<?xml version="1.0" encoding="utf-8" ?>
<wxsmith>
	<object class="wxDialog" name="CDlgParams">
		<title>Simulation configuration</title>
		<centered>1</centered>
		<id_arg>0</id_arg>
		<object class="wxFlexGridSizer" variable="FlexGridSizer1" member="no">
			<cols>2</cols>
			<rows>1</rows>
			<object class="sizeritem">
				<object class="wxFlexGridSizer" variable="FlexGridSizer16" member="no">
					<cols>1</cols>
					<rows>3</rows>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer1" member="no">
							<label>Kalman Filter </label>
							<object class="sizeritem">
								<object class="wxFlexGridSizer" variable="FlexGridSizer3" member="no">
									<cols>2</cols>
									<object class="sizeritem">
										<object class="wxRadioButton" name="ID_RADIOBUTTON1" variable="rbKFnaiv" member="yes">
											<label>Standard EKF</label>
											<style>wxRB_GROUP</style>
											<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxRadioButton" name="ID_RADIOBUTTON2" variable="rbKFdavison" member="yes">
											<label>EKF (one scalar at a time)</label>
											<selected>1</selected>
											<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxRadioButton" name="ID_RADIOBUTTON3" variable="rbIKF" member="yes">
											<label>IKF</label>
											<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer4" member="no">
											<cols>3</cols>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT2" variable="StaticText2" member="yes">
													<label>IKF iters:</label>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxSpinCtrl" name="ID_SPINCTRL1" variable="edIKFiters" member="yes">
													<value>3</value>
													<min>1</min>
													<max>30</max>
													<size>39,23</size>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxRadioButton" name="ID_RADIOBUTTON4" variable="rbIKFdavison" member="yes">
											<label>IKF (one scalar at a time)</label>
											<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT25" variable="StaticText25" member="yes">
											<label>Numeric Jacobians&#x0A;(tick: use numeric approximation)</label>
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxCheckBox" name="ID_CHECKBOX2" variable="cbJacobTran" member="yes">
											<label>Transition model</label>
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxCheckBox" name="ID_CHECKBOX3" variable="cbJacobObs" member="yes">
											<label>Observation model</label>
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="spacer">
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<border>5</border>
										<option>1</option>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer3" member="no">
							<label>Robot motion </label>
							<object class="sizeritem">
								<object class="wxFlexGridSizer" variable="FlexGridSizer10" member="no">
									<cols>2</cols>
									<growablecols>0</growablecols>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT3" variable="StaticText3" member="yes">
											<label>Square path length (m):</label>
										</object>
										<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxTextCtrl" name="ID_TEXTCTRL3" variable="edPathLen" member="yes">
											<value>Text</value>
										</object>
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT4" variable="StaticText4" member="yes">
											<label>Each step length (m):</label>
										</object>
										<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxTextCtrl" name="ID_TEXTCTRL4" variable="edPathStepSize" member="yes" />
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT5" variable="StaticText5" member="yes">
											<label>Odometry error sigma in X/Y ( m):</label>
										</object>
										<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxTextCtrl" name="ID_TEXTCTRL5" variable="edOdomStdXY" member="yes">
											<value>Text</value>
										</object>
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT6" variable="StaticText6" member="yes">
											<label>Odometry error sigma in PHI (deg):</label>
										</object>
										<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxTextCtrl" name="ID_TEXTCTRL6" variable="edStdOdomPhi" member="yes">
											<value>Text</value>
										</object>
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer5" member="no">
							<label>Data association </label>
							<object class="sizeritem">
								<object class="wxPanel" name="ID_PANEL1" variable="panelDA" member="yes">
									<object class="wxFlexGridSizer" variable="FlexGridSizer9" member="no">
										<cols>2</cols>
										<growablecols>0</growablecols>
										<object class="sizeritem">
											<object class="wxRadioBox" name="ID_RADIOBOX3" variable="rbICmetric" member="yes">
												<label>Indiv. compat. gating</label>
												<content>
													<item>Mahalanobis</item>
													<item>Matching likelihood</item>
												</content>
												<default>-1</default>
												<style>wxRA_VERTICAL</style>
												<handler function="OnUpdateControlsState" entry="EVT_RADIOBOX" />
											</object>
											<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="spacer">
