/////////////////////////////////////////////////////////////////////////////
// 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 = pNavigatorReactivePTG  @   NewConsole =false

	Run = iRobotGUI2010     @   NewConsole =false
//	Run = pNeck				@ NewConsole =false
	
	// MOOS-Scope: Visualizer of MOOS-DB	
//	Run = uMS       @       NewConsole=false
}

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
	enable_infrared		= true

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

	laser_fov_deg	= 320		// FOV of the laser, in degrees

	// 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

	// The 3D model of the robot (empty: default model)
	//robot_3DS_model_file = ./mapir_sancho_robot.3ds.gz

	// simple gui vs. 'expert' gui  (default: false)
	//start_in_simple_gui = false
}


ProcessConfig = pNavigatorReactivePTG
{
	CommsTick = 10
	AppTick = 10

	//[ROBOT_NAME]

	Name=THE_ROBOT

	//[GLOBAL_CONFIG]
	// 0: VFF,  1: ND
	HOLONOMIC_METHOD=1
	debugWindows=1
	ALARM_SEEMS_NOT_APPROACHING_TARGET_TIMEOUT=100

	// ----------------------------------------------------
	//	Parameters for the "Nearness diagram" Holonomic method
	// ----------------------------------------------------
	//[ND_CONFIG]
	factorWeights=[1.0,0.5,2.0,0.4]
	// 1: Free space
	// 2: Dist. in sectors
	// 3: Closer to target (euclidean)
	// 4: Hysteresis

	WIDE_GAP_SIZE_PERCENT=0.50
	MAX_SECTOR_DIST_FOR_D2_PERCENT=0.25
	RISK_EVALUATION_SECTORS_PERCENT=0.25
	RISK_EVALUATION_DISTANCE=0.15		
	TARGET_SLOW_APPROACHING_DISTANCE=1.00
	TOO_CLOSE_OBSTACLE=0.02	

	// ----------------------------------------------------
	//	Parameters for the navigation on the ROBOT
	// ----------------------------------------------------
	//[THE_ROBOT]
	weights=[0.5, 0.05, 0.5, 2.0, 0.5, 0.1]
	// 1: Free space
	// 2: Dist. in sectors			
	// 3: Heading toward target
	// 4: Closer to target (euclidean)
	// 5: Hysteresis
	// 6: Security Distance

	DIST_TO_TARGET_FOR_SENDING_EVENT=1.25	
	// Minimum. distance to target for sending the end event. Set to 0 to send it just on navigation end

	MinObstaclesHeight=0.0 		
	// Minimum coordinate in the "z" axis for an obstacle to be taken into account.

	MaxObstaclesHeight=1.40 		
	//Maximum coordinate in the "z" axis for an obstacle to be taken into account.

	robotMax_V_mps=0.90			
	//Speed limits

	robotMax_W_degps=90

	ROBOTMODEL_DELAY=0			
	// The delay until motor reaction

	ROBOTMODEL_TAU=0			
	// The TAU time constant of a first order lowpass filter

	MAX_REFERENCE_DISTANCE=4.50
	WIDE_GAP_SIZE_PERCENT=0.40
	RISK_EVALUATION_DISTANCE=0.5
	RISK_EVALUATION_SECTORS_PERCENT=0.20
	MAX_SECTOR_DIST_FOR_D2_PERCENT=0.25
	RESOLUCION_REJILLA_X=0.03
	RESOLUCION_REJILLA_Y=0.03

	PTG_COUNT=3

	// 		C-PTGs:
	// ------------------------------------
	PTG0_Type=1
	PTG0_nAlfas=300
	PTG0_v_max_mps=0.9
	PTG0_w_max_gps=90
	PTG0_K=1.0

	PTG1_Type=1
	PTG1_nAlfas=300
	PTG1_v_max_mps=0.9
	PTG1_w_max_gps=90
	PTG1_K=-1.0

	//	     a-A type PTGs:
	// ------------------------------------
	PTG2_Type=2
	PTG2_nAlfas=300
	PTG2_v_max_mps=0.9
	PTG2_w_max_gps=90
	PTG2_cte_a0v_deg=60
	PTG2_cte_a0w_deg=60

	RobotModel_shape2D_xs=[-0.3, 0.22, 0.22, -0.3]
	RobotModel_shape2D_ys=[0.24, 0.24, -0.24, -0.24]

}

ProcessConfig = pNeck
{
	CommsTick = 4
	AppTick = 4
	
	filterDepth = 10
	truncateFactor = 0.5
}