vel_max: 6.0
# segment_time = 2 * radio / vel_max

# IMPORTANT PARAM: weight of penalties (6m/s)
ws: 0.00004
wc: 0.001
wl: 0.00
wg: 0.0002

#ws: 0.00004
#wc: 0.001
#wl: 0.02
#wg: 0.0001

# trajectory and primitive parma
horizon_num: 5
vertical_num: 3
horizon_camera_fov: 90.0
vertical_camera_fov: 60.0
horizon_anchor_fov: 30
vertical_anchor_fov: 30
goal_length: 10
radio_range: 4.0    # planning horizon: 2 * radio_range
vel_fov: 90.0       # not use currently
radio_num: 1        # 1 just ok
vel_num: 1          # 1 just ok
vel_prefile: 0.0    # 0 just ok

# For data efficiency, we randomly sample multiple vel and acc for each depth image with the following the distribution.
# values at normalized speed (actual speed can be denormalized by multiplying v_multiple)
# 单位数据倍数： v_multiple = 0.5 * v_max = radio / time
# v数据的均值： v_mean = v_multiple * v_mean_unit
# v数据的方差： v_var = v_multiple^2 * v_var_unit
# a数据的均值： v_mean = v_multiple^2 * a_mean_unit
# a数据的方差： v_var = v_multiple^4 * a_var_unit
vx_mean_unit: 1.5
vy_mean_unit: 0.0
vz_mean_unit: 0.0
vx_var_unit: 0.15
vy_var_unit: 0.45
vz_var_unit: 0.1
ax_mean_unit: 0.0
ay_mean_unit: 0.0
az_mean_unit: 0.0
ax_var_unit: 0.0278
ay_var_unit: 0.05
az_var_unit: 0.0278

# penalties
alpha: 10.0
d0: 1.2
r: 0.6

alphav: 2.0
v0: 3.5
rv: 1.5

alphaa: 2.0
a0: 3.5
ra: 1.5

# deprecated weight
wv: 0.0
wa: 0.0