[skip ci] yaml templates added or modified

yaml_templates/processor/ProcessorDiffDrive.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  max_time_span: 0.0  # MANDATORY if $voting_active - DOC Time threshold to create a new frame [s]. - TYPE double
+  max_buff_length: 0  # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
+  max_dist_traveled: 0.0  # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
+  max_angle_turned: 0.0  # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
+  cov_det: 0.0  # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+state_provider: false  # DOC If the processor is used by the problem as provider of state. - TYPE bool
+state_provider_order: 0.0  # MANDATORY if $state_provider - 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). - TYPE double
+unmeasured_perturbation_std: 0.0  # DOC Noise (standard deviation) of the integrated movement in the not observed directions. - TYPE double
\ No newline at end of file

yaml_templates/processor/ProcessorFixedWingModel.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+velocity_local: [0.0, 0.0, 0.0]  # DOC The vector with the direction of the velocity in local coordinates - TYPE Vector3d
+angle_stdev: 0.0  # DOC The standard deviation noise to create the angular residuals - TYPE double
+min_vel_norm: 0.0  # DOC The velocity norm threshold to apply factors - TYPE double
\ No newline at end of file

yaml_templates/processor/ProcessorLandmarkExternal.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  min_features_for_keyframe: 0  # MANDATORY if $voting_active - DOC Minimum number of features to vote for keyframe. - TYPE unsigned int
+  time_span: 0.0  # DOC the time span from the last keyframe to vote for a new keyframe (sufficient condition) - TYPE double
+  new_features_for_keyframe: 0  # DOC the amount of new features sufficient to create a new keyframe (sufficient condition) - TYPE unsigned int
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+max_new_features: 0  # DOC Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.) - TYPE int
+quality_th: 0.0  # DOC The minimum quality to consider the detection - TYPE double
+track_length_th: 0  # DOC Minimum track length to emplace factors (necessary condition) - TYPE unsigned int
+use_orientation: false  # DOC If the orientation measurement is considered when emplacing factors - TYPE bool
+match_dist_th_id: 0.0  # DOC Matching distance threshold to previous detection considering motion (necessary condition) when ID matches - TYPE double
+match_dist_th_type: 0.0  # DOC Matching distance threshold to previous detection considering motion (necessary condition) when TYPE matches - TYPE double
+match_dist_th_unknown: 0.0  # DOC Matching distance threshold to previous detection considering motion (necessary condition) when no ID/TYPE information - TYPE double
+close_loops_by_id: false  # DOC Close loop if ID matches - TYPE bool
+close_loops_by_type: false  # DOC Close loop if TYPE matches if distance check holds (match_dist_th_type) - TYPE bool
\ No newline at end of file

yaml_templates/processor/ProcessorLoopClosure.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+max_loops: 0  # DOC The maximum amount of loops that can be closed each keyframe callback. -1 (or any negative value) is unlimited loops. - TYPE int
\ No newline at end of file

yaml_templates/processor/ProcessorMotion.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  max_time_span: 0.0  # MANDATORY if $voting_active - DOC Time threshold to create a new frame [s]. - TYPE double
+  max_buff_length: 0  # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
+  max_dist_traveled: 0.0  # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
+  max_angle_turned: 0.0  # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+state_provider: false  # DOC If the processor is used by the problem as provider of state. - TYPE bool
+state_provider_order: 0.0  # MANDATORY if $state_provider - 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). - TYPE double
+unmeasured_perturbation_std: 0.0  # DOC Noise (standard deviation) of the integrated movement in the not observed directions. - TYPE double
\ No newline at end of file

yaml_templates/processor/ProcessorOdom2d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  max_time_span: 0.0  # MANDATORY if $voting_active - DOC Time threshold to create a new frame [s]. - TYPE double
+  max_buff_length: 0  # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
+  max_dist_traveled: 0.0  # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
+  max_angle_turned: 0.0  # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
+  cov_det: 0.0  # MANDATORY if $voting_active - DOC The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe. - TYPE double
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+state_provider: false  # DOC If the processor is used by the problem as provider of state. - TYPE bool
+state_provider_order: 0.0  # MANDATORY if $state_provider - 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). - TYPE double
+unmeasured_perturbation_std: 0.0  # DOC Noise (standard deviation) of the integrated movement in the not observed directions. - TYPE double
\ No newline at end of file

