Modules/SelfLocator/GT2005SelfLocator/GT2005SelfLocatorParameters.cpp

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#include "GT2005SelfLocatorParameters.h"


GT2005SelfLocatorParameters::GT2005SelfLocatorParameters()
{
  translationNoise = 200,
  rotationNoise = 0.5,
  noiseWithoutObservationUpdate = false,

  movedDistWeight = 0.002,
  movedAngleWeight = 0.2,
  majorDirTransWeight = 0.1,
  minorDirTransWeight = 0.02,

  // observation update parameters
  // trust = weight / (variance)
  // motiondependent variance = variance * (speed*dependency + 1) as variance estimated for a standing robot

  // at the moment we take sqrt variance instead of variance..

  headHeightEstimation = 150.0,

  linePointZAngleVariance = 1.949,
  linePointYAngleVariance = 9.745,
  crossingZAngleVariance = 1.949,
  crossingYAngleVariance = 9.745,
  centerCircleZAngleVariance = 1.949,
  centerCircleYAngleVariance = 9.745,
  centerCircleOrientationAngleVariance = 9.745,
  //flagZAngleVariance = 1.949,
  flagYAngleVariance = 9.745,
  goalZAngleVariance = 1.949,
  goalYAngleVariance = 9.745,

  linePointZAngleMotionDependency = 3/400,
  /*linePointYAngleMotionDependency = 3/400,
  crossingZAngleMotionDependency = 1/400,
  crossingYAngleMotionDependency = 1/400,
  centerCircleZAngleMotionDependency = 1/400,
  centerCircleYAngleMotionDependency = 1/400,
  centerCircleOrientationAngleMotionDependency = 1/400,
  flagZAngleMotionDependency = 1/400,
  flagYAngleMotionDependency = 1/400,
  goalZAngleMotionDependency = 1/400,
  goalYAngleMotionDependency = 1/400,*/

  linePointWeight = 20,//19.49,
  crossingWeight = 7,
  centerCircleWeight = 9,
  flagWeight = 13,//13.643,
  goalWeight = 13;//13.643,

  probFlagUpLimit  = 0.1,         // per-cycle limit for increasing probabilities
  probFlagDownLimit = 0.05,       // per-cycle limit for decreasing probabilities
  probLineUpLimit  = 0.01,        // per-cycle limit for increasing probabilities
  probLineDownLimit = 0.005,      // per-cycle limit for decreasing probabilities
  probNoQualityOffset = 0.03;

  maxLinepoints = 5;
  maxGoalpoints = 1;
  maxBorderpoints = 3;
  maxCrossings = 3;

  updateProbCenterCircle = 1.0;
  updateProbCrossing = 1.0;
  updateProbFlag = 1.0;
  updateProbGoalPost = 1.0;

  odometryProbNoCollision = 0.9;
  odometryProbCollision = 0.8;

  applyConstantResampling = true;
  constantResamplingRate = 0.05;

  clipRobotPose = true;
  resetSamplesWhenPenalized = true;

  agingFactor = 0.999;
}

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