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settings.h
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settings.h
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#ifndef SETTINGS_H_
#define SETTINGS_H_
enum class DataPointType{
LIDAR, RADAR, STATE, TRUTH
};
const int NZ_RADAR = 3; // number of radar measurements
const int NZ_LIDAR = 2; // number of lidar measurements
const int NX = 5; // number of states
const int NAUGMENTED = NX + 2; // number of states plus two noise values
const int NSIGMA = NAUGMENTED * 2 + 1; // number of sigma points
//process noise standard deviations
const double STD_SPEED_NOISE = 0.9; // longitudinal acceleration in m/s^2
const double STD_YAWRATE_NOISE = 0.6; // yaw acceleration in rad/s^2
const double VAR_SPEED_NOISE = STD_SPEED_NOISE * STD_SPEED_NOISE;
const double VAR_YAWRATE_NOISE = STD_YAWRATE_NOISE * STD_YAWRATE_NOISE;
//RADAR measurements noise standard deviations
const double STD_RHO = 0.3; // meters
const double STD_PHI = 0.03; // radians
const double STD_RHODOT = 0.3; // meters / second
const double VAR_RHO = STD_RHO * STD_RHO;
const double VAR_PHI = STD_PHI * STD_PHI;
const double VAR_RHODOT = STD_RHODOT * STD_RHODOT;
//LIDAR measurements noise standard deviations
const double STD_PX = 0.15; // meters
const double STD_PY = 0.15; // meters
const double VAR_PX = STD_PX * STD_PX;
const double VAR_PY = STD_PY * STD_PX;
const int LAMBDA = 3 - NAUGMENTED; // parameter for tuning
const double SCALE = sqrt(LAMBDA + NAUGMENTED); // used to create augmented sigma points
const double W = 0.5 / (LAMBDA + NAUGMENTED);
const double W0 = LAMBDA / double(LAMBDA + NAUGMENTED);
const double WEIGHTS[NSIGMA] = {W0, W, W, W, W, W, W, W, W, W, W, W, W, W, W};
#endif /* SETTINGS_H_ */