From 8a38e6119d640605e820bcf1d91a1bc1518caa01 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Tue, 21 May 2019 12:40:25 +0200
Subject: [PATCH] Partially closes #210. The demos related part of the issue is
moved to issue #209
---
include/core/yaml/parser_yaml.hpp | 4 ++--
test/gtest_param_server.cpp | 2 +-
test/gtest_parser_yaml.cpp | 6 +++---
test/gtest_problem.cpp | 12 ++++++------
test/params1.yaml | 31 +-----------------------------
test/params3.yaml | 32 +------------------------------
test/yaml/params1.yaml | 30 +++++++++++++++++++++++++++++
test/{ => yaml}/params2.yaml | 0
test/{ => yaml}/params3.1.yaml | 0
test/yaml/params3.yaml | 31 ++++++++++++++++++++++++++++++
test/yaml/processor_odom_3D.yaml | 8 ++++++++
test/yaml/sensor_odom_3D.yaml | 8 ++++++++
12 files changed, 91 insertions(+), 73 deletions(-)
create mode 100644 test/yaml/params1.yaml
rename test/{ => yaml}/params2.yaml (100%)
rename test/{ => yaml}/params3.1.yaml (100%)
create mode 100644 test/yaml/params3.yaml
create mode 100644 test/yaml/processor_odom_3D.yaml
create mode 100644 test/yaml/sensor_odom_3D.yaml
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index f93d882cb..07ac73ab3 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/include/core/yaml/parser_yaml.hpp
@@ -180,7 +180,7 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
The following example shows how the header remains unafected:
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- - follow: "some_path" |
+ - follow: "@some_path" |
- var: 1.2 |
Resulting map:
cov_det -> 1
@@ -193,7 +193,7 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
Which would result from the following yaml files
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- - $follow: "some_path" |
+ - $follow: "@some_path" |
- var: 1.2 |
*/
regex rr("follow");
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index ab349ceb3..a24b07a7e 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -18,7 +18,7 @@ parserYAML parse(string _file, string _path_root)
TEST(ParamsServer, Default)
{
- auto parser = parse("/test/params1.yaml", wolf_root);
+ auto parser = parse("/test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
paramsServer server = paramsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
EXPECT_EQ(server.getParam<double>("should_not_exist", "2.6"), 2.6);
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index 4af9e7760..752c06fd2 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -17,7 +17,7 @@ parserYAML parse(string _file, string _path_root)
TEST(ParserYAML, RegularParse)
{
- auto parser = parse("/test/params1.yaml", wolf_root);
+ auto parser = parse("/test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
// for(auto it : params)
// cout << it.first << " %% " << it.second << endl;
@@ -26,13 +26,13 @@ TEST(ParserYAML, RegularParse)
}
TEST(ParserYAML, ParseMap)
{
- auto parser = parse("/test/params2.yaml", wolf_root);
+ auto parser = parse("/test/yaml/params2.yaml", wolf_root);
auto params = parser.getParams();
EXPECT_EQ(params["processor1/mymap"], "[{k1:v1},{k2:v2},{k3:[v3,v4,v5]}]");
}
TEST(ParserYAML, JumpFile)
{
- auto parser = parse("/test/params3.yaml", wolf_root);
+ auto parser = parse("/test/yaml/params3.yaml", wolf_root);
auto params = parser.getParams();
EXPECT_EQ(params["my_proc_test/max_buff_length"], "100");
EXPECT_EQ(params["my_proc_test/jump/voting_active"], "false");
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 29f4f132d..942e49086 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -111,7 +111,7 @@ TEST(Problem, Installers)
ProblemPtr P = Problem::create("PO", 3);
Eigen::Vector7s xs;
- SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/demos/sensor_odom_3D.yaml");
+ SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/test/yaml/sensor_odom_3D.yaml");
// install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test)
ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
@@ -126,7 +126,7 @@ TEST(Problem, Installers)
ASSERT_FALSE(P->getProcessorMotion());
// install processor motion
- ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
+ ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml");
// check motion processor is set
ASSERT_TRUE(P->getProcessorMotion());
@@ -243,7 +243,7 @@ TEST(Problem, StateBlocks)
Eigen::Vector3s xs2d;
// 2 state blocks, fixed
- SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml");
+ SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml");
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
// 2 state blocks, fixed
@@ -256,7 +256,7 @@ TEST(Problem, StateBlocks)
params->min_features_for_keyframe = 10;
auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
- ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
+ ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml");
// 2 state blocks, estimated
auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0);
