/////////////////////////////////////////////
// Antler configuration  block

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

	Run = MOOSDB        @  NewConsole = false

	//Run = pLocalizationPF     @   NewConsole =false
	//Run = pMobileRobot_Simul    @   NewConsole =false
	//Run = pJoystickControl     @   NewConsole =false
	//Run = iRobotGUI2010     @   NewConsole =false
	Run = pAgenda @ NewConsole =false
	Run = pStateChart @   NewConsole =false
	Run = pPlanner @   NewConsole =true
	Run = pExecutor @   NewConsole =true
	//Run = pVoice @   NewConsole =true
	
	// MOOS-Scope: Visualizer of MOOS-DB	
	Run = uMS       @       NewConsole=false
}

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

}
ProcessConfig = pAgenda
{
	CommsTick = 25
	AppTick = 25

}

ProcessConfig = pExecutor
{
	CommsTick = 25
	AppTick = 25

}
ProcessConfig = pCommon
{
	num_actions = 2
	actions_names = SAY@MOVE
	
	num_elements = 2      //here by now, it should be published by the world model module

}
ProcessConfig = pVoice
{
	CommsTick = 25
	AppTick = 25

	action0=MOVE#T#navegar,navega,ir,llévame,ve,vete,vamos,vámonos#LOCATION
	action1=SAY#NT#di,decir#FREE_STRING
	
	element0=Node1#LOCATION#laboratorio,M,S#dos tres seis,M,S
	element1=Node2#LOCATION#despacho de Cipri,M,S#dos tres siete a,M,S



	

}
ProcessConfig = pPlanner
{
	CommsTick = 25
	AppTick = 25
	
	world_model = D:\Code\MORA\localbuild\bin\Release\demo.gph
	planning_domain = D:\Code\MORA\localbuild\bin\Release\domain.pddl
	
	num_actions = 2
	
	//Action Compatibility
	actions_names = SAY@MOVE
	action0 = MOVE
	action1 = SAY
	//This means that the action 0 (SAY) is compatible with action 1 (MOVE) and vice versa 

}
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
	// ---------------------------------------------------------
	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

}