##
## Automatically generated configuration file
##

##
# Environment
##

# map
# Map file (PGM format) [REQUIRED]

map = lab1.pgm

# pixels-per-meter
# Pixels per meter

pixels-per-meter = 40

##
# Error models
##

# err-ir
# IR range error (% of range measurement)

err-ir = 0.03

# err-sonar
# Sonar range error (% of range measurement)

err-sonar = 0.04

# err-reflection-base
# Sonar reflection base probability

err-reflection-base = 0.08

# err-reflection-scale
# Sonar reflection scaling factor (probability increase with angle)

err-reflection-scale = 0.8

# err-translation
# Translation error (% of odometry measurement)

err-translation = 0.03

# err-rotation
# Rotation error (% of odometry measurement)

err-rotation = 0.03

# err-normal
# Normal error (% of odometry measurement)

err-normal = 0.02

##
# Robot
##

# origin-x
# Robot origin (x)

origin-x = 0

# origin-y
# Robot origin (y)

origin-y = -6

# origin-theta
# Robot origin (theta)

origin-theta = 1.5707