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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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