# Environnement
use_obstacles = true
use_landmarks = true
noise_amplitude = 0.1 # [m]
ldkmap_type = "shaked" # "shaked", "moving", else "default" 
ldkmap_file = "/local/projets/robotique/Robots/Cycab/TmpDesktop/CycabDevpt/etc/carte"
obstaclemap_file = "/local/projets/robotique/Robots/Cycab/TmpDesktop/CycabDevpt//etc/gs.h2"
ldkmap_shm = "M"
obstaclemap_shm = "L"
add_random_obs = 3

# Cycab
cycab_model = 0 # unused
cycab_x = 0.0 # x start pos [m]
cycab_y = 0.0 # y start pos [m]
cycab_theta = 0.0 # theta start pos [deg]
cycab_kv = 0.9
cycab_kphi = 0.9
cycab_shm = "C"

# Sick
sick_shm = "S"

# Horizon
horizon_shm = "H"

# Interfaces
top_x = 100
top_y = 100
top_width = 300
top_height = 300
top_coef = 5

obs_width = 400
obs_height = 200
obs_coef = 6.66

# Connection cycab
cycab_server = "localhost"