robot-pmaptest(1)					      General Commands Manual						 robot-pmaptest(1)

NAME

       robot-pmaptest - occupancy grid map creation tool

SYNOPSIS

       robot-pmaptest [options] <logfilename>

DESCRIPTION

       robot-pmaptest  is  utility  demonstrates  the basic functionality of the pmap library and serves a handy mapping utility in its own right.
       Given a Player logfile containing odometry and laser data, robot-pmaptest will produce an occupancy grid map of the environment.

OPTIONS

       -g     disable the GUI (run in console mode only).

       --range_max range
	      maximum effective range for the laser in meter (default: range saved in logfile).

       --position_index index
	      index of odometry device in logfile (defualt: 0).

       --laser_index index
	      index of laser device in logfile (default: 0).

       --num_samples number
	      number of samples in particle filter (default: 200).

       --resample_interval number
	      number of scans between resampling steps.

       --resample_sigma width
	      width of resampling gaussian.

       --num_cycles number
	      number of optimization cycles in the fine phase (default: 100).

       --robot_x position
	      initial position of the robot on the x-axis.

       --robot_y position
	      initial position of the robot on the y-axis.

       --robot_rot rotation
	      initial rotation of the robot in degrees.

       --grid_width width
	      width of the grid in meters (default: 64.0).

       --grid_height height
	      height of the grid in meters (default: 48.0).

       --grid_scale scale
	      scale of the grid in meters per cell (default: 0.10).

       --laser_x position
	      position of the laser scanner on the robot.

       --laser_rot rotation
	      rotation of the laser scanner on the robot in degrees.

       --robot_hostname hostname
	      the hostname of the robot to verify in the logfile.

       --robot_hostname hostname
	      the hostname of the robot to verify in the logfile.

       --skip time
	      amount of time to skip between log entries.

       --range_resresolution
	      resolution of the laser (only used inlodo, not lodo2 which is currentlyused).

       --action_model_xx factor
	      believe factors in the change of the robot's pose.

       --action_model_rx factor
	      believe factors in the change of the robot's pose.

       --action_model_rr factor
	      believe factors in the change of the robot's pose.

AUTHOR

       Player was written by Brian Gerkey <gerkey@users.sourceforge.net> and contributors.  This manual page was written by Daniel  Hess  for  the
       Debian Project.

SEE ALSO

       The HTML documentation in /usr/share/doc/player/html of the robot-player-doc package.  robot-playervcr(1)

Player								     May 2009							 robot-pmaptest(1)