# 6 = scout

ROBOT_TYPE 0

#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   MAP PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

#MAP_FILE                        map-ex.map-nohannover-obstacles4
MAP_FILE                        map
#MAP_FILE                        map-ex.obstacles
MAP_UNKNOWN                     -1.0
CAD_MAP                         0
DESIRED_RESOLUTION              15.0
COMPUTE_STATISTICS 		0

# additional diameter for map growing
PLAN_SECURITY_DISTANCE          10.0


#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   SAMPLING
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

USE_PROBGRID 			0
ONLINE_LOCALIZATION 		0
VARIABLE_SAMPLE_SIZE 		0

NUMBER_OF_SAMPLES 		1000
SAMPLING_DISTANCE_NOISE 	0.15
SAMPLING_ANGLE_NOISE    	0.15
FRACTION_OF_UNIFORM_SAMPLES 	0.0


USE_POSITION                    1


#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   SONAR PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

USE_SONAR			0

#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   LASER PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

NUMBER_OF_LASERS_TO_BE_USED           60
USE_LASER                             1
LASER_EXPECTED_DIST_FILE              map.laserDist          
LASER_NUMBER_OF_EXPECTED_DIST_ANGLES  360
NUMBER_OF_FIRST_LASER                 0


# if 0, we won't use a filter
LASER_CHOOSE_OPTIMAL_SENSOR           1

#filter mode: 2=human
SELECTION_MODE                        2

#threshold for selection
SELECTION_THRESHOLD                   0.5


MAX_ROT_VEL_FOR_LASERS                0

#laser range for localization (standard: 1000)
LASER_MAX_EXPECTED_DISTANCE           1000


LASER_INTEGRATE_THRESHOLD             5
LASER_MAX_FACTOR                      1.1

#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   ANGLE PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

USE_ANGLE                       0

#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   COMMUNICATION PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

USE_TCX                         1
CONNECT_TO_BASE                 1
SCRIPT_FILE                     laserint.script
LOG_FILE                        map.log
TIME_FACTOR                     1.0
ODOMETRY_CORRECTION             0

#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------
#   GRAPHIC PARAMETERS
#------------------------------------------------------
#------------------------------------------------------
#------------------------------------------------------

#USE_GRAPHIC                     1
USE_GRAPHIC                     0
#START_POS                       startpos.dat
START_POS                       ../../startpos.dat
SHOW_MAP                        0
SHOW_ANGLES                     0
CREATE_MAP_OVERLAY              1
SET_ROBOT_POSITION              1
SET_ROBOT_AREA                  0	
SHOW_ROBOT_ZOOM                 1

# laserint data
MIN_WINDOW_SCALE                10
#MIN_WINDOW_SCALE                5

# image
ROBOT_ZOOM_SCALE                2
SHOW_SELECTED_SENSINGS          1
SHOW_EXPECTED_DISTANCES         1
#DISPLAY_SKIP                    1
DISPLAY_SKIP                    10

# What's this?
DUMP_ROBOT_WINDOW               1
DUMP_XY_GRAPHIC                 1