#include <cmath>
Go to the source code of this file.
Defines | |
#define | DELTA_T 1 |
#define | INPUT_SIZE 2 |
#define | LIN_SPEED 0.1 |
#define | MEAS_SIZE 1 |
#define | MU_MEAS_NOISE 0.0 |
#define | MU_MEAS_NOISE_ROB 0.0 |
#define | MU_SYSTEM_NOISE_THETA 0.0 |
#define | MU_SYSTEM_NOISE_THETA_ROB 0.0 |
#define | MU_SYSTEM_NOISE_X 0.0 |
#define | MU_SYSTEM_NOISE_X_ROB 0.0 |
#define | MU_SYSTEM_NOISE_Y 0.0 |
#define | MU_SYSTEM_NOISE_Y_ROB 0.0 |
#define | NUM_ITERATIONS 3 |
#define | NUM_SAMPLES 1000 |
#define | NUM_TIME_STEPS 101 |
#define | OFFSET_WALL (0) |
#define | OUTPUT_MIXTURE true |
#define | PRIOR_COV_THETA pow(M_PI/8,2) |
#define | PRIOR_COV_THETA1 pow(M_PI/8,2) |
#define | PRIOR_COV_THETA2 pow(M_PI/8,2) |
#define | PRIOR_COV_THETA3 pow(M_PI/8,2) |
#define | PRIOR_COV_THETA4 pow(M_PI/8,2) |
#define | PRIOR_COV_X pow(0.2,2) |
#define | PRIOR_COV_X1 pow(0.2,2) |
#define | PRIOR_COV_X2 pow(0.2,2) |
#define | PRIOR_COV_X3 pow(0.2,2) |
#define | PRIOR_COV_X4 pow(0.2,2) |
#define | PRIOR_COV_Y pow(0.2,2) |
#define | PRIOR_COV_Y1 pow(0.2,2) |
#define | PRIOR_COV_Y2 pow(0.2,2) |
#define | PRIOR_COV_Y3 pow(0.2,2) |
#define | PRIOR_COV_Y4 pow(0.2,2) |
#define | PRIOR_MU_THETA M_PI/4 |
#define | PRIOR_MU_THETA1 M_PI/4 |
#define | PRIOR_MU_THETA2 M_PI/4 |
#define | PRIOR_MU_THETA3 M_PI/4 |
#define | PRIOR_MU_THETA4 M_PI/4 |
#define | PRIOR_MU_X -0.1 |
#define | PRIOR_MU_X1 0.1 |
#define | PRIOR_MU_X2 -0.1 |
#define | PRIOR_MU_X3 0.1 |
#define | PRIOR_MU_X4 -0.1 |
#define | PRIOR_MU_Y 0.1 |
#define | PRIOR_MU_Y1 -0.1 |
#define | PRIOR_MU_Y2 0.1 |
#define | PRIOR_MU_Y3 0.1 |
#define | PRIOR_MU_Y4 0.1 |
#define | RESAMPLE_PERIOD 0 |
#define | RESAMPLE_THRESHOLD (NUM_SAMPLES/4.0) |
#define | RICO_WALL 0.0 |
#define | ROT_SPEED 0 |
#define | SIGMA_MEAS_NOISE pow(0.05,2) |
#define | SIGMA_MEAS_NOISE_ROB pow(0.05,2) |
#define | SIGMA_SYSTEM_NOISE_THETA pow(2*M_PI/180,2) |
#define | SIGMA_SYSTEM_NOISE_THETA_ROB pow(0.1*M_PI/180,2) |
#define | SIGMA_SYSTEM_NOISE_X pow(0.01,2) |
#define | SIGMA_SYSTEM_NOISE_X_ROB pow(0.001,2) |
#define | SIGMA_SYSTEM_NOISE_Y pow(0.01,2) |
#define | SIGMA_SYSTEM_NOISE_Y_ROB pow(0.001,2) |
#define | SIM_FACTOR 1000 |
#define | STATE_SIZE 3 |
#define | THETA_0 M_PI/4 |
#define | USE_MEASUREMENTS 0 |
#define | X_0 0 |
#define | Y_0 0 |
#define DELTA_T 1 |
Definition at line 28 of file mobile_robot_wall_cts.h.
#define INPUT_SIZE 2 |
Definition at line 37 of file mobile_robot_wall_cts.h.
#define LIN_SPEED 0.1 |
Definition at line 46 of file mobile_robot_wall_cts.h.
#define MEAS_SIZE 1 |
Definition at line 38 of file mobile_robot_wall_cts.h.
#define MU_MEAS_NOISE 0.0 |
Definition at line 120 of file mobile_robot_wall_cts.h.
