diff --git a/yaml_templates/NONE.yaml b/yaml_templates/NONE.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..21882391d69233abb210ce2fe6505635e0c28e73
--- /dev/null
+++ b/yaml_templates/NONE.yaml
@@ -0,0 +1 @@
+type: "NONE" # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [NONE]
\ No newline at end of file
diff --git a/yaml_templates/None.yaml b/yaml_templates/None.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b33da9c353e6da477af3a54e5dce75bcf2c73c0a
--- /dev/null
+++ b/yaml_templates/None.yaml
@@ -0,0 +1 @@
+type: "None" # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [None]
\ No newline at end of file
diff --git a/yaml_templates/TypeAndPlugin.yaml b/yaml_templates/TypeAndPlugin.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..42bdc3ec4abeff58189fb6ce5bb6b4bdab6f6225
--- /dev/null
+++ b/yaml_templates/TypeAndPlugin.yaml
@@ -0,0 +1,2 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
\ No newline at end of file
diff --git a/yaml_templates/landmark/LandmarkBase.yaml b/yaml_templates/landmark/LandmarkBase.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bb5df3eb479879cc051a02eab00095dab6c4b762
--- /dev/null
+++ b/yaml_templates/landmark/LandmarkBase.yaml
@@ -0,0 +1,5 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/landmark/LandmarkPoint2d.yaml b/yaml_templates/landmark/LandmarkPoint2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..446dd04f72fa04c5e78b254eb8c3687d2c2235fa
--- /dev/null
+++ b/yaml_templates/landmark/LandmarkPoint2d.yaml
@@ -0,0 +1,8 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/landmark/LandmarkPoint3d.yaml b/yaml_templates/landmark/LandmarkPoint3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cb27e477ec12fd3af9daa53b0b83aa232bc248d4
--- /dev/null
+++ b/yaml_templates/landmark/LandmarkPoint3d.yaml
@@ -0,0 +1,8 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/landmark/LandmarkPose2d.yaml b/yaml_templates/landmark/LandmarkPose2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..147580f84600b5c139ee10ebb2ac697ed86c4bd9
--- /dev/null
+++ b/yaml_templates/landmark/LandmarkPose2d.yaml
@@ -0,0 +1,12 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/landmark/LandmarkPose3d.yaml b/yaml_templates/landmark/LandmarkPose3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..449197bec8479869cd21e5cee61f2fad681b5fde
--- /dev/null
+++ b/yaml_templates/landmark/LandmarkPose3d.yaml
@@ -0,0 +1,12 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/map/MapBase.yaml b/yaml_templates/map/MapBase.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2088256474350c13232b360eb06149ed42da8b50
--- /dev/null
+++ b/yaml_templates/map/MapBase.yaml
@@ -0,0 +1,7 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/none.yaml b/yaml_templates/none.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..05c60e5cda02648613796dce0da2e237b6d24a05
--- /dev/null
+++ b/yaml_templates/none.yaml
@@ -0,0 +1 @@
+type: "none" # OPTIONAL - DOC Nothing to say here - TYPE string - OPTIONS [none]
\ No newline at end of file
diff --git a/yaml_templates/problem/Problem.yaml b/yaml_templates/problem/Problem.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0816b8cd324fd06e25434cfeaaef963a476aa19e
--- /dev/null
+++ b/yaml_templates/problem/Problem.yaml
@@ -0,0 +1,18 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/problem/Problem2d.yaml b/yaml_templates/problem/Problem2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9f86253675b7dacba6eea7bacba41db6a5c04127
--- /dev/null
+++ b/yaml_templates/problem/Problem2d.yaml
@@ -0,0 +1,31 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/problem/Problem3d.yaml b/yaml_templates/problem/Problem3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..35037f64a20bcd526ce9a01b9542bbcfa5155982
--- /dev/null
+++ b/yaml_templates/problem/Problem3d.yaml
@@ -0,0 +1,31 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/MotionProvider.yaml b/yaml_templates/processor/MotionProvider.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..494d64098a1b1fa29f03b25c39b80fe3525880d4
--- /dev/null
+++ b/yaml_templates/processor/MotionProvider.yaml
@@ -0,0 +1,2 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorBase.yaml b/yaml_templates/processor/ProcessorBase.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72d710cbd033b2d4ed61c4e7192708df0d9972f1
--- /dev/null
+++ b/yaml_templates/processor/ProcessorBase.yaml
@@ -0,0 +1,7 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorBaseWithSensor.yaml b/yaml_templates/processor/ProcessorBaseWithSensor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..60328b0cab7677eba31fb42d5364446440250abd
--- /dev/null
+++ b/yaml_templates/processor/ProcessorBaseWithSensor.yaml
@@ -0,0 +1,8 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorDiffDrive.yaml b/yaml_templates/processor/ProcessorDiffDrive.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c38d91af1a863e01aa76df6c23f780ed7a0b09e1
--- /dev/null
+++ b/yaml_templates/processor/ProcessorDiffDrive.yaml
@@ -0,0 +1,15 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorFixedWingModel.yaml b/yaml_templates/processor/ProcessorFixedWingModel.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b0b3689d01f7b3427cd2d1740b480fe9ce1cbc63
