%--------------------------------
% Parameter for the AUV simulator
%--------------------------------
% ws : angular velocity of the sonar
5.0
% The three following coefficients are involved in the state model
% Friction coefficient
0.2
% motor power coefficient
1.0
% motor distance coefficient
6.0
%--------
% circles
%--------
% number of circles
%1
%
%x  y  r
%10  5  2.8
% number of circles
3
%
%x  y  r
10  7  2.0
9  2  1.5
5  7  1.0
%
%--------------------------------------------------------------------
% wall's segments
%----------------
%xa  ya  xb  yb
%0   0  15    0
%15  0  15   10
%15  10  0   10
%0   10  0    0
0   0  13    0
13  0  15   10
15  10  0   8
0   8  0    0