#define MU_MEAS_NOISE_ROB 0.0 |
Definition at line 124 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_THETA 0.0 |
Definition at line 100 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_THETA_ROB 0.0 |
Definition at line 109 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_X 0.0 |
Definition at line 98 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_X_ROB 0.0 |
Definition at line 107 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_Y 0.0 |
Definition at line 99 of file mobile_robot_wall_cts.h.
#define MU_SYSTEM_NOISE_Y_ROB 0.0 |
Definition at line 108 of file mobile_robot_wall_cts.h.
#define NUM_ITERATIONS 3 |
Definition at line 126 of file mobile_robot_wall_cts.h.
#define NUM_SAMPLES 1000 |
Definition at line 49 of file mobile_robot_wall_cts.h.
#define NUM_TIME_STEPS 101 |
Definition at line 29 of file mobile_robot_wall_cts.h.
#define OFFSET_WALL (0) |
Definition at line 33 of file mobile_robot_wall_cts.h.
#define OUTPUT_MIXTURE true |
Definition at line 130 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_THETA pow(M_PI/8,2) |
Definition at line 61 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_THETA1 pow(M_PI/8,2) |
Definition at line 71 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_THETA2 pow(M_PI/8,2) |
Definition at line 79 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_THETA3 pow(M_PI/8,2) |
Definition at line 87 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_THETA4 pow(M_PI/8,2) |
Definition at line 95 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_X pow(0.2,2) |
Definition at line 59 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_X1 pow(0.2,2) |
Definition at line 69 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_X2 pow(0.2,2) |
Definition at line 77 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_X3 pow(0.2,2) |
Definition at line 85 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_X4 pow(0.2,2) |
Definition at line 93 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_Y pow(0.2,2) |
Definition at line 60 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_Y1 pow(0.2,2) |
Definition at line 70 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_Y2 pow(0.2,2) |
Definition at line 78 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_Y3 pow(0.2,2) |
Definition at line 86 of file mobile_robot_wall_cts.h.
#define PRIOR_COV_Y4 pow(0.2,2) |
Definition at line 94 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_THETA M_PI/4 |
Definition at line 57 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_THETA1 M_PI/4 |
Definition at line 67 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_THETA2 M_PI/4 |
Definition at line 75 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_THETA3 M_PI/4 |
Definition at line 83 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_THETA4 M_PI/4 |
Definition at line 91 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_X -0.1 |
Definition at line 55 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_X1 0.1 |
Definition at line 65 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_X2 -0.1 |
Definition at line 73 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_X3 0.1 |
Definition at line 81 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_X4 -0.1 |
Definition at line 89 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_Y 0.1 |
Definition at line 56 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_Y1 -0.1 |
Definition at line 66 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_Y2 0.1 |
Definition at line 74 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_Y3 0.1 |
Definition at line 82 of file mobile_robot_wall_cts.h.
#define PRIOR_MU_Y4 0.1 |
Definition at line 90 of file mobile_robot_wall_cts.h.
#define RESAMPLE_PERIOD 0 |
Definition at line 50 of file mobile_robot_wall_cts.h.
#define RESAMPLE_THRESHOLD (NUM_SAMPLES/4.0) |
Definition at line 51 of file mobile_robot_wall_cts.h.
#define RICO_WALL 0.0 |
Definition at line 32 of file mobile_robot_wall_cts.h.
#define ROT_SPEED 0 |
Definition at line 47 of file mobile_robot_wall_cts.h.
#define SIGMA_MEAS_NOISE pow(0.05,2) |
Definition at line 119 of file mobile_robot_wall_cts.h.
#define SIGMA_MEAS_NOISE_ROB pow(0.05,2) |
Definition at line 123 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_THETA pow(2*M_PI/180,2) |
Definition at line 103 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_THETA_ROB pow(0.1*M_PI/180,2) |
Definition at line 112 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_X pow(0.01,2) |
Definition at line 101 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_X_ROB pow(0.001,2) |
Definition at line 110 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_Y pow(0.01,2) |
Definition at line 102 of file mobile_robot_wall_cts.h.
#define SIGMA_SYSTEM_NOISE_Y_ROB pow(0.001,2) |
Definition at line 111 of file mobile_robot_wall_cts.h.
#define SIM_FACTOR 1000 |
Definition at line 115 of file mobile_robot_wall_cts.h.
#define STATE_SIZE 3 |
Definition at line 36 of file mobile_robot_wall_cts.h.
Definition at line 43 of file mobile_robot_wall_cts.h.
#define USE_MEASUREMENTS 0 |
Definition at line 26 of file mobile_robot_wall_cts.h.
#define X_0 0 |
Definition at line 41 of file mobile_robot_wall_cts.h.
#define Y_0 0 |
Definition at line 42 of file mobile_robot_wall_cts.h.