murder_maze3_ground.yaml

Frontier/sample_max_range: 3.0
Frontier/grid_scale: 2.0
Frontier/viewpoint_thresh: 1.0
Frontier/observe_thresh: 0.85
Frontier/resample_duration: 0.8
Frontier/sample_hor_dir_num: 10
Frontier/sample_ver_dir_num: 3
Frontier/sample_dist_num: 2
Frontier/sensor_type: "Depth_Camera"
Frontier/samp_free_thresh: 15
Frontier/FOV_hor_num: 15
Frontier/FOV_ver_num: 10
# Frontier/sensor_type: "Livox"
# Frontier/FOV_hor_num: 35
# Frontier/FOV_ver_num: 10
Frontier/cam_hor: 1.9
Frontier/cam_ver: 1.046
Frontier/livox_ver_low: -0.174
Frontier/livox_ver_up: 1.308
Frontier/ray_samp_dist1: 0.2
Frontier/ray_samp_dist2: 0.1
Frontier/show_frontier: true
Frontier/min_vp_num: 6


block_map/RobotVisX: 0.81
block_map/RobotVisY: 0.81
block_map/RobotVisZ: 0.41
block_map/swarm_tol: 0.3
block_map/swarm_send_delay: 2.0
block_map/swarm_pub_thresh: 0.98
block_map/minX: -22.5
block_map/minY: -22.5
block_map/minZ: -0.1
block_map/maxX: 22.5
block_map/maxY: 22.5
block_map/maxZ: 3.2
block_map/blockX: 10
block_map/blockY: 10
block_map/blockZ: 10
block_map/resolution: 0.1
block_map/sensor_max_range: 5.0
block_map/FFD: false
block_map/depth: true
block_map/update_freq: 10.0
block_map/show_freq: 10.0
block_map/depth_step: 2
block_map/CamtoBody_Quater_x: -0.5
block_map/CamtoBody_Quater_y: 0.5
block_map/CamtoBody_Quater_z: -0.5
block_map/CamtoBody_Quater_w: 0.5
block_map/CamtoBody_x: 0.0
block_map/CamtoBody_y: 0.0
block_map/CamtoBody_z: 0.0
block_map/occ_max: 0.90
block_map/occ_min: 0.20
block_map/pro_hit_occ: 0.90
block_map/pro_miss_free: 0.75
block_map/statistic_v: true
block_map/show_block: true
block_map/vis_mode: false
block_map/min_finish_t: 50.0

Exp/show_swarm_traj: false
EXP/finish_hold_duration: 15.0
Exp/robot_sizeX: 0.5
Exp/robot_sizeY: 0.5
Exp/robot_sizeZ: 0.5
Exp/minX: -20.0
Exp/minY: -20.0
Exp/minZ: 0.0
Exp/maxX: 20.0
Exp/maxY: 20.0
Exp/maxZ: 3.0
Exp/traj_length: 10.0
Exp/local_path_search: 1000
Exp/global_path_search: 3000
Exp/strong_check_interval: 3.0
Exp/check_duration: 3.5
Exp/exc_duration: 0.5
Exp/replan_duration: 1.5
Exp/takeoff_x: 0.0 
Exp/takeoff_y: 0.0
Exp/takeoff_z: 1.0
Exp/takeoff_yaw: 0.0
Exp/reach_out_t: 0.1
Exp/AutoTakeoff: true
Exp/statistic: true
Exp/finish_thresh: 0.5

#swarm
# Exp/UAV_id: 1
# Exp/drone_num: 1
Exp/local_comm_freq: 5.0
Exp/global_comm_freq: 0.5
Exp/local_dist_thresh: 7.0

GVD/show_gvd: true
GVD/lambda: 0.1
GVD/allowance: 0.2
GVD/tau: 0.5
GVD/partition_frequency: 1.0

MR_DTG/Toporange: 10.0
MR_DTG/H_thresh: 5.5
MR_DTG/update_FF: false
MR_DTG/resX: 2.0
MR_DTG/resY: 2.0
MR_DTG/resZ: 2.0
MR_DTG/show_edge_details: true

LowResMap/localgraph_sizex: 14.0
LowResMap/localgraph_sizey: 14.0
LowResMap/localgraph_sizez: 8.0
LowResMap/node_x: 0.6
LowResMap/node_y: 0.6
LowResMap/node_z: 0.6
LowResMap/blockX: 5
LowResMap/blockY: 5
LowResMap/blockZ: 3
LowResMap/showmap: true
LowResMap/debug: true
LowResMap/lambda_heu: 5.0
LowResMap/resolution: 0.1
LowResMap/seg_length: 2.5
LowResMap/prune_seg_length: 6.5
LowResMap/occ_duration: 2.0
LowResMap/unknown_duration: 0.2
LowResMap/corridor_expX: 2
LowResMap/corridor_expY: 2
LowResMap/corridor_expZ: 1
LowResMap/show_dtg: false

opt/YawVel: 1.8
opt/YawAcc: 1.8
opt/MaxVel: 1.5
opt/MaxAcc: 1.5
opt/SwarmAvoid: 0.9
opt/WeiPos: 5000.0
opt/WeiVel: 500.0
opt/WeiAcc: 100.0
opt/WeiJer: 50.0
opt/WeiSwarm: 300.0
opt/WeiminT: 10.0
opt/WeiT: 200.0
opt/smoothingEps: 0.01
opt/integralIntervs: 16
opt/RelCostTolL: 1.0e-5

Computation/data_num: 3
Computation/dir: /home/charliedog/data/swarm/maze3/MURDER
Computation/data_name0: gvp
Computation/data_name1: local
Computation/data_name2: global

Computation/vdata_num: 9
Computation/vdata_name0: volume
Computation/vdata_name1: DTG
Computation/vdata_name2: pose
Computation/vdata_name3: traj
Computation/vdata_name4: job
Computation/vdata_name5: state
Computation/vdata_name6: map
Computation/vdata_name7: mapreq
Computation/vdata_name8: total