%----------------------------
% Parameter for the observer
%----------------------------
% N_window : size of the sliding window (nominal = 400)
50
% N_outliers : acceptable number of outliers
10
% Number of bissections for the initialization phase (N_Bissect_0) inside [100,2000]
5
% Number of bissections at step k (N_Bissect_k) inside [4,100]
5
% xmin for the initialization
-10
% xmax for the initialization
20
% ymin for the initialization
-10
% ymax for the initialization
20
% thetamin for the initialization
-3.15
% thetamax for the initialization
3.15
% vmin for the initialization
0
% vmax for the initialization
3
%
%
%--------
% circles
%--------
% number of circles
2
%
%x  y  r
10  7  2.0
9  2  1.5
%
%----------------
% wall's segments
%----------------
%xa  ya  xb  yb
0   0  13    0
13  0  15   10
15  10  0   8
0   8  0    0