#include <cmath>

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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 Documentation

#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.

#define THETA_0 M_PI/4

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.

Defines

Define Documentation