SIMPLE_MAP = "simple_map"
LARGE_MAP = "large_map"
RESOLUTION = 0.01

ROBOT_RADIUS = 0.3
MAX_LINEAR_VELOCITY = 1.0
MIN_LINEAR_VELOCITY = 0.0
MAX_ANGULAR_VELOCITY = 1.0
MIN_ANGULAR_VELOCITY = -MAX_ANGULAR_VELOCITY
LINEAR_VELOCITY_NOISE = 0.05
ANGULAR_VELOCITY_NOISE = 0.1
ANGLE_NOISE = 0.1
NOISE_PER_METER = 5.0
EXPECTED_ESCAPE_TIME = 1e-100
EXPECTED_STUCK_TIME = 1e100

DT = 0.1
MAX_STEPS = 500

MIN_RANGE = 0.1
MAX_RANGE = 30.0
NUM_LIDAR = 720
MAX_ANGLE = 1.5707963267948966
ANGLE_INCREMENT = MAX_ANGLE*2.0/NUM_LIDAR
LIDAR_NOISE = 0.03
LIDAR_POSE_NOISE = 0.01
LIDAR_ORIENTATION_NOISE = 0.1
OVERSIGHT_PROB = 1e-4

MIN_TARGET_DISTANCE = 0.0
MAX_TARGET_DISTANCE = 100.0
