Method ReadYAMLOptions

src/FactorGraphConfig.cpp:180–430

  }

  bool FactorGraphConfig::ReadYAMLOptions(const string YAMLFile)
  {
    /** check if file available */
    if (FILE *File = fopen(YAMLFile.c_str(), "r"))
    {
        fclose(File);
    }
    else
    {
      PRINT_ERROR("There is no YAML file with the name ", YAMLFile);
      return false;
    }

    /** read all files */
    const YAML::Node YAMLComplete = YAML::LoadFile(YAMLFile);

    /** config node holds the relevant configuration */
    const YAML::Node YAMLConfig  = YAMLComplete["config"];

    /** solution */
    string SolTypeString = YAMLConfig["solution"]["solver_mode"].as<std::string>();
    if(!TranslateSafe(SolutionTypeDict, SolTypeString, Solution.Type))
    {
      PRINT_ERROR("Wrong solution type: ", SolTypeString);
      return false;
    }

    switch (Solution.Type)
    {
    case SolutionType::Batch:
        SolverConfig.minimizer_progress_to_stdout = false;

        SolverConfig.max_num_iterations = YAMLConfig["solution"]["max_iterations"].as<double>();
        SolverConfig.max_solver_time_in_seconds = YAMLConfig["solution"]["max_time"].as<double>();

        Solution.EstimateCov = YAMLConfig["solution"]["estimate_cov"].as<bool>();
        break;

    case SolutionType::Smoother:
        SolverConfig.minimizer_progress_to_stdout = false;

        SolverConfig.max_num_iterations = YAMLConfig["solution"]["max_iterations"].as<double>();
        SolverConfig.max_solver_time_in_seconds = YAMLConfig["solution"]["max_time"].as<double>();

        Solution.EstimateCov = YAMLConfig["solution"]["estimate_cov"].as<bool>();
        break;

    case SolutionType::SmootherRT:
        SolverConfig.minimizer_progress_to_stdout = false;

        SolverConfig.max_num_iterations = YAMLConfig["solution"]["max_iterations"].as<double>();
        SolverConfig.max_solver_time_in_seconds = YAMLConfig["solution"]["max_time"].as<double>();
        Solution.WindowLength = YAMLConfig["solution"]["window_length"].as<double>();

        Solution.EstimateCov = YAMLConfig["solution"]["estimate_cov"].as<bool>();
        break;

    case SolutionType::Window: