Program Listing for File NavStateFGParams.h
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/* -------------------------------------------------------------------------
* A Modular Optimization framework for Localization and mApping (MOLA)
*
* Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
* Licensed under the GNU GPL v3 for non-commercial applications.
*
* This file is part of MOLA.
* MOLA is free software: you can redistribute it and/or modify it under the
* terms of the GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option) any later
* version.
*
* MOLA is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
* A PARTICULAR PURPOSE. See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with
* MOLA. If not, see <https://www.gnu.org/licenses/>.
* ------------------------------------------------------------------------- */
#pragma once
#include <mrpt/containers/yaml.h>
#include <mrpt/math/TPoint3D.h>
#include <mrpt/math/TTwist3D.h>
namespace mola
{
class NavStateFGParams
{
public:
NavStateFGParams() = default;
~NavStateFGParams() = default;
void loadFrom(const mrpt::containers::yaml& cfg);
double max_time_to_use_velocity_model = 2.0; // [s]
double sliding_window_length = 5.0; // [s]
double time_between_frames_to_warning = 3.0; // [s]
double sigma_random_walk_acceleration_linear = 1.0; // [m/s²]
double sigma_random_walk_acceleration_angular = 1.0; // [rad/s²]
double sigma_integrator_position = 0.10; // [m]
double sigma_integrator_orientation = 0.10; // [rad]
double robust_param = 0.0; // 0: no robust
double max_rmse = 2.0;
mrpt::math::TTwist3D initial_twist;
double initial_twist_sigma_lin = 20.0; // [m/s]
double initial_twist_sigma_ang = 3.0; // [rad/s]
};
} // namespace mola