// // This Program is provided by Duke University and the authors as a service to the// research community. It is provided without cost or restrictions, except for the// User's acknowledgement that the Program is provided on an "As Is" basis and User// understands that Duke University and the authors make no express or implied// warranty of any kind.  Duke University and the authors specifically disclaim any// implied warranty or merchantability or fitness for a particular purpose, and make// no representations or warranties that the Program will not infringe the// intellectual property rights of others. The User agrees to indemnify and hold// harmless Duke University and the authors from and against any and all liability// arising out of User's use of the Program.//// laser.h//// Copyright 2005, Austin Eliazar, Ronald Parr, Duke University//// This file contains definitions relating to the laser//#include "ThisRobot.h"// Variance of the laser measurements in Grid Squares// These numbers are significantly larger than the actual variance// that the laser readings give, as they represent a large number of // different variables, all of which are wrapped up into error in the// laser reading (ie elevation, tilt, rotational calibration, uneven // surfaces, particle densities, etc.)// Note that the variance for the high level in hierarchical slam is // much higher. This is due largely to the fact that the high level // takes into account so many more sensor readings, and must also // account for possible driftwithin a single iteration#define LOW_VARIANCE (0.017 * MAP_SCALE*MAP_SCALE) #define HIGH_VARIANCE (0.5 * MAP_SCALE*MAP_SCALE)// Set the maximum usuable distance for the laser range finder. This number is often less than the actual// reliable distance for the specific LRF, because the laser casts 'scatter' at long distances.#define MAX_SENSE_RANGE 7.95 * MAP_SCALE