?? ginit.m
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% values for global variables
% these are defined in globals.m
PLAN_FIG=1; % default handle for plan figure
WORLD_SIZE=500; % 0-100 meters in each direction
LINC=0.1; % 0.1m length for spline interpolation
DT=0.1; % Sample interval for controller
TEND=5000*DT; % Total maximum run time for simulator
VVEL=2; % Vehicle velocity (assumed constant)
KP=1; % vehicle position error gain
KO=1; % vehicle orientation error gain
WHEEL_BASE=1; % vehicle wheel base (m)
WHEEL_RADIUS=0.3; % nomial wheel radius (m)
R_OFFSET=0.0; % radar offset (m)
R_MAX_RANGE=100.0;% maximum range (m)
R_RATE=12.566; % rotation rate (rads/s)
GSIGMA_RANGE=0.25; % Range SD (m) used for observation generation
GSIGMA_BEARING=0.0174;% Bearing SD (rads) used for observation generation
GSIGMA_WHEEL=0.1; % wheel variance used for control generation
GSIGMA_STEER=0.035; % steer variance used for control generation
SIGMA_Q=0.25; % Multiplicative Wheel Noise SD (percent)
SIGMA_W=0.1; % Additive Wheel Noise SD (rads/s)
SIGMA_S=0.01; % Mutiplicative steer noise SD (percent)
SIGMA_G=0.0087; % Additive steer noise SD (rads)
SIGMA_R=0.005; % wheel radius SD noise (m)
SIGMA_RANGE=0.3; % Range Variance (m)
SIGMA_BEARING=0.035; % bearing variance (rads)
fact=0.1;
SIGMA_Q=SIGMA_Q*fact;
SIGMA_W=SIGMA_W*fact;
SIGMA_S=SIGMA_S*fact;
SIGMA_G=SIGMA_G*fact;
SIGMA_R=SIGMA_R*fact;
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