parameter name changed

demos/hello_wolf/hello_wolf.cpp

@@ -150,7 +150,7 @@ int main()
     params_prc_odo["keyframe_vote"]["max_time_span"]     = 999;
     params_prc_odo["keyframe_vote"]["max_dist_traveled"] = 0.95;  // Will make KFs automatically every 1m displacement
     params_prc_odo["keyframe_vote"]["max_angle_turned"]  = 999;
-    params_prc_odo["keyframe_vote"]["cov_det"]           = 999;
+    params_prc_odo["keyframe_vote"]["max_cov_det"]       = 999;
     params_prc_odo["keyframe_vote"]["max_buff_length"]   = 999;
     params_prc_odo["state_provider"]                     = true;
     params_prc_odo["state_provider_order"]               = 1;

demos/hello_wolf/yaml/processor_odom_2d.yaml

@@ -8,7 +8,7 @@ keyframe_vote:
   max_dist_traveled:  0.95
   max_angle_turned:   999
   max_buff_length:    999
-  cov_det:            999
+  max_cov_det:        999
 apply_loss_function: true
 
 state_provider: true

include/core/processor/processor_odom_2d.h

@@ -34,12 +34,12 @@ class ProcessorOdom2d : public ProcessorMotion
   public:
     ProcessorOdom2d(const YAML::Node& _params);
     ~ProcessorOdom2d() override;
-    void configure(SensorBasePtr _sensor) override{};
+    void configure(SensorBasePtr _sensor) override {};
 
     // Factory method for high level API
     WOLF_PROCESSOR_CREATE(ProcessorOdom2d);
 
-    double getCovDet() const;
+    double getMaxCovDet() const;
     bool   voteForKeyFrame() const override;
 
   protected:
@@ -101,9 +101,9 @@ inline VectorXd ProcessorOdom2d::getCalibration(const CaptureBaseConstPtr _captu
 
 inline void ProcessorOdom2d::setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) {}
 
-inline double ProcessorOdom2d::getCovDet() const
+inline double ProcessorOdom2d::getMaxCovDet() const
 {
-    return params_["keyframe_vote"]["cov_det"].as<double>();
+    return params_["keyframe_vote"]["max_cov_det"].as<double>();
 }
 
 }  // namespace wolf

schema/processor/ProcessorOdom2d.schema

 follow: ProcessorMotion.schema
 
 keyframe_vote:
-  cov_det:
+  max_cov_det:
     _mandatory: $voting_active
     _type: double
     _doc: The determinant threshold of the covariance matrix of the integrated delta, to vote for a keyframe.
\ No newline at end of file

src/processor/processor_odom_2d.cpp

@@ -138,7 +138,7 @@ bool ProcessorOdom2d::voteForKeyFrame() const
         return true;
     }
     // Uncertainty criterion
-    if (getBuffer().back().delta_integr_cov_.determinant() > getCovDet())
+    if (getBuffer().back().delta_integr_cov_.determinant() > getMaxCovDet())
     {
         WOLF_DEBUG("PM", id(), " ", getType(), " votes per state covariance");
         return true;

test/gtest_processor_motion.cpp

@@ -82,7 +82,7 @@ class ProcessorMotion_test : public testing::Test
         params["keyframe_vote"]["max_dist_traveled"] = 100;
         params["keyframe_vote"]["max_angle_turned"]  = 6.28;
         params["keyframe_vote"]["max_time_span"]     = 2.5 * dt;  // force KF at every third process()
-        params["keyframe_vote"]["cov_det"]           = 100;
+        params["keyframe_vote"]["max_cov_det"]       = 100;
         params["unmeasured_perturbation_std"]        = 0.001;
 
         // install processor

test/yaml/processor_diff_drive.yaml

@@ -11,7 +11,7 @@ keyframe_vote:
   max_buff_length: 99 # motion deltas
   max_dist_traveled: 99 # meters
   max_angle_turned: 99 # radians (1 rad approx 57 deg, approx 60 deg)
-  cov_det: 99 
+  max_cov_det: 99 
 
 unmeasured_perturbation_std: 0.001
 

test/yaml/processor_odom_2d.yaml

@@ -11,7 +11,7 @@ keyframe_vote:
   max_buff_length: 100 # motion deltas
   max_dist_traveled: 100 # meters
   max_angle_turned: 1.963495 # radians (1 rad approx 57 deg, approx 60 deg)
-  cov_det: 100 # determinant of covariance threshold
+  max_cov_det: 100 # determinant of covariance threshold
 
 unmeasured_perturbation_std: 0.001
 

test/yaml/processor_odom_2d_inactive.yaml

@@ -11,7 +11,7 @@ keyframe_vote:
   max_buff_length: 100 #10 # motion deltas
   max_dist_traveled: 100 #0.5 # meters
   max_angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
-  cov_det: 100 #1 # determinant of covariance threshold
+  max_cov_det: 100 #1 # determinant of covariance threshold
 
 unmeasured_perturbation_std: 0.001
 

yaml_templates/processor/ProcessorDiffDrive.yaml

@@ -8,7 +8,7 @@ keyframe_vote:
   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
+  max_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

yaml_templates/processor/ProcessorOdom2d.yaml

@@ -8,7 +8,7 @@ keyframe_vote:
   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
+  max_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