params.hh
1 /*
2  * Player - One Hell of a Robot Server
3  * Copyright (C) 2010
4  * Alejandro R. Mosteo
5  *
6  *
7  * This library is free software; you can redistribute it and/or
8  * modify it under the terms of the GNU Lesser General Public
9  * License as published by the Free Software Foundation; either
10  * version 2.1 of the License, or (at your option) any later version.
11  *
12  * This library is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15  * Lesser General Public License for more details.
16  *
17  * You should have received a copy of the GNU Lesser General Public
18  * License along with this library; if not, write to the Free Software
19  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20  */
21 
22 
23 #ifndef PARAMS_HH_
24 #define PARAMS_HH_
25 
26 // fine tuning
27 
28 extern double kMaxEmptyAngle; // = 2.0 * M_PI / 180.0;
29 // Max angle without scans for breaking into hregions
30 // This originally was defined as number_of_points * angular_resolution
31 
32 extern double kMaxEmptyDistance; // = 0.1;
33 // As above but with euclidean distance
34 // This originally was hardcoded into the actual check
35 
36 extern double kMinRegionLength; // = 0.2;
37 // Minimum size for a region
38 
39 extern int kMinPointsInRegion; // = 8;
40 // Minimum number of hits in a region
41 
42 extern int kMinPointsInSegment; // = 5; // Less than this will cause crashes
43 // Minimum number of hits in a single segment
44 
45 extern double kConfidence; // = 95.0;
46 // Confidence for split test of segments
47 
48 double kAlphaILF(void); // = 1000.0 - 10 * kConfidence;
49 // const double kAlphaILF = 50.0;
50 // Original: alphaILF = 50; //5; (1-HRP_ALPHA_ILF/1000)*100 es el nivel de confianza
51 
52 extern bool kCheckResidual; // = false;
53 // Additional check, dunno what it does (amosteo) TODO: ask mayte
54 
55 extern double kMaxAngEBE; // = 0.0;
56 // TODO: ask mayte what this is
57 
58 extern double kMinDistBetweenEndpoints; // = 0.0;
59 // TODO: verify this setting is good with mayte
60 
61 extern double kMinOdomDistChange; // = 0.05;
62 extern double kMinOdomAngChange; // = 0.08;
63 
64 extern long kMinMillisBetweenScans; // = 50;
65 // Process scans no faster than this
66 
67 const double kTruthWarnDistance = 1.0;
68 // Deviation from ground truth that will trigger a warning message
69 
70 #endif