classdef Parameters < handle % This class just contains a set of parameters properties(Access = public) % Time step length DT = 0.1; % If set to a finite value, the terminator artificially terminates % at this step number maximumStepNumber = inf; % Vehicle wheelbase. See https://en.wikipedia.org/wiki/Wheelbase. % Average wheelbase value from % Chassis Handbook: Fundamentals, Driving Dynamics, Components, Mechatronics, Perspectives B = 2.5; % Flag to show if noises should be added perturbWithNoise = true; % Steer angle controls; made up maxDiffDeltaRate = 20*pi/180; maxDelta = 40 * pi / 180; % Speed controls; made up maxSpeed = 10; minSpeed = 1; maxAcceleration = 0.5; % Flag to show if odometry is available enableOdometry = true; % Control input measurement noise ROdometry = diag([0.1 pi/180 0.1*pi/180]).^2; % Flag to show if GPS available enableGPS = true; % The period between GPS measurements gpsMeasurementPeriod = 5; % GPS noise measurement RGPS = 9 * eye(2); % Flag to show if the laser is available enableLaser= true; % The period between laser measurements laserMeasurementPeriod = 0.1; % Detection range - same for all landmarks laserDetectionRange = 10; % Noise on each measurement RLaser = diag([0.1 pi/180]).^2; end end