											<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxStaticText" name="ID_STATICTEXT17" variable="StaticText17" member="yes">
												<label>Chi2 threshold (inv.cdf) [0-1]</label>
											</object>
											<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxTextCtrl" name="ID_TEXTCTRL13" variable="edChi2" member="yes" />
											<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxStaticText" name="ID_STATICTEXT24" variable="StaticText24" member="yes">
												<label>ML threshold (log-likelihood)</label>
											</object>
											<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxTextCtrl" name="ID_TEXTCTRL15" variable="edICMLrefDist" member="yes" />
											<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxRadioBox" name="ID_RADIOBOX1" variable="rbDAMethod" member="yes">
												<label>D.A. method  </label>
												<content>
													<item>Nearest neighbor</item>
													<item>JCBB</item>
												</content>
												<default>-1</default>
												<style>wxRA_VERTICAL</style>
												<handler function="OnUpdateControlsState" entry="EVT_RADIOBOX" />
											</object>
											<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="spacer">
											<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
										<object class="sizeritem">
											<object class="wxRadioBox" name="ID_RADIOBOX2" variable="rbDAMetric" member="yes">
												<label>D.A. Distance measure </label>
												<content>
													<item>Mahalanobis</item>
													<item>Matching likelihood</item>
												</content>
												<default>-1</default>
												<style>wxRA_VERTICAL</style>
											</object>
											<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
											<border>5</border>
											<option>1</option>
										</object>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
				</object>
				<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
				<option>1</option>
			</object>
			<object class="sizeritem">
				<object class="wxFlexGridSizer" variable="FlexGridSizer17" member="no">
					<cols>1</cols>
					<rows>4</rows>
					<growablerows>3</growablerows>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer2" member="no">
							<label>Ground truth map </label>
							<object class="sizeritem">
								<object class="wxFlexGridSizer" variable="FlexGridSizer5" member="no">
									<cols>1</cols>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer6" member="no">
											<cols>2</cols>
											<object class="sizeritem">
												<object class="wxRadioButton" name="ID_RADIOBUTTON5" variable="rbMapCorridor" member="yes">
													<label>Square corridor</label>
													<style>wxRB_GROUP</style>
													<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxFlexGridSizer" variable="FlexGridSizer11" member="no">
													<cols>3</cols>
													<object class="sizeritem">
														<object class="wxStaticText" name="ID_STATICTEXT9" variable="StaticText9" member="yes">
															<label>(Note: seed=-1 means randomize with computer time)</label>
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_BOTTOM</flag>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxRadioButton" name="ID_RADIOBUTTON6" variable="rbMapRandom" member="yes">
													<label>Random</label>
													<selected>1</selected>
													<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxFlexGridSizer" variable="FlexGridSizer7" member="no">
													<cols>5</cols>
													<object class="sizeritem">
														<object class="wxStaticText" name="ID_STATICTEXT7" variable="StaticText7" member="yes">
															<label># landmarks:</label>
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
													<object class="sizeritem">
														<object class="wxSpinCtrl" name="ID_SPINCTRL2" variable="edLMs" member="yes">
															<value>60</value>
															<min>1</min>
															<max>1000</max>
															<size>52,23</size>
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
													<object class="sizeritem">
														<object class="wxStaticText" name="ID_STATICTEXT8" variable="StaticText8" member="yes">
															<label>Random seed:</label>
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
													<object class="sizeritem">
														<object class="wxSpinCtrl" name="ID_SPINCTRL3" variable="edSeed" member="yes">
															<value>-1</value>
															<min>-1</min>
															<max>10000000</max>
															<size>61,23</size>
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
												</object>
												<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxRadioButton" name="ID_RADIOBUTTON7" variable="rbMapFile" member="yes">
													<label>Text file...</label>
													<handler function="OnUpdateControlsState" entry="EVT_RADIOBUTTON" />
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxFlexGridSizer" variable="FlexGridSizer8" member="no">
													<cols>3</cols>
													<growablecols>0</growablecols>
