www.pudn.com > ekfcode.zip > globals.m

% definitions of global variables 
% values for these are set in ginit.m 
global PLAN_FIG;		% handle for main plan figure 
global WORLD_SIZE; 	% size of the world (for display purposes only). 
global LINC;			% increment along which spline path is evaluated. 
global DT;				% Sample interval for controller 
global TEND;         % Total maximum run time for simulator 
global VVEL;			% vehicle velocity 
 
global KP;				% vehicle position error gain 
global KO;				% vehicle orientation error gain 
 
global WHEEL_BASE;	% vehicle wheel base (m) 
global WHEEL_RADIUS; % nominal wheel radius 
global R_OFFSET;		% radar offset along centre axis 
global R_MAX_RANGE;  % maximum radar range 
global R_RATE;			% rotation rate of radar 
 
global GSIGMA_RANGE 	 % Range SD (m) used for observation generation 
global GSIGMA_BEARING % Bearing SD (rads) used for observation generation 
global GSIGMA_WHEEL 	 % wheel variance used for control generation 
global GSIGMA_STEER   % steer variance used for control generation 
 
global SIGMA_Q			% Multiplicative Wheel Noise SD (percent) 
global SIGMA_W			% Additive Wheel Noise SD (rads/s) 
global SIGMA_S			% Mutiplicative steer noise SD (percent)  
global SIGMA_G 		% Additive steer noise SD (rads) 
global SIGMA_R 		% wheel radius SD noise (m) 
global SIGMA_RANGE	% Range Variance (m) 
global SIGMA_BEARING % bearing variance (rads)