From db461ec0a0b93046a22499caac7ce57903098a6f Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 15 Mar 2024 11:44:42 +0100
Subject: [PATCH] fix hellowolf
---
demos/hello_wolf/hello_wolf.cpp | 28 ++++++++-----------
.../schema/SensorRangeBearing.schema | 5 ----
2 files changed, 12 insertions(+), 21 deletions(-)
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 3ed9d2589..4cc0318e2 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -124,14 +124,12 @@ int main()
// sensor odometer 2d
YAML::Node params_sen_odo;
- params_sen_odo["states"]["P"]["type"] = "StatePoint2d";
- params_sen_odo["states"]["P"]["state"] = Vector2d::Zero();
- params_sen_odo["states"]["P"]["mode"] = "fix";
- params_sen_odo["states"]["P"]["dynamic"] = false;
- params_sen_odo["states"]["O"]["type"] = "StateAngle";
- params_sen_odo["states"]["O"]["state"] = Vector1d::Zero();
- params_sen_odo["states"]["O"]["mode"] = "fix";
- params_sen_odo["states"]["O"]["dynamic"] = false;
+ params_sen_odo["states"]["P"]["value"] = Vector2d::Zero();
+ params_sen_odo["states"]["P"]["prior"]["mode"] = "fix";
+ params_sen_odo["states"]["P"]["dynamic"] = false;
+ params_sen_odo["states"]["O"]["value"] = Vector1d::Zero();
+ params_sen_odo["states"]["O"]["prior"]["mode"] = "fix";
+ params_sen_odo["states"]["O"]["dynamic"] = false;
params_sen_odo["name"] = "Sensor Odometry";
params_sen_odo["k_disp_to_disp"] = 0.1;
@@ -163,14 +161,12 @@ int main()
// sensor Range and Bearing
YAML::Node params_sen_rb;
- params_sen_rb["states"]["P"]["type"] = "StatePoint2d";
- params_sen_rb["states"]["P"]["state"] = Vector2d::Zero();
- params_sen_rb["states"]["P"]["mode"] = "fix";
- params_sen_rb["states"]["P"]["dynamic"] = false;
- params_sen_rb["states"]["O"]["type"] = "StateAngle";
- params_sen_rb["states"]["O"]["state"] = Vector1d::Zero();
- params_sen_rb["states"]["O"]["mode"] = "fix";
- params_sen_rb["states"]["O"]["dynamic"] = false;
+ params_sen_rb["states"]["P"]["value"] = Vector2d::Zero();
+ params_sen_rb["states"]["P"]["prior"]["mode"] = "fix";
+ params_sen_rb["states"]["P"]["dynamic"] = false;
+ params_sen_rb["states"]["O"]["value"] = Vector1d::Zero();
+ params_sen_rb["states"]["O"]["prior"]["mode"] = "fix";
+ params_sen_rb["states"]["O"]["dynamic"] = false;
params_sen_rb["name"] = "Sensor Range Bearing";
params_sen_rb["noise_range_metres_std"] = 0.1;
diff --git a/demos/hello_wolf/schema/SensorRangeBearing.schema b/demos/hello_wolf/schema/SensorRangeBearing.schema
index 72399bf82..47b551f30 100644
--- a/demos/hello_wolf/schema/SensorRangeBearing.schema
+++ b/demos/hello_wolf/schema/SensorRangeBearing.schema
@@ -11,11 +11,6 @@ noise_bearing_degrees_std:
_doc: Standard deviation of the noise of the bearing measurements (degrees)
states:
- keys:
- _value: PO
- _mandatory: false
- _type: string
- _doc: The keys corresponding to the states of the sensor.
P:
follow: StateSensorP2d.schema
O:
--
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