example.yaml

# common map parameters
# map size = [width, height] x resolution [m]
common:
  height: 100
  width: 100
  resolution: 0.25
  maptype: "simplest" # "indoor" or "outdoor" or "simplest"
  map_name: "pillar"
  save_dir: "maps" # in project root directory

# simplest map parameters
simplest:
  obstacle_positions: [[50, 50]]
  obstacle_sizes: [[20, 20]]

# indoor and outdoor map number rate
random:
  outdoor_map_rate: 1.0

# indoor map parameters
indoor:
  corridor_radius: 5 # corridor diameter = 1+2*corridor_radius
  iterations: 50 # number of nodes for the indoor map algorithm
  room_number: 1
  room_width: 100
  room_height: 100
  no_overlap: True # whether or not rooms are allowed to overlap

# outdoor map parameters
outdoor:
  obstacle_number: 30 # number of outdoor obstacles
  obstacle_extra_radius: 1 # obstacle diameter = 1+2*obstacle_extra_radius