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scenarios.yaml
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## List a tests and their configuration file names
# These config .yaml files are placed under the folder "tests"
# Different scenarios are grouped
# Scenarios to test semantic info's effect
test_semantic:
s2:
noise_configs:
- "n_neg_x_gnss_bias.yaml"
- "n_pos_x_gnss_bias.yaml"
sw_configs:
- "sw_semantic_off.yaml"
- "sw_semantic_on.yaml"
s3:
noise_configs:
- "n_neg_x_gnss_bias.yaml"
- "n_pos_x_gnss_bias.yaml"
sw_configs:
- "sw_semantic_off.yaml"
- "sw_semantic_on.yaml"
right_turn:
noise_configs:
- "n_pos_y_gnss_bias.yaml"
sw_configs:
- "sw_semantic_off.yaml"
- "sw_semantic_on.yaml"
# Scenarios to test truncation vs mmp factor vs marginalization
test_marginalization:
s2:
noise_configs:
- "n_pos_x_gnss_bias.yaml"
sw_configs:
- "sw_truncation.yaml"
- "sw_marginalization.yaml"
- "sw_mmp.yaml"
# Scenarios to test combinations of factor types
test_configs_of_factors:
highway:
# Differents level
noise_configs:
- "n_wo_gnss_bias.yaml"
- "n_w_gnss_bias.yaml"
# Different sliding window localization configs
sw_configs:
- "sw_gnss_only.yaml"
- "sw_gnss_lane.yaml"
urban:
noise_configs:
- "n_wo_gnss_bias.yaml"
- "n_w_gnss_bias.yaml"
sw_configs:
- "sw_gnss_lane.yaml"
- "sw_gnss_lane_pole.yaml"
- "sw_gnss_lane_pole_stop.yaml"
# Scenarios to test window size
test_win_sizes:
s2:
noise_configs:
- "n_pos_x_gnss_bias.yaml"
sw_configs:
- "sw_win_2.yaml"
- "sw_win_10.yaml"
- "sw_win_20.yaml"
s3:
noise_configs:
- "n_neg_x_gnss_bias.yaml"
sw_configs:
- "sw_win_2.yaml"
- "sw_win_10.yaml"
- "sw_win_20.yaml"
right_turn:
noise_configs:
- "n_pos_y_gnss_bias.yaml"
sw_configs:
- "sw_win_2.yaml"
- "sw_win_10.yaml"
- "sw_win_20.yaml"
highway:
noise_configs:
- "n_w_gnss_bias.yaml"
sw_configs:
- "sw_win_2.yaml"
- "sw_win_10.yaml"
- "sw_win_20.yaml"
urban:
noise_configs:
- "n_w_gnss_bias.yaml"
sw_configs:
- "sw_win_2.yaml"
- "sw_win_10.yaml"
- "sw_win_20.yaml"
# Scenarios to test null hypothesis
test_null_hypo:
highway:
noise_configs:
- "n_high_fc.yaml"
sw_configs:
- "sw_no_null.yaml"
- "sw_small_null_prob.yaml"
- "sw_high_null_prob.yaml"
urban:
noise_configs:
- "n_high_fc.yaml"
sw_configs:
- "sw_no_null.yaml"
- "sw_small_null_prob.yaml"
- "sw_high_null_prob.yaml"