--- /dev/null
+++ b/yaml_templates/processor/ProcessorFixedWingModel.yaml
@@ -0,0 +1,10 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorLandmarkExternal.yaml b/yaml_templates/processor/ProcessorLandmarkExternal.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..04ae5d1beaf06fb0fcdaca3f788e5af97ace52e8
--- /dev/null
+++ b/yaml_templates/processor/ProcessorLandmarkExternal.yaml
@@ -0,0 +1,16 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorLoopClosure.yaml b/yaml_templates/processor/ProcessorLoopClosure.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c30f5771ff8afd2c7b34fa91ff5741f42bba14ab
--- /dev/null
+++ b/yaml_templates/processor/ProcessorLoopClosure.yaml
@@ -0,0 +1,8 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorMotion.yaml b/yaml_templates/processor/ProcessorMotion.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..37409fad2b4cf5ca065cf08eb20a8e0b24b187cb
--- /dev/null
+++ b/yaml_templates/processor/ProcessorMotion.yaml
@@ -0,0 +1,14 @@
+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
+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
diff --git a/yaml_templates/processor/ProcessorOdom2d.yaml b/yaml_templates/processor/ProcessorOdom2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c38d91af1a863e01aa76df6c23f780ed7a0b09e1
--- /dev/null
+++ b/yaml_templates/processor/ProcessorOdom2d.yaml
@@ -0,0 +1,15 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorOdom3d.yaml b/yaml_templates/processor/ProcessorOdom3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..37409fad2b4cf5ca065cf08eb20a8e0b24b187cb
--- /dev/null
+++ b/yaml_templates/processor/ProcessorOdom3d.yaml
@@ -0,0 +1,14 @@
+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
+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
diff --git a/yaml_templates/processor/ProcessorPose2d.yaml b/yaml_templates/processor/ProcessorPose2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72d710cbd033b2d4ed61c4e7192708df0d9972f1
--- /dev/null
+++ b/yaml_templates/processor/ProcessorPose2d.yaml
@@ -0,0 +1,7 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorPose3d.yaml b/yaml_templates/processor/ProcessorPose3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..72d710cbd033b2d4ed61c4e7192708df0d9972f1
--- /dev/null
+++ b/yaml_templates/processor/ProcessorPose3d.yaml
@@ -0,0 +1,7 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/processor/ProcessorTracker.yaml b/yaml_templates/processor/ProcessorTracker.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..abace2bc177412ce9867bd71c8c43ea880eb0572
--- /dev/null
+++ b/yaml_templates/processor/ProcessorTracker.yaml
@@ -0,0 +1,9 @@
+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
+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
diff --git a/yaml_templates/processor/ProcessorTrackerFeature.yaml b/yaml_templates/processor/ProcessorTrackerFeature.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..abace2bc177412ce9867bd71c8c43ea880eb0572
--- /dev/null
+++ b/yaml_templates/processor/ProcessorTrackerFeature.yaml
@@ -0,0 +1,9 @@
+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
+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
diff --git a/yaml_templates/processor/ProcessorTrackerLandmark.yaml b/yaml_templates/processor/ProcessorTrackerLandmark.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..abace2bc177412ce9867bd71c8c43ea880eb0572
--- /dev/null
+++ b/yaml_templates/processor/ProcessorTrackerLandmark.yaml
@@ -0,0 +1,9 @@
+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
+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
diff --git a/yaml_templates/sensor/SensorBase.yaml b/yaml_templates/sensor/SensorBase.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c1663906e4264a1c79170952a150ede4229d076f
--- /dev/null
+++ b/yaml_templates/sensor/SensorBase.yaml
@@ -0,0 +1,5 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+states:
+ keys: "whatever" # DOC The keys corresponding to the states of the sensor, to be filled with _value in the derived schemas. - TYPE string
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorDiffDrive.yaml b/yaml_templates/sensor/SensorDiffDrive.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d4e4c6f46fc23c38111f808ae94c6a78ab782852
--- /dev/null
+++ b/yaml_templates/sensor/SensorDiffDrive.yaml
@@ -0,0 +1,24 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0] # OPTIONAL - 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. - 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0] # OPTIONAL - 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. - TYPE Vector1d
+ I:
+ state: [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
+ 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
+ticks_per_wheel_revolution: 0.0 # DOC ratio of displacement variance to displacement, for odometry noise calculation. - TYPE double
+ticks_std_factor: 0.0 # DOC ratio of displacement variance to rotation, for odometry noise calculation. - TYPE double
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorMotionModel.yaml b/yaml_templates/sensor/SensorMotionModel.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c9395cfbc6a8d9e96165b1b3a21229bcf216bfcf
--- /dev/null
+++ b/yaml_templates/sensor/SensorMotionModel.yaml
@@ -0,0 +1,5 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+states:
+ {}
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorOdom2d.yaml b/yaml_templates/sensor/SensorOdom2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..09787d36581ad7a929cb11ea8e09e30238f46d52
--- /dev/null
+++ b/yaml_templates/sensor/SensorOdom2d.yaml
@@ -0,0 +1,21 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0] # OPTIONAL - 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. - 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0] # OPTIONAL - 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. - TYPE Vector1d
+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
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorOdom3d.yaml b/yaml_templates/sensor/SensorOdom3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9d898b41ecbcaa449caa3917d0a043fa7b74e986
--- /dev/null
+++ b/yaml_templates/sensor/SensorOdom3d.yaml
@@ -0,0 +1,21 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
+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
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorPose2d.yaml b/yaml_templates/sensor/SensorPose2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e42f8605eab661e95729ebdbcd384b4f0ad915d2
--- /dev/null
+++ b/yaml_templates/sensor/SensorPose2d.yaml
@@ -0,0 +1,17 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0] # OPTIONAL - 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. - 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0] # OPTIONAL - 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. - TYPE Vector1d
+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
\ No newline at end of file
diff --git a/yaml_templates/sensor/SensorPose3d.yaml b/yaml_templates/sensor/SensorPose3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..38460e921a84f060afe795fb92ec0f910962bc4e
--- /dev/null
+++ b/yaml_templates/sensor/SensorPose3d.yaml
@@ -0,0 +1,17 @@
+type: "whatever" # DOC The class name - TYPE string
+plugin: "whatever" # DOC plugin where it is implemented the class - TYPE string
+name: "whatever" # DOC The sensor"s name. It has to be unique. - TYPE string
+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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - 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
+ dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+ drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
+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
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensor.yaml b/yaml_templates/sensor/SpecStateSensor.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a836a91f3f76bf4437deab175d58f1f7f09645ac
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensor.yaml
@@ -0,0 +1,6 @@
+type: "whatever" # DOC The derived type of the StateBlock - TYPE string
+state: [0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE VectorXd
+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 VectorXd
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE VectorXd
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorO2d.yaml b/yaml_templates/sensor/SpecStateSensorO2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..44aab0d675c7eaa4ef9ec77e00de1cb03b6c74e7
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorO2d.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0] # OPTIONAL - 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. - TYPE Vector1d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorO3d.yaml b/yaml_templates/sensor/SpecStateSensorO3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9e55c6cf169588f6bbea29b8378ca713e4346174
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorO3d.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorP2d.yaml b/yaml_templates/sensor/SpecStateSensorP2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..125c7e9ba70aba065189f067b39dd71dc32d8be6
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorP2d.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0] # OPTIONAL - 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. - TYPE Vector2d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorP3d.yaml b/yaml_templates/sensor/SpecStateSensorP3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cb22ff89a36c67414d7f185dda91bb8f5d695b7b
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorP3d.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams1.yaml b/yaml_templates/sensor/SpecStateSensorParams1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..44aab0d675c7eaa4ef9ec77e00de1cb03b6c74e7
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams1.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0] # OPTIONAL - 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. - TYPE Vector1d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams10.yaml b/yaml_templates/sensor/SpecStateSensorParams10.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..af0d4f8d082af4c36476d7e38e8a9a2c0f736b83
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams10.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector10d
