# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.3 
minimum_travel_heading: 0.4  # 0.2         #in radians

scan_buffer_size: 67                       
scan_buffer_maximum_scan_distance: 20.0
link_match_minimum_response_fine: 0.6
link_scan_maximum_distance: 4         #  6

do_loop_closing: true
loop_match_minimum_chain_size: 5
loop_match_maximum_variance_coarse: 0.4    # gets squared later
loop_match_minimum_response_coarse: 0.4        # 0.6
loop_match_minimum_response_fine: 0.6

# Correlation Parameters -              Correlation Parameters
correlation_search_space_dimension: 2
correlation_search_space_resolution: 0.05
correlation_search_space_smear_deviation: 0.05

# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 10  # 2.8
loop_search_space_resolution: 0.1
loop_search_space_smear_deviation: 0.05
loop_search_maximum_distance: 4.0

# Scan Matcher Parameters
distance_variance_penalty: 0.3             # gets squared later
angle_variance_penalty: 0.35                # in degrees (gets converted to radians then squared)
fine_search_angle_offset: 0.00349               # in degrees (gets converted to radians)
coarse_search_angle_offset: 0.349            # in degrees (gets converted to radians)
coarse_angle_resolution: 0.0349                # in degrees (gets converted to radians)
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: false