include "map_builder.lua"
include "trajectory_builder.lua"

options = {
    map_builder = MAP_BUILDER,
    trajectory_builder = TRAJECTORY_BUILDER,
    map_frame = "map",
    tracking_frame = "laser",
    published_frame = "base_link",
    odom_frame = "odom",
    provide_odom_frame = false, --true
    publish_frame_projected_to_2d = false, --true
    use_odometry = false,
    use_nav_sat = false,
    use_landmarks = false,
    num_laser_scans = 1,
    num_multi_echo_laser_scans = 0,
    num_subdivisions_per_laser_scan = 1,
    num_point_clouds = 0,
    lookup_transform_timeout_sec = 0.2,
    submap_publish_period_sec = 0.3,
    pose_publish_period_sec = 5e-3,
    trajectory_publish_period_sec = 30e-3,
    rangefinder_sampling_ratio = 1.,
    odometry_sampling_ratio = 1.,
    fixed_frame_pose_sampling_ratio = 1.,
    imu_sampling_ratio = 1.,
    landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.min_range = 0.03
TRAJECTORY_BUILDER_2D.max_range = 8.0 --3.0 --8.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5
TRAJECTORY_BUILDER_2D.use_imu_data = false

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 300
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.01 -- 栅格地图分辨率
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)

TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

POSE_GRAPH.constraint_builder.min_score = 0.65
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65
POSE_GRAPH.optimization_problem.huber_scale = 1e2
POSE_GRAPH.optimize_every_n_nodes = 35

return options


-- MAP_BUILDER.use_trajectory_builder_2d = true
-- TRAJECTORY_BUILDER_2D.min_range = 0.03
-- TRAJECTORY_BUILDER_2D.max_range = 8.0
-- TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
-- TRAJECTORY_BUILDER_2D.use_imu_data = false

-- -- TRAJECTORY_BUILDER_2D.submaps.resolution = 0.05
-- TRAJECTORY_BUILDER_2D.submaps.num_range_data = 300
-- -- TRAJECTORY_BUILDER_2D.submaps.num_range_data = 3
-- TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.01 -- 栅格地图分辨率

-- TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 --0.05
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 1.
-- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-2
-- TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2)

-- TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1

-- POSE_GRAPH.constraint_builder.min_score = 0.5
-- POSE_GRAPH.constraint_builder.global_localization_min_score = 0.5
-- POSE_GRAPH.optimization_problem.huber_scale = 1e1
-- POSE_GRAPH.optimize_every_n_nodes = 10

-- return options