65 lines
1.4 KiB
YAML
65 lines
1.4 KiB
YAML
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
|