%----------------------------
% Parameter for the observer
%----------------------------
% N_window : size of the sliding window (nominal = 400)
100
% N_outliers : acceptable number of outliers
60
% Number of bissections for the initialization phase (N_Bissect_0) inside [100,2000]
30
% Number of bissections at step k (N_Bissect_k) inside [4,100]
2
% 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
% xmin for the initialization
0
% xmax for the initialization
10
% ymin for the initialization
0
% ymax for the initialization
10
% thetamin for the initialization
-3.15
% thetamax for the initialization
3.15
% vmin for the initialization
0
% vmax for the initialization
1
%
%
%--------
% circles
%--------
% 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  13    0
13  0  15   10
15  10  0   8
0   8  0    0