config_simulation.py

import numpy as np
from lib.utils import dotify

config = {
    "SEED": 7,
    "N": 256,  # number of particles
    "DT": 1.0,
    "THREADS": 256,  # number threads in a block
    "GPU_HEAP_SIZE_BYTES": 100000 * 1024,  # available GPU heap size
    "THRESHOLD": 0.8,
    "sensor": {
        "RANGE": 4,
        "FOV": 0.75*np.pi,
        "MISS_PROB": 0,  # probability landmark in range will be missed
        "VARIANCE": [0.15 ** 2, np.deg2rad(1.0) ** 2],
        "MAX_MEASUREMENTS": 100  # upper bound on the total number of simultaneous measurements
    },
    "GROUND_TRUTH": np.load("simulation/odom.npy"),
    "CONTROL": np.load("simulation/control.npy"),
    "CONTROL_VARIANCE": [np.deg2rad(5.0) ** 2, 0.15 ** 2],
    "LANDMARKS": np.load("simulation/landmarks.npy").astype(np.float64),  # landmark positions
    "MAX_LANDMARKS": 500,  # upper bound on the total number of landmarks in the environment
    "START_POSITION": np.array([2, 6, 0], dtype=np.float64)
}


config = dotify(config)

config.sensor.COVARIANCE = \
    np.diag(config.sensor.VARIANCE).astype(np.float64)

config.PARTICLES_PER_THREAD = config.N // config.THREADS
config.PARTICLE_SIZE = 6 + 7*config.MAX_LANDMARKS