diff --git a/schema/problem/Problem.schema b/schema/problem/Problem.schema
index 71d7f9b6930adf84fe83cee67b4cb4830aeae838..aeec0a341547c0956d67fee52d277cc606e9be44 100644
--- a/schema/problem/Problem.schema
+++ b/schema/problem/Problem.schema
@@ -24,6 +24,6 @@ sensors:
_doc: A sequence of all the sensors.
processors:
_type: derived[]
- _base: ProcessorBaseWithSensor.schema
+ _base: ProcessorBase.schema
_mandatory: true
_doc: A sequence of all the processors.
diff --git a/schema/processor/ProcessorBase.schema b/schema/processor/ProcessorBase.schema
index 51f801a8dc0b48dbc2b680c0cba41edecc2158b5..e443f0c5bc981da837cf5906695a70d09b47ffdc 100644
--- a/schema/processor/ProcessorBase.schema
+++ b/schema/processor/ProcessorBase.schema
@@ -5,6 +5,11 @@ name:
_type: string
_doc: The processor's name. It has to be unique.
+sensor_name:
+ _mandatory: true
+ _type: string
+ _doc: The name of the sensor corresponding to this processor.
+
time_tolerance:
_mandatory: true
_type: double
diff --git a/schema/processor/ProcessorBaseWithSensor.schema b/schema/processor/ProcessorBaseWithSensor.schema
deleted file mode 100644
index 41f0c1346a8bafb34382d29b56f2cce4ebcffa5d..0000000000000000000000000000000000000000
--- a/schema/processor/ProcessorBaseWithSensor.schema
+++ /dev/null
@@ -1,6 +0,0 @@
-follow: ProcessorBase.schema
-
-sensor_name:
- _mandatory: true
- _type: string
- _doc: The name of the sensor corresponding to this processor.
\ No newline at end of file
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index c138baaea76f448542502d0c5bce51724ac4760c..965a0aa506d3127489bb7b53cc8722f3e070bcea 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -285,11 +285,11 @@ ProcessorBasePtr Problem::installProcessor(const YAML::Node& _processor_node, st
// Add the installed schema folders after optional input _schema_folders
FolderRegistry::appendRegisteredFolders(_schema_folders);
- // Validate against ProcessorBaseWithSensor (check if it has 'type' and 'plugin')
+ // Validate against ProcessorBase (check if it has 'type' and 'plugin')
// NOTE: Validation with the correponding schema is done in the creator
auto server = yaml_schema_cpp::YamlServer(_schema_folders);
server.setYaml(_processor_node);
- if (not server.applySchema("ProcessorBaseWithSensor"))
+ if (not server.applySchema("ProcessorBase"))
{
WOLF_ERROR(server.getLog());
throw std::runtime_error("Processor could not be created!");
@@ -399,7 +399,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _params_yaml
// Validate against ProcessorBase and derived type
// NOTE: Validation with the correponding schema is done in the creator
- if (not server.applySchema("ProcessorBaseWithSensor"))
+ if (not server.applySchema("ProcessorBase"))
{
WOLF_ERROR(server.getLog());
throw std::runtime_error("Processor could not be created.");
diff --git a/test/yaml/processor_diff_drive.yaml b/test/yaml/processor_diff_drive.yaml
index e4eff792b83ff56926990e9f1d6507c3ff2d2a9d..3038396158b94fbf4a0ad483e9df9f5324dac0d0 100644
--- a/test/yaml/processor_diff_drive.yaml
+++ b/test/yaml/processor_diff_drive.yaml
@@ -2,6 +2,7 @@
name: "a cool processor diff drive"
type: ProcessorDiffDrive
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_fixed_wing_model.yaml b/test/yaml/processor_fixed_wing_model.yaml
index 6a5b36e86e8d2c3bc1f1584bf9f6404c69845956..4968ab03b024f22da99e0ab306bc781be25cfd87 100644
--- a/test/yaml/processor_fixed_wing_model.yaml
+++ b/test/yaml/processor_fixed_wing_model.yaml
@@ -1,6 +1,7 @@
name: a cool processor for a fixed wing drone
type: ProcessorFixedWingModel
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_landmark_external.yaml b/test/yaml/processor_landmark_external.yaml
index c97236f5a495ec6cfaf8f88494bf351538045548..b70dcc32f26786e0acdb2a313b8964523100ada1 100644
--- a/test/yaml/processor_landmark_external.yaml
+++ b/test/yaml/processor_landmark_external.yaml
@@ -1,6 +1,7 @@
name: cool dummy processor
type: ProcessorLandmarkExternal
plugin: core
+sensor_name: whatever
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_loop_closure_dummy.yaml b/test/yaml/processor_loop_closure_dummy.yaml
index 97064c355d165bbed5c31bf06763c586fd816004..034c8d78e91f934174a4cf55ea8a9c871ad964bc 100644
--- a/test/yaml/processor_loop_closure_dummy.yaml
+++ b/test/yaml/processor_loop_closure_dummy.yaml
@@ -1,6 +1,7 @@
name: a cool processor loop closure
type: ProcessorLoopClosureDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
apply_loss_function: false
diff --git a/test/yaml/processor_motion_provider_dummy1.yaml b/test/yaml/processor_motion_provider_dummy1.yaml
index 8d1ba78b0b4d2d562dd7c39f1310d93ef82aa8da..5dd618ce376476c8335291aaefccc4471290147c 100644
--- a/test/yaml/processor_motion_provider_dummy1.yaml
+++ b/test/yaml/processor_motion_provider_dummy1.yaml
