tutorials_dataset-range-bearing-3d.cfg

// ---------------------------------------------------------------
// An example configuration file for rwt-dataset-simulator
//
//  Author: Jose Luis Blanco Claraco, Oct 26 2011.
// ---------------------------------------------------------------

//  World definition
// -------------------------------
[world]
// "input": RWL file to load and compile
//  Can be an absolute path or a relative path wrt this configuration file 
//  (this applies to all other file names in this config file).
input = world-rooms-3d.rwl

// In case of having random elements in the map, set the seed to -1 to 
//  initialize with clock, >=0 for any fixed pseudorandom sequence.
//random_seed  = -1

//  Path to simulate
// -------------------------------
[path]
// The path is a sequence of 3D way-points, and may come from different sources.
source_node_path_IDs= 0 18


// Maximum length of each step:
max_step_lin  = 0.30   // meters

// Show robot moving thru the path as we simulate? (Much slower 
//  but cool to debug)
show_live_3D          = true 
show_live_3D_sleep_ms = 5    // Slow down (in milliseconds) while rendering


// ----------------------------------------------------------------------
//  Sensors to simulate
// See: http://code.google.com/p/recursive-world-toolkit/wiki/Sensors
// ----------------------------------------------------------------------
[sensor]
// Type of sensor to simulate: 
type = range_bearing

minRange                     = 0    // meters
maxRange                     = 4.0  // meters
fov_h                        = 100  // Horizontal Field of View (deg)
fov_v                        = 140  // Vertical Field of View (deg)
range_noise_std              = 0    // One sigma of Gaussian noise (meters)
yaw_noise_std                = 0    // One sigma of Gaussian noise (deg)
pitch_noise_std              = 0    // One sigma of Gaussian noise (deg)
check_min_features_per_frame = 0    // Raises an error if there are less than these feats in one frame.

//sensor_pose_on_robot  (TO DO): Now it's fixed to (yaw,pitch,roll)=(0,0,0)

// -------------------------------
//  Output Format
// -------------------------------
[dataset-format]
// Path and prefix of all output files (*_SENSOR.txt, *_GT_PATH.txt, etc.)
output_files_prefix = dataset_tutorials_range_bearing

//observations_as_c_structs = true  // Useful for copying the dataset into tutorial code as examples