#------------------------------------------------------
# Config file for the Range-Only Localization application
# See: http://www.mrpt.org/list-of-mrpt-apps/application-ro-localization/
#------------------------------------------------------


#-------------------------------------------------
#   Range-only  model parameters
#-------------------------------------------------
[RO_MODEL]
probabilityChangingBias=0.02		// Probability [0,1]
changingBiasUnifRange=20		// Unif. distribution (see doc in header file!)
mixtureProposalRatio=0// 0.3		// Mixture proposal mixing ratio [0,1]

#-------------------------------------------------
#    ODOMETRY/GROUND TRUTH INTIAL ESTIMATION
#  We need the starting location of the robot
#   in the coordinate reference used to settle the
#   radio beacons.
#-------------------------------------------------
[OdometryEstimation]
odometry_X=2
odometry_Y=4
odometry_PHI=0.0	// deg


#-------------------------------------------------
# Section: [KLD_options]
# Use: Options for the adaptive sample 
#      size KLD-algorithm
#-------------------------------------------------
[KLD_options]
KLD_binSize_PHI_deg=5
KLD_binSize_XY=0.15
KLD_delta=0.01
KLD_epsilon=0.01
KLD_maxSampleSize=5000
KLD_minSampleSize=1000

#-------------------------------------------------
# Section: [ro-localization]
# Use: Here come global parameters for the app.
#-------------------------------------------------
[ro-localization]

# The source file (RAW-LOG) with action/observation pairs
#
rawlog_file=../../datasets/uwb_ro-localization_demo.rawlog

# The directory where the log files will be saved (left in blank if no log is required)
#
logOutput_dir=LOG_BEACONS

groundTruthFile=../../datasets/uwb_ro-localization_demo_GT.txt

gridmap_file=../../datasets/uwb_ro-localization_demo_map.gridmap.gz

# Freq. of 3D scene log
3DSceneFrequency=30

# The repetitions of the experiments (each one will go to a different 
# directory with the index suffix)
#
experimentRepetitions=1

SAVE_3D_TO_VIDEO=0


#---------------------------------------------------------------------------
# Section: [PF_options]
# Use: The parameters for the PF algorithms
#---------------------------------------------------------------------------
[PF_options]
# The Particle Filter algorithm:
#	0: pfStandardProposal	  ***
#	1: pfAuxiliaryPFStandard
#	2: pfOptimalProposal    
#	3: pfAuxiliaryPFOptimal	  ***
#
PF_algorithm=0
sampleSize=15000	// Number of particles

#PF_algorithm=3
#sampleSize=150	// Number of particles


# The Particle Filter Resampling method:
#	0: prMultinomial
#	1: prResidual
#	2: prStratified
#	3: prSystematic
resamplingMethod=3

# Set to 1 to enable KLD adaptive sample size:
adaptiveSampleSize=0

# Only for algorithm=3 (pfAuxiliaryPFOptimal)
pfAuxFilterOptimal_MaximumSearchSamples=100

# Resampling threshold
BETA=0.5



# ====================================================
#
#            MULTIMETRIC MAP CONFIGURATION
#
# ====================================================
[MetricMap]
# Creation of maps:
occupancyGrid_count=0
gasGrid_count=0
landmarksMap_count=1
pointsMap_count=0
landmarkSOGMap_count=0

# Selection of map for likelihood: (occGrid=0, points=1,landmarks=2,gasGrid=3)
likelihoodMapSelection=2


# ====================================================
#   MULTIMETRIC MAP: LandmarksMap #00
# ====================================================
# Creation Options for LandmarksMap 00:
[MetricMap_landmarksMap_00_creationOpts]
nBeacons=3

beacon_001_ID=1
#beacon_001_X=0.06
#beacon_001_Y=-0.63
#beacon_001_Z=1.97
beacon_001_X=0.21
beacon_001_Y=-0.55
beacon_001_Z=1.94

beacon_002_ID=2
#beacon_002_X=6.6
#beacon_002_Y=-0.2
#beacon_002_Z=1.01
beacon_002_X=6.71
beacon_002_Y=-0.33
beacon_002_Z=1.04

beacon_003_ID=3
#beacon_003_X=6.63
#beacon_003_Y=4.22
#beacon_003_Z=1.31
beacon_003_X=6.7023
beacon_003_Y=4.3185
beacon_003_Z=1.33


# Insertion Options for CLandmarksMap 00:
[MetricMap_landmarksMap_00_insertOpts]
insert_Landmarks_from_range_scans=0  // Dont use laser scans for PF likelihood


# Likelihood Options for CLandmarksMap 00:
[MetricMap_landmarksMap_00_likelihoodOpts]
beaconRangesStd=0.17	//0.10	0.33
alphaRatio=1			//0.88
beaconMaxRange=20

