# -------------------------------------------------------------------
#  Config file for the "rawlog-grabber" application
# Read more online: 
# http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

#  Each section [XXXXX] (but [global]) setups a thread in the RawLogGrabber 
#   standalone application. Each thread collects data from some
#   sensor or device, then the main thread groups and orders them before
#   streaming everything to a rawlog file.
#
#  The name of the sections will become the sensor label. The driver for
#   each sensor is actually determined by the field "driver", which must
#   match the name of some class in HWDRIVERS implementing CGenericSensor.


# =======================================================
#  Section: Global settings to the application
#   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= ./dataset

# Milliseconds between thread launches
time_between_launches	= 300

# Maximum time (seconds) between a sequence of observations 
#  is splitted into sensory frames
SF_max_time_span	= 0.005

# Whether to use sensory-frames to group close-in-time observations (useful for some SLAM algorithms).
use_sensoryframes 	= 0


# =======================================================
#  SENSOR: RFID
#   
# =======================================================
[RFID]
driver			= CImpinjRFID
process_rate		= 10		// Hz

sensorLabel  		= RFID
pose_x			= 0	// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0.31
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0

local_IP 		= 127.0.0.1
reader_name 		= 192.168.0.2
listen_port 		= 3444
driver_path 		= C:\Path\to\driver.exe