@@ -302,7 +302,7 @@ TEST(Problem, Covariances)
Eigen::Vector7s xs3d;
Eigen::Vector3s xs2d;
- SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml");
+ SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml");
SensorBasePtr St = P->installSensor ("ODOM 2D", "other odometer", xs2d, "");
ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
@@ -313,7 +313,7 @@ TEST(Problem, Covariances)
auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
// St->addProcessor(pt);
- ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
+ ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml");
// 4 state blocks, estimated
St->unfixExtrinsics();
diff --git a/test/params1.yaml b/test/params1.yaml
index 834984f6c..4ad741983 100644
--- a/test/params1.yaml
+++ b/test/params1.yaml
@@ -1,30 +1 @@
-config:
- sensors:
- -
- type: "ODOM 2D"
- name: "odom"
- intrinsic:
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
- extrinsic:
- pos: [1,2,3]
- -
- type: "RANGE BEARING"
- name: "rb"
- processors:
- -
- type: "ODOM 2D"
- name: "processor1"
- sensor name: "odom"
- -
- type: "RANGE BEARING"
- name: "rb_processor"
- sensor name: "rb"
- -
- type: "ODOM 2D"
- name: "my_proc_test"
- sensor name: "odom"
- follow: "/test/params3.1.yaml"
-files:
- - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
- - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
+ follow: "/test/yaml/params3.1.yaml"
\ No newline at end of file
diff --git a/test/params3.yaml b/test/params3.yaml
index 3ee99dcc4..78489d218 100644
--- a/test/params3.yaml
+++ b/test/params3.yaml
@@ -1,31 +1 @@
-config:
- sensors:
- -
- type: "ODOM 2D"
- name: "odom"
- intrinsic:
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
- extrinsic:
- pos: [1,2,3]
- -
- type: "RANGE BEARING"
- name: "rb"
- processors:
- -
- type: "ODOM 2D"
- name: "processor1"
- sensor name: "odom"
- -
- type: "RANGE BEARING"
- name: "rb_processor"
- sensor name: "rb"
- -
- type: "ODOM 2D"
- name: "my_proc_test"
- sensor name: "odom"
- follow: "/test/params3.1.yaml"
- jump: "@/test/params3.1.yaml"
-files:
- - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
- - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
+ jump: "@/test/yaml/params3.1.yaml"
\ No newline at end of file
diff --git a/test/yaml/params1.yaml b/test/yaml/params1.yaml
new file mode 100644
index 000000000..940d3e585
--- /dev/null
+++ b/test/yaml/params1.yaml
@@ -0,0 +1,30 @@
+config:
+ sensors:
+ -
+ type: "ODOM 2D"
+ name: "odom"
+ intrinsic:
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
+ extrinsic:
+ pos: [1,2,3]
+ -
+ type: "RANGE BEARING"
+ name: "rb"
+ processors:
+ -
+ type: "ODOM 2D"
+ name: "processor1"
+ sensor name: "odom"
+ -
+ type: "RANGE BEARING"
+ name: "rb_processor"
+ sensor name: "rb"
+ -
+ type: "ODOM 2D"
+ name: "my_proc_test"
+ sensor name: "odom"
+ follow: "/test/yaml/params3.1.yaml"
+files:
+ - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
+ - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
diff --git a/test/params2.yaml b/test/yaml/params2.yaml
similarity index 100%
rename from test/params2.yaml
rename to test/yaml/params2.yaml
diff --git a/test/params3.1.yaml b/test/yaml/params3.1.yaml
similarity index 100%
rename from test/params3.1.yaml
rename to test/yaml/params3.1.yaml
diff --git a/test/yaml/params3.yaml b/test/yaml/params3.yaml
new file mode 100644
index 000000000..ac82cf0dd
--- /dev/null
+++ b/test/yaml/params3.yaml
@@ -0,0 +1,31 @@
+config:
+ sensors:
+ -
+ type: "ODOM 2D"
+ name: "odom"
+ intrinsic:
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
+ extrinsic:
+ pos: [1,2,3]
+ -
+ type: "RANGE BEARING"
+ name: "rb"
+ processors:
+ -
+ type: "ODOM 2D"
+ name: "processor1"
+ sensor name: "odom"
+ -
+ type: "RANGE BEARING"
+ name: "rb_processor"
+ sensor name: "rb"
+ -
+ type: "ODOM 2D"
+ name: "my_proc_test"
+ sensor name: "odom"
+ follow: "/test/yaml/params3.1.yaml"
+ jump: "@/test/yaml/params3.1.yaml"
+files:
+ - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
+ - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml
new file mode 100644
index 000000000..f501e3338
--- /dev/null
+++ b/test/yaml/processor_odom_3D.yaml
@@ -0,0 +1,8 @@
+processor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+processor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
+time tolerance: 0.01 # seconds
+keyframe vote:
+ max time span: 0.2 # seconds
+ max buffer length: 10 # motion deltas
+ dist traveled: 0.5 # meters
+ angle turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml
new file mode 100644
index 000000000..9ea778035
--- /dev/null
+++ b/test/yaml/sensor_odom_3D.yaml
@@ -0,0 +1,8 @@
+sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
+motion variances:
+ disp_to_disp: 0.02 # m^2 / m
+ disp_to_rot: 0.02 # rad^2 / m
+ rot_to_rot: 0.01 # rad^2 / rad
+ min_disp_var: 0.01 # m^2
+ min_rot_var: 0.01 # rad^2
--
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