//------------------------------------------------------
// Config file for the KF-SLAM application
//
//              ~ The MRPT Library ~
//          Jose Luis Blanco Claraco © 2005-2008
//------------------------------------------------------


//-------------------------------------------------
// Section: [MappingApplication]
// Use: Here comes global parameters for the app.
//-------------------------------------------------
[MappingApplication]

// Implementation to use:
//  - CRangeBearingKFSLAM
//  - CRangeBearingKFSLAM2D
// 
kf_implementation = CRangeBearingKFSLAM2D

// Left blank if not available
ground_truth_file=

// Left blank if not available
ground_truth_file_robot=

// The directory where the log files will be saved (left in blank if no log is required)
logOutput_dir=LOG_EKF-SLAM

SAVE_LOG_FREQUENCY=10

SHOW_3D_LIVE                     = true
CAMERA_3DSCENE_FOLLOWS_ROBOT     = true



// ----------------------------------------------------------
//  Kalman Filter generic options 
// ----------------------------------------------------------
[RangeBearingKFSLAM_KalmanFilter]
// 0: Full EKF
// 1: EKF 'a la' Davison
method=0

verbose=1


//-------------------------------------------------
// Options defined by CRangeBearingKFSLAM class
//-------------------------------------------------
[RangeBearingKFSLAM]
stdXY_no_odo=0.1
stdPhi_no_odo_deg=2   // degs

std_odo_z_additional=0  // Additional uncertainty in z

force_ignore_odometry	= false

// Used for the sensor model
std_sensor_range     = 0.03  // meters
std_sensor_yaw_deg   = 0.1 // degrees
std_sensor_pitch_deg = 0.1  // degrees


// Exagerate the uncertainties for ease of visualization:
quantiles_3D_representation=3