$id: http://navground/state_estimation_register
$schema: https://json-schema.org/draft/2020-12/schema
anyOf:
- properties:
max_x:
default: .inf
description: Boundary max x
type: number
max_y:
default: .inf
description: Boundary max y
type: number
min_x:
default: -.inf
description: Boundary min x
type: number
min_y:
default: -.inf
description: Boundary min y
type: number
name:
default: ''
description: Name
type: string
range:
default: 1
description: Maximal range
minimum: 0
type: number
type:
const: Boundary
- properties:
range:
default: 1
description: Maximal range (< 0 =infinite)
type: number
type:
const: Bounded
update_static_obstacles:
default: false
description: Whether to update static obstacles
type: boolean
- properties:
type:
const: Combination
- properties:
include_valid:
default: true
description: Include validity field
type: boolean
include_x:
default: true
description: Whether to include the x-coordinate
type: boolean
include_y:
default: true
description: Whether to include the y-coordinate
type: boolean
max_id:
default: 0
description: The maximal possible id
minimum: 0
type: integer
max_radius:
default: 0
description: Maximal radius
minimum: 0
type: number
max_speed:
default: 0
description: Maximal speed
minimum: 0
type: number
name:
default: ''
description: Name
type: string
number:
default: 1
description: Number
minimum: 0
type: integer
range:
default: 1
description: Maximal range
minimum: 0
type: number
type:
const: Discs
use_nearest_point:
default: true
description: Whether to use the nearest point as position
type: boolean
- properties:
error_bias:
default: 0
description: Error bias
minimum: 0
type: number
error_std_dev:
default: 0
description: Error standard deviation
minimum: 0
type: number
field_of_view:
default: 6.28318548
description: Total angle
minimum: 0
type: number
name:
default: ''
description: Name
type: string
position:
$ref: vector2
default:
- 0
- 0
description: Relative position
range:
default: 1
description: Maximal range
minimum: 0
type: number
resolution:
default: 100
description: Resolution
exclusiveMinimum: 0
type: integer
start_angle:
default: -3.14159274
description: Start angle
type: number
type:
const: Lidar
- properties:
external_lidars:
default: []
description: Name of [external] lidar sensors
items:
type: string
type: array
external_odometry:
default: ''
description: Name of [external] odometry sensor
type: string
footprint:
default: rectangular
description: 'Footprint type: one of "rectangular", "circular", "none"'
enum:
- rectangular
- circular
- none
type: string
height:
default: 10
description: Height [meter]
exclusiveMinimum: 0
type: integer
include_transformation:
default: false
description: Whether to include the transformation between map and world frame
type: boolean
name:
default: ''
description: Name
type: string
resolution:
default: 0.100000001
description: Resolution [meter/cell]
exclusiveMinimum: 0
type: number
type:
const: LocalGridMap
width:
default: 10
description: Width [meter]
exclusiveMinimum: 0
type: integer
- properties:
include_x:
default: true
description: Whether to include the x-coordinate
type: boolean
include_y:
default: true
description: Whether to include the y-coordinate
type: boolean
marker_position:
$ref: vector2
default:
- 0
- 0
description: Marker position in world frame
max_x:
default: .inf
description: Measured position maximal x coordinate
type: number
max_y:
default: .inf
description: Measured position maximal y coordinate
type: number
min_x:
default: -.inf
description: Measured position minimal x coordinate
type: number
min_y:
default: -.inf
description: Measured position minimal y coordinate
type: number
name:
default: ''
description: Name
type: string
reference_orientation:
default: agent
description: The reference frame used for orientation
type: string
type:
const: Marker
- properties:
angular_speed_bias:
default: 0
description: Angular speed bias
type: number
angular_speed_std_dev:
default: 0
description: Angular speed standard deviation
minimum: 0
type: number
longitudinal_speed_bias:
default: 0
description: Longitudinal speed bias
type: number
longitudinal_speed_std_dev:
default: 0
description: Longitudinal speed standard deviation
minimum: 0
type: number
name:
default: ''
description: Name
type: string
transversal_speed_bias:
default: 0
description: Transversal speed bias
type: number
transversal_speed_std_dev:
default: 0
description: Transversal speed standard deviation
minimum: 0
type: number
type:
const: Odometry
update_ego_state:
default: false
description: Whether to update the behavior ego state
type: boolean
update_sensing_state:
default: true
description: Whether to update the behavior sensing state
type: boolean
- properties:
name:
default: ''
description: Name
type: string
type:
const: Sensor
- properties:
field_of_view:
default: 6.28318548
description: Field of view
minimum: 0
type: number
name:
default: ''
description: Name
type: string
range:
default: 4
description: Range
minimum: 0
type: number
resolution:
default: 11
description: Resolution
exclusiveMinimum: 0
type: integer
start_angle:
default: -3.14159274
description: Start angle
type: number
type:
const: pyLidar