Detailed Description

Definition at line 56 of file main.hpp.

Inheritance diagram for ConfigSetup:

Public Member Functions
virtual void	loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::getItem() method.
virtual void	saveKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::setItem() method.
virtual void	loadKeyValueFile (jafar::kernel::KeyValueFile const &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::getItem() method.
virtual void	saveKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile)
	Implement this method calling repeatedly KeyValueFile::setItem() method.
Public Attributes
unsigned	ROBOT_ID
	Should be unique between the robots of the same team.
jblas::vec6	ROBOT_POSE
	Initial robot position.
jblas::vec	CAMERA_POSE_CONSTVEL [2]
	SENSOR.
jblas::vec	CAMERA_POSE_INERTIAL [2]
	camera pose in SLAM frame (IMU frame) for inertial (x,y,z,roll,pitch,yaw) (m,deg). If add std devs, will be filtered.
jblas::vec	GPS_POSE
	GPS pose in SLAM frame (IMU frame in inertial) (x,y,z,roll,pitch,yaw) (m,deg). If add std devs, will be filtered.
jblas::vec	ROBOT_POSE
	real robot pose in SLAM frame (IMU frame in inertial) (for init and export)
unsigned	CAMERA_TYPE [2]
	camera type (0 = firewire, 1 = firewire format7, 2 = USB, 3 = UEYE)
unsigned	CAMERA_FORMAT [2]
	camera image format (0: GRAY8, 10: RGB24, 20: YUV411, 21: YUV422_UYVY, 22: YUV422_YUYV, 23: YUV422_YYUV, 24: YVU422_VYUY, 25: YVU422_YVYU, 26: YUV444, 30: BAYER_BGGR, 31: BAYER_GRBG, 32: BAYER_RGGB, 33: BAYER_GBRG)
std::string	CAMERA_DEVICE [2]
	camera device (firewire ID or device)
unsigned	CAMERA_IMG_WIDTH [2]
	image width
unsigned	CAMERA_IMG_HEIGHT [2]
	image height
jblas::vec4	CAMERA_INTRINSIC [2]
	intrisic calibration parameters (u0,v0,alphaU,alphaV)
jblas::vec3	CAMERA_DISTORTION [2]
	distortion calibration parameters (r1,r2,r3)
std::string	CAMERA_CALIB [2]
	calibration file if need to rectify
unsigned	CAMERA_IMG_WIDTH_SIMU [2]
	SIMU SENSOR.
unsigned	CAMERA_IMG_HEIGHT_SIMU [2]
jblas::vec4	CAMERA_INTRINSIC_SIMU [2]
jblas::vec3	CAMERA_DISTORTION_SIMU [2]
double	UNCERT_VLIN
	CONSTANT VELOCITY.
double	UNCERT_VANG
	initial uncertainty stdev on angular velocity (rad/s)
double	PERT_VLIN
	perturbation on linear velocity, ie non-constantness (m/s per sqrt(s))
double	PERT_VANG
	perturbation on angular velocity, ie non-constantness (rad/s per sqrt(s))
std::string	MTI_DEVICE
	INERTIAL (also using UNCERT_VLIN)
double	ACCELERO_FULLSCALE
	full scale of accelerometers (m/s2) (MTI: 17)
double	ACCELERO_NOISE
	noise stdev of accelerometers (m/s2) (MTI: 0.002*sqrt(30) )
double	GYRO_FULLSCALE
	full scale of gyrometers (rad/s) (MTI: rad(300) )
double	GYRO_NOISE
	noise stdev of gyrometers (rad/s) (MTI: rad(0.05)*sqrt(40) )
double	INITIAL_GRAVITY
	initial value of gravity (default value 9.806, m/s2)
double	UNCERT_GRAVITY
	initial gravity uncertainty (% of INITIAL_GRAVITY)
double	UNCERT_ABIAS
	initial accelerometer bias uncertainty (% of ACCELERO_FULLSCALE, m/s2)
double	UNCERT_WBIAS
	initial gyrometer bias uncertainty (% of GYRO_FULLSCALE, rad/s)
double	PERT_AERR
	noise stdev coeff of accelerometers, for testing purpose (% of ACCELERO_NOISE)
double	PERT_WERR
	noise stdev coeff of gyrometers, for testing purpose (% of GYRO_NOISE)
double	PERT_RANWALKACC
	IMU a_bias random walk (m/s2 per sqrt(s))
double	PERT_RANWALKGYRO
	IMU w_bias random walk (rad/s per sqrt(s))
double	INITIAL_HEADING
	initial heading of the real robot (0 is east, positive is toward north, rad)
double	UNCERT_HEADING
	initial heading uncertainty of the real robot (rad)
double	UNCERT_ATTITUDE
	initial attitude angles uncertainty (rad)
double	IMU_TIMESTAMP_CORRECTION
	correction to add to the IMU timestamp for synchronization (s)
double	GPS_TIMESTAMP_CORRECTION
	correction to add to the GPS timestamp for synchronization (s)
double	dxNDR
	Odometry noise variance to distance ratios.
double	dvNDR
	Odometry noise in orientation increment (rad per sqrt(m))
double	ODO_TIMESTAMP_CORRECTION
	correction to add to the odometry timestamp for synchronization (s)
jblas::vec4	ODO_CALIB
	multiplicative correction for odometry wheel size (lf, rf, lb, rb)
double	GPS_MAX_CONSIST_SIG
	max sigma with guaranteed consistency (reflections can cause inconsistency)
double	SIMU_IMU_TIMESTAMP_CORRECTION
	SIMU INERTIAL.
double	SIMU_IMU_FREQ
double	SIMU_IMU_GRAVITY
double	SIMU_IMU_GYR_BIAS
double	SIMU_IMU_GYR_BIAS_NOISESTD
double	SIMU_IMU_GYR_GAIN
double	SIMU_IMU_GYR_GAIN_NOISESTD
double	SIMU_IMU_RANDWALKGYR_FACTOR
double	SIMU_IMU_ACC_BIAS
double	SIMU_IMU_ACC_BIAS_NOISESTD
double	SIMU_IMU_ACC_GAIN
double	SIMU_IMU_ACC_GAIN_NOISESTD
double	SIMU_IMU_RANDWALKACC_FACTOR
Private Member Functions
void	processKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile, bool read)
void	processKeyValueFile (jafar::kernel::KeyValueFile &keyValueFile, bool read)