yaml_templates/processor/ProcessorOdom3d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  max_time_span: 0.0  # MANDATORY if $voting_active - DOC Time threshold to create a new frame [s]. - TYPE double
+  max_buff_length: 0  # MANDATORY if $voting_active - DOC Maximum size of the buffer of motions. - TYPE unsigned int
+  max_dist_traveled: 0.0  # MANDATORY if $voting_active - DOC Distance traveled threshold to create a new frame [m]. - TYPE double
+  max_angle_turned: 0.0  # MANDATORY if $voting_active - DOC Angle turned threshold to create a new frame [rad]. - TYPE double
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+state_provider: false  # DOC If the processor is used by the problem as provider of state. - TYPE bool
+state_provider_order: 0.0  # MANDATORY if $state_provider - 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). - TYPE double
+unmeasured_perturbation_std: 0.0  # DOC Noise (standard deviation) of the integrated movement in the not observed directions. - TYPE double
\ No newline at end of file

yaml_templates/processor/ProcessorPose2d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
\ No newline at end of file

yaml_templates/processor/ProcessorPose3d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
\ No newline at end of file

yaml_templates/processor/ProcessorTracker.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  min_features_for_keyframe: 0  # MANDATORY if $voting_active - DOC Minimum number of features to vote for keyframe. - TYPE unsigned int
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+max_new_features: 0  # DOC Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.) - TYPE int
\ No newline at end of file

yaml_templates/processor/ProcessorTrackerFeature.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  min_features_for_keyframe: 0  # MANDATORY if $voting_active - DOC Minimum number of features to vote for keyframe. - TYPE unsigned int
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+max_new_features: 0  # DOC Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.) - TYPE int
\ No newline at end of file

yaml_templates/processor/ProcessorTrackerLandmark.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
+keyframe_vote:
+  voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool
+  min_features_for_keyframe: 0  # MANDATORY if $voting_active - DOC Minimum number of features to vote for keyframe. - TYPE unsigned int
+apply_loss_function: false  # DOC If the factors created by the processor have loss function. - TYPE bool
+max_new_features: 0  # DOC Maximum number of new features to be processed when adding a keyframe (-1=unlimited. 0=none.) - TYPE int
\ No newline at end of file

yaml_templates/sensor/SensorBase.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
\ No newline at end of file

yaml_templates/sensor/SensorDiffDrive.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+ticks_per_wheel_revolution: 0.0  # DOC Amount of sensor ticks of a whole wheel revolution (if measurement is directly radiants, put 2*PI). - TYPE double
+ticks_std_factor: 0.0  # DOC ratio of displacement variance to rotation, for odometry noise calculation. - TYPE double
+states:
+  P:
+    dynamic: false  # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0]  # DOC A vector containing the position (x, y) [m]. - TYPE Vector2d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector2d
+    drift_std: [0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector2d
+  O:
+    dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0]  # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
+    prior:
+      mode: "fix"  # DOC It can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector1d
+    drift_std: [0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) [rad/sqrt(s)]. - TYPE Vector1d
+  I:
+    dynamic: false  # DOC If the intrinsic state is dynamic, i.e. it changes along time (0: left wheel radius [m], 1: right wheel radius [m], 2: wheel separation [m]). - TYPE bool
+    value: [0.0, 0.0, 0.0]  # DOC A vector containing the intrinsic state values (0: left wheel radius [m], 1: right wheel radius [m], 2: wheel separation [m]). - TYPE Vector3d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector3d
+    drift_std: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector3d
\ No newline at end of file

yaml_templates/sensor/SensorMotionModel.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
\ No newline at end of file