+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, 0.0, 0.0, 0.0, 0.0, 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 Vector10d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector10d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams2.yaml b/yaml_templates/sensor/SpecStateSensorParams2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..125c7e9ba70aba065189f067b39dd71dc32d8be6
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams2.yaml
@@ -0,0 +1,5 @@
+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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0] # OPTIONAL - 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. - TYPE Vector2d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams3.yaml b/yaml_templates/sensor/SpecStateSensorParams3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..de0000c68abd95182161de0a4d93a83c1d00068d
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams3.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0] # DOC A vector containing the state 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
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector3d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams4.yaml b/yaml_templates/sensor/SpecStateSensorParams4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..239cb8d24d28a9cd7bddba348d03f23294a16894
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams4.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - 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, 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 Vector4d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector4d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams5.yaml b/yaml_templates/sensor/SpecStateSensorParams5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..31fb0e4ca71f0bb1801cc0d9d89b7eec956fbf12
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams5.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector5d
+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, 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 Vector5d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector5d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams6.yaml b/yaml_templates/sensor/SpecStateSensorParams6.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..84d6a1f5b242e914e5feed63e09a7b5e1dd8cdc8
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams6.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector6d
+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, 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 Vector6d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector6d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams7.yaml b/yaml_templates/sensor/SpecStateSensorParams7.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c61970f601568f457c9f4f151cd41cb04949d5f1
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams7.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector7d
+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, 0.0, 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 Vector7d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector7d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams8.yaml b/yaml_templates/sensor/SpecStateSensorParams8.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5b3041f971aa6b73c72d2c7106f8d7ca1b681ab4
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams8.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector8d
+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, 0.0, 0.0, 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 Vector8d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector8d
\ No newline at end of file
diff --git a/yaml_templates/sensor/SpecStateSensorParams9.yaml b/yaml_templates/sensor/SpecStateSensorParams9.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e1ad86d9c356aaf954a390b2a7025c34f63a6d8e
--- /dev/null
+++ b/yaml_templates/sensor/SpecStateSensorParams9.yaml
@@ -0,0 +1,5 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector9d
+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, 0.0, 0.0, 0.0, 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 Vector9d
+dynamic: false # DOC If the state is dynamic, i.e. it changes along time. - TYPE bool
+drift_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # OPTIONAL - 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. - TYPE Vector9d
\ No newline at end of file
diff --git a/yaml_templates/solver/SolverCeres.yaml b/yaml_templates/solver/SolverCeres.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..765c8ac1a4acf944e0f32d519455888f3566e5e1
--- /dev/null
+++ b/yaml_templates/solver/SolverCeres.yaml
@@ -0,0 +1,14 @@
+period: 0.0 # DOC Period of the solver thread. - TYPE double
+verbose: 0 # DOC Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report. - TYPE int - OPTIONS [0, 1, 2]
+compute_cov: false # DOC If the solver has to compute any covariance matrix block. - TYPE bool
+cov_enum: 0 # MANDATORY if $compute_cov - 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. - TYPE int - OPTIONS [0, 1, 2, 3, 4, 5]
+cov_period: 0.0 # MANDATORY if $compute_cov - DOC Period of the covariance computation. - TYPE double
