mcl_config.hpp

Go to the documentation of this file.

#pragma once
 
#include "LightLib/path/field_map.hpp"
 
struct MCLConfig {
  int numParticles = 200;                          
  float sensorSigmaIn = 2.5f;                      
  float outlierGapIn = 6.0f;                       
  float maxRangeIn = light::field::FIELD_SIZE_IN;  
  float initPosSigmaIn = 1.0f;                     
  float initHeadingSigmaRad = 0.05f;               
  float ekfQPos = 0.02f;      
  float ekfQTheta = 0.0005f;  
  float ekfQVel = 1.0f;       
  float snapDiverge = 9.0f;   
  float snapConverge = 3.0f;  
};