yaml_templates/sensor/SensorOdom2d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+k_disp_to_disp: 0.0  # DOC ratio of displacement variance to displacement, for odometry noise calculation. - TYPE double
+k_disp_to_rot: 0.0  # DOC ratio of displacement variance to rotation, for odometry noise calculation. - TYPE double
+k_rot_to_rot: 0.0  # DOC ratio of rotation variance to rotation, for odometry noise calculation. - TYPE double
+min_disp_var: 0.0  # DOC minimum displacement variance, for odometry noise calculation. - TYPE double
+min_rot_var: 0.0  # DOC minimum rotation variance, for odometry noise calculation. - TYPE double
+states:
+  P:
+    dynamic: false  # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0]  # DOC A vector containing the position (x, y) [m]. - TYPE Vector2d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector2d
+    drift_std: [0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector2d
+  O:
+    dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0]  # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
+    prior:
+      mode: "fix"  # DOC It can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector1d
+    drift_std: [0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) [rad/sqrt(s)]. - TYPE Vector1d
\ No newline at end of file

yaml_templates/sensor/SensorOdom3d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+k_disp_to_disp: 0.0  # DOC ratio of displacement variance to displacement, for odometry noise calculation. - TYPE double
+k_disp_to_rot: 0.0  # DOC ratio of displacement variance to rotation, for odometry noise calculation. - TYPE double
+k_rot_to_rot: 0.0  # DOC ratio of rotation variance to rotation, for odometry noise calculation. - TYPE double
+min_disp_var: 0.0  # DOC minimum displacement variance, for odometry noise calculation. - TYPE double
+min_rot_var: 0.0  # DOC minimum rotation variance, for odometry noise calculation. - TYPE double
+states:
+  P:
+    dynamic: false  # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0, 0.0]  # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector3d
+    drift_std: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector3d
+  O:
+    dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector3d
+    drift_std: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix [rad/sqrt(s)]. - TYPE Vector3d
\ No newline at end of file

yaml_templates/sensor/SensorPose2d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+std_noise: [0.0, 0.0, 0.0]  # DOC Vector containing the standard deviation of the position and orientation measurements (square root of the covariance matrix diagonal). - TYPE Eigen::Vector3d
+states:
+  P:
+    dynamic: false  # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0]  # DOC A vector containing the position (x, y) [m]. - TYPE Vector2d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector2d
+    drift_std: [0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector2d
+  O:
+    dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0]  # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
+    prior:
+      mode: "fix"  # DOC It can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector1d
+    drift_std: [0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) [rad/sqrt(s)]. - TYPE Vector1d
\ No newline at end of file

yaml_templates/sensor/SensorPose3d.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
+name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+std_noise: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]  # DOC Vector containing the standard deviation of the position and orientation measurements (square root of the covariance matrix diagonal). - TYPE Eigen::Vector6d
+states:
+  P:
+    dynamic: false  # DOC If the position is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0, 0.0]  # DOC A vector containing the position (x, y, z) [m]. - TYPE Vector3d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [m]. - TYPE Vector3d
+    drift_std: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) i.e. the sqrt of the diagonal elements of the covariance matrix [m/sqrt(s)]. - TYPE Vector3d
+  O:
+    dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+    value: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the quaternion values (x, y, z, w) - TYPE Vector4d
+    prior:
+      mode: "fix"  # DOC Can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+      factor_std: [0.0, 0.0, 0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector3d
+    drift_std: [0.0, 0.0, 0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true), i.e. the sqrt of the diagonal elements of the covariance matrix [rad/sqrt(s)]. - TYPE Vector3d
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yaml_templates/sensor/StateSensorO2d.yaml

+dynamic: false  # DOC If the orientation is dynamic, i.e. it changes along time. - TYPE bool
+value: [0.0]  # DOC A vector containing the orientation, yaw [rad]. - TYPE Vector1d
+prior:
+  mode: "fix"  # DOC It can be "factor" to add an absolute factor (with covariance defined in "factor_std"), "fix" to set the values constant or "initial_guess" to just set the values. - TYPE string - OPTIONS [fix, factor, initial_guess]
+  factor_std: [0.0]  # MANDATORY if $mode == "factor" - 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 [rad]. - TYPE Vector1d
+drift_std: [0.0]  # OPTIONAL - DOC A vector containing the stdev values of the noise of the drift factor per second (only if dynamic==true) [rad/sqrt(s)]. - TYPE Vector1d
\ No newline at end of file