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parameters.txt
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reps:1
[EKF]
DHfile:dhevolution.txt
joints:7
x:0,-1.0774,1.5707963267948966192313216916398,-1.5707963267948966192313216916398,0,0,-1.5707963267948966192313216916398,-1.5707963267948966192313216916398,-0.15,-1.5228,-1.5707963267948966192313216916398,-1.832595714594046055769875306913,0.15,0,1.5707963267948966192313216916398,0,0,-1.373,1.5707963267948966192313216916398,-1.5707963267948966192313216916398,0,0,1.5707963267948966192313216916398,1.5707963267948966192313216916398,0.625,0.16,0,3.14159265358979323846
##with markers
r:1
q:0.01
p:0.5
##Without markers
#r:0.03
#q:0.01
#p:0.5
[joint selection] (AL/random)
crit_name:AL
[AL]
costCoef:0.0000
delta:0.5
input:7
iterations:50
lower_bounds:-93.5,1.0,-35.0,17.0,-89.0,-89.0,-18.8
upper_bounds:9.0,160.0,79.0,105.0,89.0,-1.0,38.6
max_time:1
outputFile:sixJointsMetrics.txt
trajectoryFile:trajectory6joints.txt
averageFile:averages6joints.txt
outputTrajectory:trajectoryEndEffector.txt
//pôr sempre \n no fim deste ficheiro