mobile_robot_wall_cts.h File Reference

#include <cmath>

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Macros
#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

Macro Definition 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.