Document motion prediction model paramters

doc/Parameters.md

@@ -6,16 +6,35 @@ Description of the node parameters and how to tune them.
 
 ## Likelihood calculation
 
-- **match_dist_min** (float, default: `0.2`, unit: meters):\
-    Point to map distance larger than *match_dist_min* is ignored in the likelihood calculation.
-- **match_dist_flat** (float, default: `0.05`, unit: meters):\
-    Point-to-map distance smaller than *match_dist_flat* is clipped to *match_dist_flat*. Set to three-sigma of the input pointcloud noise or larger to avoid fixing to local minimums.
+- **match\_dist\_min** (float, default: `0.2`, unit: meter):\
+    Point to map distance larger than *match\_dist\_min* is ignored in the likelihood calculation.
+- **match\_dist\_flat** (float, default: `0.05`, unit: meter):\
+    Point-to-map distance smaller than *match\_dist\_flat* is clipped to *match\_dist\_flat*. Set to three-sigma of the input pointcloud noise or larger to avoid fixing to local minimums.
 
 ## Expansion resetting
 
-- **match_ratio_thresh** (float, default: `0.0`, unit: ratio):\
-    Trigger the expansion resetting if the ratio of the measured points which have corresponding map points is smaller than *match_ratio_thresh*. Set 0.0 to disable the expansion resetting.
-- **expansion_var_(x|y|z)** (float, default: `0.2`, unit: meters):\
+- **match\_ratio\_thresh** (float, default: `0.0`, unit: ratio):\
+    Trigger the expansion resetting if the ratio of the measured points which have corresponding map points is smaller than *match\_ratio\_thresh*. Set 0.0 to disable the expansion resetting.
+- **expansion\_var\_(x|y|z)** (float, default: `0.2`, unit: meter):\
     Gaussian noise distribution to expand the particle distribution on the expansion resetting.
-- **expansion_var_(roll|pitch|yaw)** (float, default: `0.05`, unit: rad):\
+- **expansion\_var\_(roll|pitch|yaw)** (float, default: `0.05`, unit: radian):\
     Gaussian noise distribution to expand the particle distribution on the expansion resetting.
+
+## Motion prediction
+
+- **odom\_err\_lin\_lin** (float, default: `0.1`, unit: meter/meter):\
+    Standard deviation of the translational error per unit of the translational component of the robot's motion.
+- **odom\_err\_lin\_ang** (float, default: `0.05`, unit: radian/meter):\
+    Standard deviation of the rotational error per unit of the translational component of the robot's motion.
+- **odom\_err\_ang\_lin** (float, default: `0.05`, unit: meter/radian):\
+    Standard deviation of the translational error per unit of the rotational component of the robot's motion.
+- **odom\_err\_ang\_ang** (float, default: `0.05`, unit: radian/rad):\
+    Standard deviation of the rotational error per unit of the rotational component of the robot's motion.
+- **odom\_err\_integ\_lin\_tc** (float, default: `10.0`, unit: second):\
+    Time constant to forget the integral of the translational odometry error.
+- **odom\_err\_integ\_lin\_sigma** (float, default: `100.0`, unit: meter):\
+    Acceptable range of the integral of the translational odometry error.
+- **odom\_err\_integ\_ang\_tc** (float, default: `10.0`, unit: second):\
+    Time constant to forget the integral of the rotational odometry error.
+- **odom\_err\_integ\_ang\_sigma** (float, default: `100.0`, unit: radian):\
+    Acceptable range of the integral of the rotational odometry error.