evaluate_approximation_accuracy_complex_env.pbtxt

name: "evaluate_approximation_quality_complex_env"

map_config_path: "data/env_3/world_map_config.pb"
ekf_state_path: "data/env_3/mapped_landmarks.pb"
road_map_path: "data/env_3/road_map.pb"
evaluation_base_seed: 987654321
num_eval_trials: 1000
start_goal_seed: 12345
start_goal_connection_radius_m: 20.0
num_trials: 200
plan_timeout_s: 30.0
max_sensor_range_m: 5.0


planner_configs: {
  name: "1 components"
  landmark_brm_config: {
    max_num_components: 1
  }
}

planner_configs: {
  name: "10 components"
  landmark_brm_config: {
    max_num_components: 10
  }
}

planner_configs: {
  name: "100 components"
  landmark_brm_config: {
    max_num_components: 100
  }
}

planner_configs: {
  name: "1000 components"
  landmark_brm_config: {
    max_num_components: 1000
  }
}

planner_configs: {
  name: "10000 components"
  landmark_brm_config: {
    max_num_components: 10000
  }
}

planner_configs: {
  name: "100000 components"
  landmark_brm_config: {
    max_num_components: 100000
  }
}

# Running the full distribution takes too much RAM
# planner_configs: {
#   name: "Full Distribution"
#   landmark_brm_config: {}
# }