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config.hh
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config.hh
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#ifndef _CONFIG_H
#define _CONFIG_H
// General parameters
#define NUM_PARTICLES 5000
#define MAP_FILE_PATH "../data/map/wean.dat"
#define LOG_FILE_PATH "../data/log/robotdata1.log"
#define SKIP_ODO_READINGS
#define MAP_VISUALIZE
//#define FLIP_Y_AXIS
// Motion model parameters
#define ALPHA_1 0.0005
#define ALPHA_2 0.0005
#define ALPHA_3 0.05
#define ALPHA_4 0.05
// Sensor model parameters
#define Z_HIT 0.7
#define Z_SHORT 0.24
#define Z_MAX 0.0055
#define Z_RAND 0.0545
#define LASER_MAX_RANGE 8191.0 // cm
#define LASER_THETA_STEP 5 // degrees
#define LASER_DIST_STEP 1 // cm
#define P_HIT_STD 20 // cm
#define LAMBDA_SHORT 0.01
#define LASER_OFFSET 25.0 // cm
#define FREE_SPACE_THRESH 0.999
#endif /* _CONFIG_H */