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Configuration.h

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00001 #ifndef _AFS_CONFIGURATION_H_
00002 #define _AFS_CONFIGURATION_H_
00003 
00004 #ifdef __cplusplus
00005 extern "C" {
00006 #endif
00007 
00008 /*
00009  * Configuration options for AIBO FastSLAM
00010  */
00011 
00012 /* Number of particles to use in the particle filter */
00013 #define AFS_NUM_PARTICLES 400
00014 
00015 /* Total number of landmarks */
00016 #define AFS_NUM_LANDMARKS 12
00017 
00018 /* Perturbation constants for the motion model */
00019 #define AFS_PERTURB_DX_MEAN 0
00020 #define AFS_PERTURB_DX_VARIANCE 0.1
00021 #define AFS_PERTURB_DY_MEAN 0
00022 #define AFS_PERTURB_DY_VARIANCE 0.1
00023 #define AFS_PERTURB_DA_MEAN 0
00024 #define AFS_PERTURB_DA_VARIANCE 0.1
00025 
00026 /* Bounds on the angles of observations for which we'll do triangulation */
00027 //#define AFS_MIN_TRIANG_ANGLE  10*M_PI/180
00028 //#define AFS_MAX_TRIANG_ANGLE  170*M_PI/180
00029 #define AFS_MIN_TRIANG_ANGLE  5*M_PI/180
00030 #define AFS_MAX_TRIANG_ANGLE  175*M_PI/180
00031 
00032 /* The variance of degree measurement in radians */
00033 /* This is the measurement covariance we use to compute the Kalman gain.
00034  * Here, in bearings-only FastSLAM, it's dynamic. We increase the
00035  * covariance value linearly with the distance of the object. Measurements
00036  * about distant objects therefore have less effect on where the objects
00037  * are placed in the particle's map and don't drastically affect the
00038  * particle's weighting. This is a kludge, but then so is the EKF. */
00039 /* AFS_MEASURE_VARIANCE is now the measurement variance at a
00040  * distance of a meter. AFS_VARIANCE_MULTIPLIER is multiplied by the
00041  * distance and added to AFS_MEASUREMENT_VARIANCE to describe a linear
00042  * change in covariance. It is a Good Idea to set this value such that
00043  * covariance never becomes negative! */
00044 /* If you don't like any of this, set AFS_VARIANCE_MULTIPLIER to 1
00045  * and don't think about it. */
00046 #define AFS_MEASURE_VARIANCE  4*M_PI/180
00047 #define AFS_VARIANCE_MULTIPLIER AFS_MEASURE_VARIANCE/4000
00048 
00049 /* A fudge factor for triangulated point covariance estimates. */
00050 #define AFS_COVARIANCE_FUDGE  15
00051 
00052 #ifdef __cplusplus
00053 }
00054 #endif
00055 #endif

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