													<object class="sizeritem">
														<object class="wxTextCtrl" name="ID_TEXTCTRL2" variable="edMapFile" member="yes" />
														<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
													<object class="sizeritem">
														<object class="wxButton" name="ID_BUTTON3" variable="btnBrowse" member="yes">
															<label>Browse...</label>
															<handler function="OnbtnBrowseClick" entry="EVT_BUTTON" />
														</object>
														<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
												</object>
												<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<option>1</option>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer4" member="no">
							<label>Robot sensor </label>
							<object class="sizeritem">
								<object class="wxFlexGridSizer" variable="FlexGridSizer12" member="no">
									<cols>1</cols>
									<growablecols>0</growablecols>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer13" member="no">
											<cols>3</cols>
											<object class="sizeritem">
												<object class="wxCheckBox" name="ID_CHECKBOX1" variable="cbSensorDistin" member="yes">
													<label>Sensor distingishes landmarks (Checked: avoids data association problem)</label>
													<handler function="OnUpdateControlsState" entry="EVT_CHECKBOX" />
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer14" member="no">
											<cols>4</cols>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT11" variable="StaticText11" member="yes">
													<label>Range noise sigma (m):</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL7" variable="edStdRange" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT1" variable="StaticText1" member="yes">
													<label>Max. Range (m):</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL1" variable="edMaxR" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT12" variable="StaticText12" member="yes">
													<label>Angle noise sigma (deg):</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL8" variable="edStdAngle" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT23" variable="StaticText23" member="yes">
													<label>Min. Range (m):</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_TOP</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL14" variable="edMinR" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT10" variable="StaticText10" member="yes">
													<label>FOV (deg):</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL12" variable="edFOV" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT13" variable="StaticText13" member="yes">
											<label>Sensor pose on the robot:</label>
										</object>
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer15" member="no">
											<cols>3</cols>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT14" variable="StaticText14" member="yes">
													<label>x (m):</label>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT15" variable="StaticText15" member="yes">
													<label>y (m):</label>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT16" variable="StaticText16" member="yes">
													<label>phi (deg):</label>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL9" variable="edSenX" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL10" variable="edSenY" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxTextCtrl" name="ID_TEXTCTRL11" variable="edSenPhi" member="yes">
													<value>Text</value>
												</object>
												<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticBoxSizer" variable="StaticBoxSizer7" member="no">
											<label> Spurious readings: </label>
											<object class="sizeritem">
												<object class="wxFlexGridSizer" variable="FlexGridSizer20" member="no">
													<cols>2</cols>
													<rows>1</rows>
													<growablecols>1</growablecols>
													<object class="sizeritem">
														<object class="wxStaticText" name="ID_STATICTEXT26" variable="StaticText26" member="yes">
															<label>Normally-distributeed number&#x0A;of spurious per &quot;observation&quot;:&#x0A;(Both to 0 = disable)</label>
															<style>wxALIGN_CENTRE</style>
														</object>
														<flag>wxALL|wxALIGN_BOTTOM|wxALIGN_CENTER_HORIZONTAL</flag>
														<border>5</border>
														<option>1</option>
													</object>
													<object class="sizeritem">
														<object class="wxFlexGridSizer" variable="FlexGridSizer21" member="no">
															<cols>2</cols>
															<rows>2</rows>
															<growablecols>0,1</growablecols>
															<object class="sizeritem">
																<object class="wxStaticText" name="ID_STATICTEXT27" variable="StaticText27" member="yes">
																	<label>Mean (#readings):</label>
																</object>
																<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																<border>5</border>
																<option>1</option>
															</object>
															<object class="sizeritem">
																<object class="wxStaticText" name="ID_STATICTEXT28" variable="StaticText28" member="yes">