+minimizer: "LEVENBERG_MARQUARDT" # DOC Type of minimizer. - TYPE string - OPTIONS [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs]
+interrupt_on_problem_change: false # DOC If the solver has to interrupted each time the problem changes to rebuild the problem. - TYPE bool
+min_num_iterations: 0 # MANDATORY if $interrupt_on_problem_change - DOC Amount of solver iterations during which the solver cannot be interrupted (used in interrupt_on_problem_change == true). - TYPE unsigned int
+max_num_iterations: 0 # DOC Maximum amount of solver iterations. If the solver didn"t converge after this amount of iterations, it stops anyway. - TYPE unsigned int
+function_tolerance: 0.0 # DOC Function tolerance. Convergence criterion. Typical value: 1e-8 - TYPE double
+gradient_tolerance: 0.0 # DOC Gradient tolerance. Convergence criterion. Typical value: 1e-8 - TYPE double
+n_threads: 1 # DOC Amount of threads used by ceres. - TYPE unsigned int - OPTIONS [1, 2, 3, 4]
+use_nonmonotonic_steps: false # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE bool
+max_consecutive_nonmonotonic_steps: 2 # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE unsigned int
\ No newline at end of file
diff --git a/yaml_templates/solver/SolverManager.yaml b/yaml_templates/solver/SolverManager.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..15968cb34ff891261c37b0c849f3e4fda7d56c68
--- /dev/null
+++ b/yaml_templates/solver/SolverManager.yaml
@@ -0,0 +1,5 @@
+period: 0.0 # DOC Period of the solver thread. - TYPE double
+verbose: 0 # DOC Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full report. - TYPE int - OPTIONS [0, 1, 2]
+compute_cov: false # DOC If the solver has to compute any covariance matrix block. - TYPE bool
+cov_enum: 0 # MANDATORY if $compute_cov - 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. - TYPE int - OPTIONS [0, 1, 2, 3, 4, 5]
+cov_period: 0.0 # MANDATORY if $compute_cov - DOC Period of the covariance computation. - TYPE double
\ No newline at end of file
diff --git a/yaml_templates/state/SpecState.yaml b/yaml_templates/state/SpecState.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d5544cc069c545497a6decce58cb8055d6623c13
--- /dev/null
+++ b/yaml_templates/state/SpecState.yaml
@@ -0,0 +1,4 @@
+type: "whatever" # DOC The derived type of the StateBlock - TYPE string
+state: [0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE VectorXd
+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 VectorXd
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateO2d.yaml b/yaml_templates/state/SpecStateO2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8716ad1064682fad5487c0ef61bcc296a4dd28ba
--- /dev/null
+++ b/yaml_templates/state/SpecStateO2d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateO3d.yaml b/yaml_templates/state/SpecStateO3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d759a324b167ec0465936ae2c3ae82cd8235eaad
--- /dev/null
+++ b/yaml_templates/state/SpecStateO3d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateP2d.yaml b/yaml_templates/state/SpecStateP2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c27c76bd94a4f1e1fe2bda3a9163f27f7a467668
--- /dev/null
+++ b/yaml_templates/state/SpecStateP2d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateP3d.yaml b/yaml_templates/state/SpecStateP3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e4780f145fb67f9668f0771941998828b6652633
--- /dev/null
+++ b/yaml_templates/state/SpecStateP3d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams1.yaml b/yaml_templates/state/SpecStateParams1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8716ad1064682fad5487c0ef61bcc296a4dd28ba
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams1.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams10.yaml b/yaml_templates/state/SpecStateParams10.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..124b1fb9f8e3fa7c130f0dcb51a12ef4e3efc468
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams10.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector10d
+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, 0.0, 0.0, 0.0, 0.0, 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 Vector10d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams2.yaml b/yaml_templates/state/SpecStateParams2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c27c76bd94a4f1e1fe2bda3a9163f27f7a467668
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams2.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams3.yaml b/yaml_templates/state/SpecStateParams3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d0d70e870ee14702c08b343e7f735bba4530253a
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams3.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0] # DOC A vector containing the state 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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams4.yaml b/yaml_templates/state/SpecStateParams4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2b30c558f2fe4d57e4d98c66389d76591e0b0a4c
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams4.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - 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, 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 Vector4d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams5.yaml b/yaml_templates/state/SpecStateParams5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..16b59863162e70c4e3d7b9a7b8af34cede8afb42
