From d6f88f48335253f48078b709575630dc0058c500 Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Fri, 20 Apr 2018 18:55:09 +0200
Subject: [PATCH] Add configuration folder
---
modules/CarConfig/CarConfig | 1 +
modules/CarConfig/environment.config | 20 +++++++++++++++++++
modules/CarConfig/platoon.config | 2 ++
.../src/car/src/environment/Environment.cpp | 2 +-
.../src/car/src/mainNode/MainNode.cpp | 2 +-
5 files changed, 25 insertions(+), 2 deletions(-)
create mode 120000 modules/CarConfig/CarConfig
create mode 100644 modules/CarConfig/environment.config
create mode 100644 modules/CarConfig/platoon.config
diff --git a/modules/CarConfig/CarConfig b/modules/CarConfig/CarConfig
new file mode 120000
index 00000000..beafaae7
--- /dev/null
+++ b/modules/CarConfig/CarConfig
@@ -0,0 +1 @@
+/home/bethke/Repositories/Semesterprojekt/Gruppe-A-intern/modules/CarConfig/
\ No newline at end of file
diff --git a/modules/CarConfig/environment.config b/modules/CarConfig/environment.config
new file mode 100644
index 00000000..9ee0d91d
--- /dev/null
+++ b/modules/CarConfig/environment.config
@@ -0,0 +1,20 @@
+// Numbers on name representing indicies
+// current car state
+x1: 0
+x2: 0
+// covariance matrix
+p11: 10
+p22: 10
+// dynamic model
+f11: 1
+f12: 0.001
+f21: 0
+f22: 1
+// process error
+q11: 1
+q22: 1
+// measure vector
+h1: 1
+h2: 0
+// measurement error
+r: 5
diff --git a/modules/CarConfig/platoon.config b/modules/CarConfig/platoon.config
new file mode 100644
index 00000000..76a1da8f
--- /dev/null
+++ b/modules/CarConfig/platoon.config
@@ -0,0 +1,2 @@
+VehicleId: 1 use 1,2 or 3 here depending on the position of the car in platoon; 1 = LEADER
+BroadCast: 10.255.255.255
diff --git a/modules/catkin_ws/src/car/src/environment/Environment.cpp b/modules/catkin_ws/src/car/src/environment/Environment.cpp
index f021c34b..7fb8a84c 100644
--- a/modules/catkin_ws/src/car/src/environment/Environment.cpp
+++ b/modules/catkin_ws/src/car/src/environment/Environment.cpp
@@ -39,7 +39,7 @@ void Environment::readConfigFile()
// open config file
std::string userHome = getenv("HOME");
std::ifstream configFile;
- configFile.open(userHome + "/.CarConfig/environment.config", std::ifstream::in);
+ configFile.open(userHome + "/CarConfig/environment.config", std::ifstream::in);
if (!configFile.is_open()) { throw FileNotFound(); }
// desired parameters
diff --git a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
index 7a98560f..11d44623 100644
--- a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
@@ -24,7 +24,7 @@ platoonProtocol::NetworkInfo readNetworkInfo() {
// open config file
std::string userHome = getenv("HOME");
std::ifstream configFile;
- configFile.open(userHome + "/.CarConfig/platoon.config", std::ifstream::in);
+ configFile.open(userHome + "/CarConfig/platoon.config", std::ifstream::in);
if (!configFile.is_open()) { throw FileNotFound(); }
// desired parameters
--
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