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##
##  log-file: fr-campus-20040714.carmen.log 
##
##  format  : raw robot data file in the carmen logger format 
##            (ODOM, FLASER, PARAM)
##
##  robot   : