[skip ci] yaml templates added or modified

yaml_templates/NONE.yaml

+type: "NONE"  # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [NONE]
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yaml_templates/None.yaml

+type: "None"  # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [None]
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yaml_templates/TypeAndPlugin.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - TYPE string
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yaml_templates/landmark/LandmarkBase.yaml

+type: "whatever"  # DOC Type of the landmark - TYPE string
+plugin: "core"  # OPTIONAL - DOC Name of the wolf plugin where the landmark type is implemented. - TYPE string
+id: 0  # DOC Unique id of the landmark. - TYPE int
+states:
+  keys: "whatever"  # DOC The keys corresponding to the states of the sensor, to be filled with _value in the derived schemas. - TYPE string
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yaml_templates/landmark/LandmarkPoint2d.yaml

+type: "whatever"  # DOC Type of the landmark - TYPE string
+plugin: "core"  # OPTIONAL - DOC Name of the wolf plugin where the landmark type is implemented. - TYPE string
+id: 0  # DOC Unique id of the landmark. - TYPE int
+states:
+  P:
+    state: [0.0, 0.0]  # DOC A vector containing the state values - TYPE Vector2d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector2d
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yaml_templates/landmark/LandmarkPoint3d.yaml

+type: "whatever"  # DOC Type of the landmark - TYPE string
+plugin: "core"  # OPTIONAL - DOC Name of the wolf plugin where the landmark type is implemented. - TYPE string
+id: 0  # DOC Unique id of the landmark. - TYPE int
+states:
+  P:
+    state: [0.0, 0.0, 0.0]  # DOC A vector containing the state "P" values - TYPE Vector3d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector3d
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yaml_templates/landmark/LandmarkPose2d.yaml

+type: "whatever"  # DOC Type of the landmark - TYPE string
+plugin: "core"  # OPTIONAL - DOC Name of the wolf plugin where the landmark type is implemented. - TYPE string
+id: 0  # DOC Unique id of the landmark. - TYPE int
+states:
+  P:
+    state: [0.0, 0.0]  # DOC A vector containing the state values - TYPE Vector2d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector2d
+  O:
+    state: [0.0]  # DOC A vector containing the state values - TYPE Vector1d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector1d
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yaml_templates/landmark/LandmarkPose3d.yaml

+type: "whatever"  # DOC Type of the landmark - TYPE string
+plugin: "core"  # OPTIONAL - DOC Name of the wolf plugin where the landmark type is implemented. - TYPE string
+id: 0  # DOC Unique id of the landmark. - TYPE int
+states:
+  P:
+    state: [0.0, 0.0, 0.0]  # DOC A vector containing the state "P" values - TYPE Vector3d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector3d
+  O:
+    state: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the state values. It should be a quaternion (i.e. four values and normalized) - TYPE Vector4d
+    mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+    noise_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. - TYPE Vector3d
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yaml_templates/map/MapBase.yaml

+type: "whatever"  # DOC Type of the Map used in the problem. - TYPE string
+plugin: "whatever"  # DOC Name of the wolf plugin where the map type is implemented. - TYPE string
+landmarks:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
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yaml_templates/none.yaml

+type: "none"  # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [none]
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yaml_templates/problem/Problem.yaml

+problem:
+  tree_manager:
+    type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  dimension: 2  # DOC Dimension of the problem. "2" for 2D or "3" for 3D - TYPE int - OPTIONS [2, 3]
+map:
+  type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+  follow: some/path/to/derived/type/parameters.yaml
+sensors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+processors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
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yaml_templates/problem/Problem2d.yaml

+problem:
+  tree_manager:
+    type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  dimension: 2  # DOC Dimension of the problem: "2" for 2D - TYPE int - OPTIONS [2]
+  first_frame:
+    P:
+      state: [0.0, 0.0]  # DOC A vector containing the state values - TYPE Vector2d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector2d
+    O:
+      state: [0.0]  # DOC A vector containing the state values - TYPE Vector1d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector1d
+    V:
+      state: [0.0, 0.0]  # DOC A vector containing the state values - TYPE Vector2d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector2d
+map:
+  type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+  follow: some/path/to/derived/type/parameters.yaml
+sensors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+processors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
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yaml_templates/problem/Problem3d.yaml

+problem:
+  tree_manager:
+    type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  dimension: 3  # DOC Dimension of the problem: "3" for 3D - TYPE int - OPTIONS [3]
+  first_frame:
+    P:
+      state: [0.0, 0.0, 0.0]  # DOC A vector containing the state "P" values - TYPE Vector3d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector3d
+    O:
+      state: [0.0, 0.0, 0.0, 0.0]  # DOC A vector containing the state values. It should be a quaternion (i.e. four values and normalized) - TYPE Vector4d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector3d
+    V:
+      state: [0.0, 0.0, 0.0]  # DOC A vector containing the state "V" values - TYPE Vector3d
+      mode: "fix"  # 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 - TYPE string - OPTIONS [fix, factor, initial_guess]
+      noise_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. - TYPE Vector3d
+map:
+  type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+  follow: some/path/to/derived/type/parameters.yaml
+sensors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+processors:
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
+  - type: "DerivedType"  # DOC String corresponding to the name of the object class (and its schema file).
+    follow: some/path/to/derived/type/parameters.yaml
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yaml_templates/processor/MotionProvider.yaml

+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
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yaml_templates/processor/ProcessorBase.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
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yaml_templates/processor/ProcessorBaseWithSensor.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
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yaml_templates/processor/ProcessorDiffDrive.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
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yaml_templates/processor/ProcessorFixedWingModel.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
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yaml_templates/processor/ProcessorLandmarkExternal.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
+filter:
+  quality_th: 0.0  # DOC The minimum quality to consider the detection - TYPE double
+  track_length_th: 0  # DOC The minimum track length to consider the detection - TYPE unsigned int
+use_orientation: false  # DOC If the orientation measurement is considered when emplacing factors - TYPE bool
+match_dist_th: 0.0  # DOC the threshold in distance for considering a match between landmarks and detections - TYPE double
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yaml_templates/processor/ProcessorLoopClosure.yaml

+type: "whatever"  # DOC The class name - TYPE string
+plugin: "whatever"  # DOC plugin where it is implemented the class - 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
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