@@ -2,6 +2,7 @@
name: "not getter processor"
type: ProcessorMotionProviderDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_motion_provider_dummy2.yaml b/test/yaml/processor_motion_provider_dummy2.yaml
index 43605186bbe97898eeb8dac875352a672def45de..89a43d702b3fc97432ad4ec808ccfdddd713c567 100644
--- a/test/yaml/processor_motion_provider_dummy2.yaml
+++ b/test/yaml/processor_motion_provider_dummy2.yaml
@@ -2,6 +2,7 @@
name: "getter processor"
type: ProcessorMotionProviderDummy
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_motion_provider_dummy3.yaml b/test/yaml/processor_motion_provider_dummy3.yaml
index 3414e1820bf47d574a1b5539588923abc9858a8f..79904604dc0eec235e5e01274fed0df7e369370a 100644
--- a/test/yaml/processor_motion_provider_dummy3.yaml
+++ b/test/yaml/processor_motion_provider_dummy3.yaml
@@ -2,6 +2,7 @@
name: "getter processor lower priority"
type: ProcessorMotionProviderDummyPOV
plugin: core
+sensor_name: whatever
time_tolerance: 0.5 # seconds
diff --git a/test/yaml/processor_odom_2d.yaml b/test/yaml/processor_odom_2d.yaml
index bdd02893d41c1978a5484fdcfe4bae95c20a8181..5d747b7bbfefffdc35deec6c9271dadefd39cc92 100644
--- a/test/yaml/processor_odom_2d.yaml
+++ b/test/yaml/processor_odom_2d.yaml
@@ -2,6 +2,7 @@
name: "a cool processor odom 2d"
type: ProcessorOdom2d
plugin: core
+sensor_name: sensor_odom
time_tolerance: 0.005 # seconds
diff --git a/test/yaml/processor_odom_2d_inactive.yaml b/test/yaml/processor_odom_2d_inactive.yaml
index 2864aef8e6db94367064766eda4b6dabb54105f2..b75bd890984ae6ff4d34a1d31ec396a4f37b0d87 100644
--- a/test/yaml/processor_odom_2d_inactive.yaml
+++ b/test/yaml/processor_odom_2d_inactive.yaml
@@ -2,6 +2,7 @@
name: "a cool processor odom 2d"
type: ProcessorOdom2d
plugin: core
+sensor_name: whatever
time_tolerance: 0.005 # seconds
diff --git a/test/yaml/processor_odom_3d.yaml b/test/yaml/processor_odom_3d.yaml
index 3653c5af7fa5d34bf2e4e57ea7e119a58bd4eda7..2dd89e99b708b8266df4088705918fa30826021e 100644
--- a/test/yaml/processor_odom_3d.yaml
+++ b/test/yaml/processor_odom_3d.yaml
@@ -2,6 +2,7 @@
name: a cool processor odom 3d
type: ProcessorOdom3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_odom_3d_inactive.yaml b/test/yaml/processor_odom_3d_inactive.yaml
index e5c846447765f6b47e6eb211673fa2b08c2d8026..0693a23d049bd124cb601175aadbd6174657d1a7 100644
--- a/test/yaml/processor_odom_3d_inactive.yaml
+++ b/test/yaml/processor_odom_3d_inactive.yaml
@@ -2,6 +2,7 @@
name: a cool processor odom 3d
type: ProcessorOdom3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_pose_3d.yaml b/test/yaml/processor_pose_3d.yaml
index d319bbaa372a3f345244e0490b30dac98706817b..dc98db13ed8f4e7f01601a1211ab679a4de6cdfd 100644
--- a/test/yaml/processor_pose_3d.yaml
+++ b/test/yaml/processor_pose_3d.yaml
@@ -2,6 +2,7 @@
name: a cool processor pose 3d
type: ProcessorPose3d
plugin: core
+sensor_name: whatever
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/processor_tracker_feature_dummy.yaml b/test/yaml/processor_tracker_feature_dummy.yaml
index ed268cb6d048080ae30cc0b8de8bce5bf0298e73..4139a42cd48cac30a4c8fd981a09ca925cb3508f 100644
--- a/test/yaml/processor_tracker_feature_dummy.yaml
+++ b/test/yaml/processor_tracker_feature_dummy.yaml
@@ -1,6 +1,8 @@
name: cool dummy processor
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.25
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_landmark_dummy.yaml b/test/yaml/processor_tracker_landmark_dummy.yaml
index 38af2673027e96f5418d61943d025a05caee4232..95a8ab17eb411ec11daf4453c22096f055ec2bd7 100644
--- a/test/yaml/processor_tracker_landmark_dummy.yaml
+++ b/test/yaml/processor_tracker_landmark_dummy.yaml
@@ -1,6 +1,8 @@
name: cool dummy processor
type: ProcessorTrackerLandmarkDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.25
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_two_processors_1.yaml b/test/yaml/processor_tracker_two_processors_1.yaml
index 1b71975c9e4cec7379cc66d0c535cbc7e4a3928b..20b3c02571eefd1032d0d4e86019f4150d3927eb 100644
--- a/test/yaml/processor_tracker_two_processors_1.yaml
+++ b/test/yaml/processor_tracker_two_processors_1.yaml
@@ -1,6 +1,8 @@
name: processor_1
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.5
keyframe_vote:
voting_active: true
diff --git a/test/yaml/processor_tracker_two_processors_2.yaml b/test/yaml/processor_tracker_two_processors_2.yaml
index ef69a2eb0323488d73d68201ad4b007bcf5c5dd9..b2ad07b9cd52362a0010b04135498f96ea21733d 100644
--- a/test/yaml/processor_tracker_two_processors_2.yaml
+++ b/test/yaml/processor_tracker_two_processors_2.yaml
@@ -1,6 +1,8 @@
name: processor_2
type: ProcessorTrackerFeatureDummy
plugin: core
+sensor_name: whatever
+
time_tolerance: 0.5
keyframe_vote:
voting_active: true