#------------------------------------------------------
# Config file for the KF-SLAM application
# See: http://www.mrpt.org/list-of-mrpt-apps/application-kf-slam/
#------------------------------------------------------


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

# The source file (RAW-LOG) with action/observation pairs
rawlog_file=../samples/MRML/landmarkRawlogSimulator/OUT/simLandmarkPath.rawlog

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


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

std_odo_z_additional=0.05  // Additional uncertainty in z

doPartitioningExperiment=1



quantiles_3D_representation=12

partitionThreshold=0.5