sm-test1-mrf.conf

SLAM Gridsim use with sparer sensor

##
## Automatically generated configuration file
##

##
# Environment
##

# width
# Workspace width (cells)

width = 200

# height
# Workspace height (cells)

height = 200

# delta
# Grid cell size (m)

delta = 0.1

# density
# Base environment density [0..1]

density = 0.5

# mrf-gibbs-iterations
# Gibbs sampler iterations for MRF model

mrf-gibbs-iterations = 20

##
# Mapping
##

# update-prob
# Fixed update prob. [0..0.5]

update-prob = 0.05

# fixed-update
# Fixed updates?

fixed-update = 1

##
# Sensor
##

# rho
# Readings per scan

rho = 16

# rmax
# Maximum range (m)

rmax = 10

# beamwidth
# Beam width (rad)

beamwidth = 0.3

# sigma-b
# Bearing uncertainty [0..2pi]

sigma-b = 0.001

# sigma-r
# Range uncertainty [0..rmax]

sigma-r = 0.1

# err-e
# False negative rate [0..1]

err-e = 0.02

# err-f
# False positive rate [0..1]

err-f = 0.01

# frequency
# Firing frequency (Hz)

frequency = 5

# velocity
# Velocity (m/s)

velocity = 2

##
# Trajectory
##

# sampled-poses
# Sample poses randomly (not a real trajectory)

sampled-poses = 1

# time-limit
# Trajectory length (s)

time-limit = 25