																	<label>Std.Dev. (#readings):</label>
																</object>
																<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																<border>5</border>
																<option>1</option>
															</object>
															<object class="sizeritem">
																<object class="wxTextCtrl" name="ID_TEXTCTRL16" variable="edSpuriousMean" member="yes">
																	<value>Text</value>
																</object>
																<flag>wxALL|wxALIGN_BOTTOM|wxALIGN_CENTER_HORIZONTAL</flag>
																<border>5</border>
																<option>1</option>
															</object>
															<object class="sizeritem">
																<object class="wxTextCtrl" name="ID_TEXTCTRL17" variable="edSpuriousStd" member="yes">
																	<value>Text</value>
																</object>
																<flag>wxALL|wxALIGN_BOTTOM|wxALIGN_CENTER_HORIZONTAL</flag>
																<border>5</border>
																<option>1</option>
															</object>
														</object>
														<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
														<option>1</option>
													</object>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
										<border>2</border>
										<option>1</option>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
					<object class="sizeritem">
						<object class="wxStaticBoxSizer" variable="StaticBoxSizer6" member="no">
							<label>Uncertainty models over-estimation</label>
							<object class="sizeritem">
								<object class="wxFlexGridSizer" variable="FlexGridSizer18" member="no">
									<cols>2</cols>
									<rows>1</rows>
									<object class="sizeritem">
										<object class="wxFlexGridSizer" variable="FlexGridSizer19" member="no">
											<cols>3</cols>
											<rows>2</rows>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT18" variable="StaticText18" member="yes">
													<label>Odometry errors:</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxSpinCtrl" name="ID_SPINCTRL4" variable="edOverOdom" member="yes">
													<value>120</value>
													<min>1</min>
													<max>10000</max>
													<size>70,-1</size>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT19" variable="StaticText19" member="yes">
													<label>%</label>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT20" variable="StaticText20" member="yes">
													<label>Sensor errors:</label>
												</object>
												<flag>wxALL|wxALIGN_RIGHT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxSpinCtrl" name="ID_SPINCTRL5" variable="edOverSensor" member="yes">
													<value>120</value>
													<min>1</min>
													<max>10000</max>
													<size>70,-1</size>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
												<border>5</border>
												<option>1</option>
											</object>
											<object class="sizeritem">
												<object class="wxStaticText" name="ID_STATICTEXT21" variable="StaticText21" member="yes">
													<label>%</label>
												</object>
												<flag>wxALL|wxALIGN_LEFT|wxALIGN_CENTER_VERTICAL</flag>
												<border>5</border>
												<option>1</option>
											</object>
										</object>
										<flag>wxALL|wxALIGN_LEFT|wxALIGN_TOP</flag>
										<option>1</option>
									</object>
									<object class="sizeritem">
										<object class="wxStaticText" name="ID_STATICTEXT22" variable="StaticText22" member="yes">
											<label>Overestimating the uncertainty in filters is &#x0A;usually a good practice, i.e: the filter &#x0A;should be pessimistic.</label>
											<style>wxALIGN_CENTRE</style>
										</object>
										<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
										<border>5</border>
										<option>1</option>
									</object>
								</object>
								<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
						<border>5</border>
						<option>1</option>
					</object>
					<object class="sizeritem">
						<object class="wxFlexGridSizer" variable="FlexGridSizer2" member="no">
							<cols>3</cols>
							<object class="sizeritem">
								<object class="wxButton" name="ID_BUTTON1" variable="btnOk" member="yes">
									<label>Accept</label>
									<handler function="OnbtnOkClick" entry="EVT_BUTTON" />
								</object>
								<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<border>5</border>
								<option>1</option>
							</object>
							<object class="sizeritem">
								<object class="wxButton" name="ID_BUTTON2" variable="btnCancel" member="yes">
									<label>Cancel</label>
									<handler function="OnbtnCancelClick" entry="EVT_BUTTON" />
								</object>
								<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
								<border>5</border>
								<option>1</option>
							</object>
						</object>
						<flag>wxALL|wxALIGN_RIGHT|wxALIGN_BOTTOM</flag>
						<border>5</border>
						<option>1</option>
					</object>
				</object>
				<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_TOP</flag>
				<option>1</option>
			</object>
		</object>
	</object>
</wxsmith>
