number of features to vote for keyframe.
+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

schema/sensor/SensorBase.schema

@@ -2,4 +2,16 @@ name:
   mandatory: true
   type: string
   yaml_type: scalar
-  doc: The sensor's name. It has to be unique.
+  doc: The sensor's name. It has to be unique.
\ No newline at end of file
+
+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

schema/sensor/SensorDiffDrive.schema

 follow: SensorBase.schema
+
+type:
+  mandatory: false
+  type: string
+  yaml_type: scalar
+  default: SensorDiffDrive
+  options: [SensorDiffDrive]
+  doc: The sensor's class name.
+
+plugin:
+  mandatory: false
+  type: string
+  yaml_type: scalar
+  default: core
+  options: [core]
+  doc: The name of the wolf plugin where the sensor is implemented.
+
 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

schema/sensor/SensorOdom2d.schema

 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

schema/sensor/SensorOdom3d.schema

 follow: SensorBase.schema
+
+type:
+  mandatory: false
+  type: string
+  yaml_type: scalar
+  default: SensorOdom3d
+  options: [SensorOdom3d]
+  doc: The sensor's class name.
+
+plugin:
+  mandatory: false
+  type: string
+  yaml_type: scalar
+  default: core
+  options: [core]
+  doc: The name of the wolf plugin where the sensor is implemented.
+
 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: PriorP3d.schema

src/problem/problem.cpp

@@ -120,26 +120,33 @@ ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::ve
     schema_folders.push_back(_WOLF_SCHEMAS_DIR);
 
     // Create yaml server
+    WOLF_INFO("Loading yaml file");
     auto server = yaml_schema_cpp::YamlServer(schema_folders, _input_yaml_file);
-
+    WOLF_INFO("loaded node:\n", server.getNode());
+    
     // Validate agains schema files    
+    WOLF_INFO("Applying schema");
     if (not server.applySchema("Problem.schema"))
     { 
         WOLF_ERROR(server.getLog().str());
         return nullptr;
     } 
 
+    WOLF_INFO("schema applied");
+
     // Get param node
     YAML::Node param_node = server.getNode();
 
     // PROBLEM =============================================================================== 
     // structure and dimension
+    WOLF_INFO("Loading problem parameters");
     YAML::Node problem_node = param_node["problem"];
     std::string frame_structure = problem_node["frame_structure"].as<std::string>();
     int         dim             = problem_node["dimension"].as<int>();
     auto        problem         = Problem::create(frame_structure, dim, nullptr);
     
     // Tree manager
+    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));
@@ -167,6 +174,7 @@ ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::ve
 
     // SENSORS =============================================================================== 
     // load plugin if sensor is not registered
+    WOLF_INFO("Loading sensors parameters");
     YAML::Node sensors_node = param_node["sensors"];
     for (auto sensor_n : sensors_node)
     {
@@ -180,6 +188,7 @@ ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::ve
 
     // PROCESSORS =============================================================================== 
     // load plugin if processor is not registered
+    WOLF_INFO("Loading processors parameters");
     YAML::Node processors_node = param_node["processors"];
     for (auto processor_n : processors_node)
     {
@@ -193,6 +202,7 @@ ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::ve
 
     // MAP (optional) ===============================================================================
     // Default MapBase
+    WOLF_INFO("Loading map parameters");
     if (not param_node["map"])
     {
         param_node["map"]["type"] = "MapBase";

test/dummy/processor_tracker_feature_dummy.h

@@ -38,7 +38,9 @@ struct ParamsProcessorTrackerFeatureDummy : public ParamsProcessorTrackerFeature
     ParamsProcessorTrackerFeatureDummy(const YAML::Node& _n):
         ParamsProcessorTrackerFeature(_n)
     {
+        WOLF_INFO("ParamsProcessorTrackerFeatureDummy input node:\n", _n);
         n_tracks_lost = _n["n_tracks_lost"].as<unsigned int>();
+        WOLF_INFO("ParamsProcessorTrackerFeatureDummy loaded");
     }
 };
 

test/yaml/params_problem_autosetup.yaml

@@ -18,7 +18,7 @@ config:
     plugin: "core"
   sensors: 
     -
-      type: "SensorOdom"
+      type: "SensorOdom3d"
       name: "odom"
       plugin: "core"
       k_disp_to_disp: 0.1

test/yaml/params_problem_autosetup_no_map.yaml

@@ -15,7 +15,7 @@ config:
       type: "None"
   sensors:  
     -
-      type: "SensorOdom"
+      type: "SensorOdom3d"
       name: "odom"
       plugin: "core"
       k_disp_to_disp: 0.1

test/yaml/processor_odom_3d.yaml

+name: a cool processor odom 3d
+
 time_tolerance:         0.01  # seconds
 
 keyframe_vote:

test/yaml/processor_tracker_feature_dummy.yaml

 name: cool dummy processor
-min_features_for_keyframe: 1
+time_tolerance: 0.1
+keyframe_vote:
+  voting_active: true
+  min_features_for_keyframe: 1
+apply_loss_function: false
 max_new_features: 0
 n_tracks_lost: 1
\ No newline at end of file