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config.yaml
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config.yaml
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---
#seed: 2
testCase:
- #1 constant speed
N: 4
dt: 0.01
integration_dt: 0.0001
T: 1.0
x0: [0, 0, 1, 0]
Qd: [.01, .01, .01, .01]
Qm: 1
obs:
- Rd: [1, 1]
Rm: .01
- Rd: [1, 1]
Rm: .001
every_X: 10
u: [0, 0, 0, -0.1]
- #2 RTBP
N: 4
dt: 0.03
integration_dt: 0.0003
T: 6.2296051135204102
x0: [1.033366313746765, 0, 0, -.05849376854515592]
Qd: [1, 1, 1, 1]
Qm: .005
obs:
- Rd: [1, 1]
Rm: .001
- Rd: [1, 1]
Rm: .001
every_X: 10
u: [0, 0, 0, 0]
- #3 Vehicle
GT_to_file: vehicle_data/GT.csv
U_to_file: vehicle_data/U.csv
N: 6
dt: 0.1
integration_dt: 0.005
T: 100
x0: [0, 0, 0, 1, 0, 0]
Qd: [0, 0, 0, 1, 1, .5]
Qm: 1.3
obs:
- Rd: [1, 1, .5]
Rm: .01
to_file: vehicle_data/IMU.csv
-
Rd: [1, 1, .5]
Rm: .05
every_X: 10
to_file: vehicle_data/VISUAL.csv
u: [0, 0, 0]
max_steering_angle: 0.174533
- #4 Vehicle cloning
N: 6
dt: 0.1
T: 100
integration_dt: 0.005
x0: [ 0, 0, 0, 1, 0, 0 ]
Qd: [0, 0, 0, 1, 1, .5]
Qm: 1.3
Cd: [1, 1, .5]
Cm: .1
obs:
- Rd: [ 1, 1, .5 ]
Rm: .05
every_X: 100
u: [0, 0, 0]
max_steering_angle: 0.174533
- #5 Vehicle3 smoothing
GT_from_file: exoter_logs/log-1/gt.csv
Time_from_file: exoter_logs/log-1/gt_time.csv
OTime_from_file: exoter_logs\log-1\dvo_time.csv
Kalman_to_file: exoter_logs/log-1/gt_vo.csv
N: 12
dt: 0.1
T: 2000000
integration_dt: 0.01
x0: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
Qd: [0, 0, 0, 0, 0, 0, 1, 1, 1, .1, .1, .1]
Qm: 0.1
obs:
- Rd: [ 1, 1, 1, .1, .1, .1]
Rm: .05
from_file: exoter_logs/log-1/gt.csv
u: [ 0 ]
- #6 Vehicle3 cloning
GT_from_file: exoter_logs/log_1_filtered.csv
N: 12
dt: 0.01
T: 200
integration_dt: 0.01
x0: [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
Qd: [0, 0, 0, 0, 0, 0, 1, 1, 1, .1, .1, .1]
Qm: 0.01
Cd: [ 1, 1, 1, 1, 1, 1]
Cm: .001
obs:
- Rd: [ 1, 1, 1, .1, .1, .1]
every_X: 100
Rm: .05
u: [ 0 ]