params.hh
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2010
4 * Alejandro R. Mosteo
5 *
6 *
7 * This library is free software; you can redistribute it and/or
8 * modify it under the terms of the GNU Lesser General Public
9 * License as published by the Free Software Foundation; either
10 * version 2.1 of the License, or (at your option) any later version.
11 *
12 * This library is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 * Lesser General Public License for more details.
16 *
17 * You should have received a copy of the GNU Lesser General Public
18 * License along with this library; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 */
21
22
23#ifndef PARAMS_HH_
24#define PARAMS_HH_
25
26// fine tuning
27
28extern double kMaxEmptyAngle; // = 2.0 * M_PI / 180.0;
29// Max angle without scans for breaking into hregions
30// This originally was defined as number_of_points * angular_resolution
31
32extern double kMaxEmptyDistance; // = 0.1;
33// As above but with euclidean distance
34// This originally was hardcoded into the actual check
35
36extern double kMinRegionLength; // = 0.2;
37// Minimum size for a region
38
39extern int kMinPointsInRegion; // = 8;
40// Minimum number of hits in a region
41
42extern int kMinPointsInSegment; // = 5; // Less than this will cause crashes
43// Minimum number of hits in a single segment
44
45extern double kConfidence; // = 95.0;
46// Confidence for split test of segments
47
48double kAlphaILF(void); // = 1000.0 - 10 * kConfidence;
49// const double kAlphaILF = 50.0;
50// Original: alphaILF = 50; //5; (1-HRP_ALPHA_ILF/1000)*100 es el nivel de confianza
51
52extern bool kCheckResidual; // = false;
53// Additional check, dunno what it does (amosteo) TODO: ask mayte
54
55extern double kMaxAngEBE; // = 0.0;
56// TODO: ask mayte what this is
57
58extern double kMinDistBetweenEndpoints; // = 0.0;
59// TODO: verify this setting is good with mayte
60
61extern double kMinOdomDistChange; // = 0.05;
62extern double kMinOdomAngChange; // = 0.08;
63
64extern long kMinMillisBetweenScans; // = 50;
65// Process scans no faster than this
66
67const double kTruthWarnDistance = 1.0;
68// Deviation from ground truth that will trigger a warning message
69
70#endif