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server
drivers
localization
ekfvloc
params.hh
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/*
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* Player - One Hell of a Robot Server
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* Copyright (C) 2010
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* Alejandro R. Mosteo
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#ifndef PARAMS_HH_
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#define PARAMS_HH_
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// fine tuning
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extern
double
kMaxEmptyAngle;
// = 2.0 * M_PI / 180.0;
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// Max angle without scans for breaking into hregions
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// This originally was defined as number_of_points * angular_resolution
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extern
double
kMaxEmptyDistance;
// = 0.1;
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// As above but with euclidean distance
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// This originally was hardcoded into the actual check
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extern
double
kMinRegionLength;
// = 0.2;
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// Minimum size for a region
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extern
int
kMinPointsInRegion;
// = 8;
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// Minimum number of hits in a region
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extern
int
kMinPointsInSegment;
// = 5; // Less than this will cause crashes
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// Minimum number of hits in a single segment
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extern
double
kConfidence;
// = 95.0;
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// Confidence for split test of segments
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double
kAlphaILF(
void
);
// = 1000.0 - 10 * kConfidence;
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// const double kAlphaILF = 50.0;
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// Original: alphaILF = 50; //5; (1-HRP_ALPHA_ILF/1000)*100 es el nivel de confianza
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extern
bool
kCheckResidual;
// = false;
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// Additional check, dunno what it does (amosteo) TODO: ask mayte
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extern
double
kMaxAngEBE;
// = 0.0;
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// TODO: ask mayte what this is
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extern
double
kMinDistBetweenEndpoints;
// = 0.0;
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// TODO: verify this setting is good with mayte
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extern
double
kMinOdomDistChange;
// = 0.05;
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extern
double
kMinOdomAngChange;
// = 0.08;
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extern
long
kMinMillisBetweenScans;
// = 50;
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// Process scans no faster than this
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const
double
kTruthWarnDistance = 1.0;
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// Deviation from ground truth that will trigger a warning message
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#endif
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