/////////////////////////////////////////////////////////////////////////////
// Antler configuration  block
//
// This file is part of the OpenMORA (Open MObile Robotics Arquitecture)
//   http://babel.isa.uma.es/mora/
/////////////////////////////////////////////////////////////////////////////



ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
	ExecutablePath		= 
	
	//crucial processes

	Run = MOOSDB        @  NewConsole = false

	Run = pLocalizationPF     @   NewConsole =false
	Run = pLocalizationFusion     @   NewConsole =false

	Run = pMobileRobot_Simul    @   NewConsole =false
	Run = pJoystickControl     @   NewConsole =false
	Run = iRobotGUI2010     @   NewConsole =false

	// MOOS-Scope: Visualizer of MOOS-DB	
	//Run = uMS       @       NewConsole=false
}

ProcessConfig = pStateCharts
{
	CommsTick = 15
	AppTick = 15
	
	objective_file = D:\Code\MORA\localbuild\bin\Release\Objetivo.scxml

}

ProcessConfig = pLocalizationFusion
{
	CommsTick = 30
	AppTick = 30
}

ProcessConfig = pLocalizationPF
{
	CommsTick = 10
	AppTick = 5


	// The map used as a reference for localization
	// ---------------------------------------------------------
	// If "simplemap_file" is present, the other map entries are ignored.
	//simplemap_file 	= one_map.simplemap

	gridmap_image_file	= example_map1.png
	gridmap_image_res	= 0.05		// Resolution: Size of each pixel (meters)
	//gridmap_image_cx	= 100		// Pixel coordinates of the origin (0,0)
	//gridmap_image_cy	= 100		//  If not present, use the image center.


	// Initial uniform distribution:
	X_MIN		= -2
	X_MAX		= 2
	Y_MIN		= -2
	Y_MAX		= 2

	// Number of initial particles
	sampleSize=200000

	// The Particle Filter algorithm:
	//	0: pfStandardProposal	  ***
	//	1: pfAuxiliaryPFStandard
	//	2: pfOptimalProposal    
	//	3: pfAuxiliaryPFOptimal	  ***
	//
	PF_algorithm=0

	// The Particle Filter Resampling method:
	//	0: prMultinomial
	//	1: prResidual
	//	2: prStratified
	//	3: prSystematic
	resamplingMethod=0

	// Set to 1 to enable KLD adaptive sample size:
	adaptiveSampleSize=1

	// Only for algorithm=3 (pfAuxiliaryPFOptimal)
	pfAuxFilterOptimal_MaximumSearchSamples=250

	// Resampling threshold
	BETA=0.5


	// KLD-sampling
	KLD_binSize_PHI_deg=2.5
	KLD_binSize_XY=0.07
	KLD_delta=0.01
	KLD_epsilon=0.01
	KLD_maxSampleSize=40000
	KLD_minSampleSize=150

}


ProcessConfig = pMobileRobot_Simul
{
	CommsTick = 15
	AppTick = 15

	// Sensors to emulate on the robot
	// ---------------------------------------------------------
	enable_sonar		= true
	enable_laser		= true

	show_3d 		= false		// Whether to show the 3D window or not


	// The map used to simulate laser scanners and/or sonars:
	// ---------------------------------------------------------
	// If "simplemap_file" is present, the other map entries are ignored.
	//simplemap_file 	= one_map.simplemap

	gridmap_image_file	= example_map1.png
	gridmap_image_res	= 0.05		// Resolution: Size of each pixel (meters)

	//gridmap_image_cx	= 100		// Pixel coordinates of the origin (0,0)
	//gridmap_image_cy	= 100		//  If not present, use the image center.

}

ProcessConfig = pJoystickControl
{
	CommsTick = 15
	AppTick = 10

	max_v	= 0.5	// Maximum linear speed (m/s)
	max_w	= 90	// Maximum angular speed (deg/s)

}

ProcessConfig = iRobotGUI2010
{
	CommsTick = 15
	AppTick = 15

}