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams5.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector5d
+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, 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 Vector5d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams6.yaml b/yaml_templates/state/SpecStateParams6.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1680a92b2e4f9adbe708af2bec4de1deea3e8c09
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams6.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector6d
+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, 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 Vector6d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams7.yaml b/yaml_templates/state/SpecStateParams7.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0a346a990927a0a0f03bb38e229081f0e449ae9e
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams7.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector7d
+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, 0.0, 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 Vector7d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams8.yaml b/yaml_templates/state/SpecStateParams8.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d5f214d897364a3dc6250491a337de1da1b5b1bc
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams8.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector8d
+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, 0.0, 0.0, 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 Vector8d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateParams9.yaml b/yaml_templates/state/SpecStateParams9.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b18b8f6e4d4519de1eb57019ffd8b6fc0070bf70
--- /dev/null
+++ b/yaml_templates/state/SpecStateParams9.yaml
@@ -0,0 +1,3 @@
+state: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # DOC A vector containing the state values - TYPE Vector9d
+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, 0.0, 0.0, 0.0, 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 Vector9d
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateV2d.yaml b/yaml_templates/state/SpecStateV2d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c27c76bd94a4f1e1fe2bda3a9163f27f7a467668
--- /dev/null
+++ b/yaml_templates/state/SpecStateV2d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/state/SpecStateV3d.yaml b/yaml_templates/state/SpecStateV3d.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..616cce89b4f042861a186a648f7b29f24cfc7783
--- /dev/null
+++ b/yaml_templates/state/SpecStateV3d.yaml
@@ -0,0 +1,3 @@
+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
\ No newline at end of file
diff --git a/yaml_templates/tree_manager/TreeManagerBase.yaml b/yaml_templates/tree_manager/TreeManagerBase.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2aca9fcb4712036db19382bf2a91f66d6266545c
--- /dev/null
+++ b/yaml_templates/tree_manager/TreeManagerBase.yaml
@@ -0,0 +1 @@
+type: "whatever" # DOC Type of the TreeManager. To keep all frames, use \none\. - TYPE string
\ No newline at end of file
diff --git a/yaml_templates/tree_manager/TreeManagerSlidingWindow.yaml b/yaml_templates/tree_manager/TreeManagerSlidingWindow.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..956dc1d54073a90446b6087b979fef775fde7617
--- /dev/null
+++ b/yaml_templates/tree_manager/TreeManagerSlidingWindow.yaml
@@ -0,0 +1,4 @@
+type: "whatever" # DOC Type of the TreeManager. To keep all frames, use \none\. - TYPE string
+n_frames: 0 # DOC Total number of frames of the sliding window. - TYPE unsigned int
+n_fix_first_frames: 0 # DOC Amount of frames fixed at the begining of the sliding window. - TYPE unsigned int
+viral_remove_parent_without_children: false # DOC If the other wolf nodes (landmarks) have to be removed when removing frames. Otherwise, they will remain alive but unconstrained. - TYPE bool
\ No newline at end of file
diff --git a/yaml_templates/tree_manager/TreeManagerSlidingWindowDualRate.yaml b/yaml_templates/tree_manager/TreeManagerSlidingWindowDualRate.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..96b3355c55a041e5c8378fe15796010368e13823
--- /dev/null
+++ b/yaml_templates/tree_manager/TreeManagerSlidingWindowDualRate.yaml
@@ -0,0 +1,6 @@
+type: "whatever" # DOC Type of the TreeManager. To keep all frames, use \none\. - TYPE string
+n_frames: 0 # DOC Total number of frames of the sliding window. - TYPE unsigned int
+n_fix_first_frames: 0 # DOC Amount of frames fixed at the begining of the sliding window. - TYPE unsigned int
+viral_remove_parent_without_children: false # DOC If the other wolf nodes (landmarks) have to be removed when removing frames. Otherwise, they will remain alive but unconstrained. - TYPE bool
+n_frames_recent: 0 # DOC Amount of frames kept in the recent part of the sliding window. - TYPE unsigned int
+rate_old_frames: 0 # 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. - TYPE unsigned int
\ No newline at end of file