[WIP] Adapt gtest .yaml files to new composite format

src/problem/problem.cpp

@@ -186,7 +186,10 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
         problem->setPriorOptions(prior_mode,
                                  _server.getParam<double>("problem/prior/time_tolerance"),
                                  _server.getParam<VectorComposite>("problem/prior/state"),
-                                 _server.getParam<VectorComposite>("problem/prior/cov"));
+                                 _server.getParam<VectorComposite>("problem/prior/sigma"));
+
+
+
     }
     else
     {

test/yaml/params_tree_manager1.yaml

@@ -4,8 +4,16 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1,0,0,0]
-      cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1,0,0,0]
+      # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+        V: [0,0,0]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
+        V: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerDummy"
@@ -38,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
+      unmeasured_perturbation_std: 0.00111
\ No newline at end of file

test/yaml/params_tree_manager2.yaml

@@ -4,8 +4,16 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1,0,0,0]
-      cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1,0,0,0]
+      # cov: [[9,9],.1,0,0,0,0,0,0,0,0, 0,.1,0,0,0,0,0,0,0, 0,0,.1,0,0,0,0,0,0, 0,0,0,.1,0,0,0,0,0, 0,0,0,0,.1,0,0,0,0, 0,0,0,0,0,.1,0,0,0, 0,0,0,0,0,0,.1,0,0, 0,0,0,0,0,0,0,.1,0, 0,0,0,0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+        V: [0,0,0]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
+        V: [0.31]
       time_tolerance: 0.1
     tree_manager: 
       type: "None"
@@ -37,4 +45,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
+      unmeasured_perturbation_std: 0.00111
\ No newline at end of file

test/yaml/params_tree_manager_sliding_window1.yaml

@@ -4,8 +4,14 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1]
-      cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1]
+      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
@@ -40,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
+      unmeasured_perturbation_std: 0.00111
\ No newline at end of file

test/yaml/params_tree_manager_sliding_window2.yaml

@@ -4,8 +4,14 @@ config:
     dimension: 3
     prior:
       mode: "factor"
-      state: [0,0,0,0,0,0,1]
-      cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      # state: [0,0,0,0,0,0,1]
+      # cov: [[6,6],.1,0,0,0,0,0, 0,.1,0,0,0,0, 0,0,.1,0,0,0, 0,0,0,.1,0,0, 0,0,0,0,.1,0, 0,0,0,0,0,.1]
+      $state:
+        P: [0,0,0]
+        O: [0,0,0,1]
+      $sigma:
+        P: [0.31]
+        O: [0.31]
       time_tolerance: 0.1
     tree_manager:
       type: "TreeManagerSlidingWindow"
@@ -40,4 +46,4 @@ config:
         dist_traveled:          0.5   # meters
         angle_turned:           0.1   # radians (1 rad approx 57 deg, approx 60 deg)
       
-      unmeasured_perturbation_std: 0.00111
+      unmeasured_perturbation_std: 0.00111
\ No newline at end of file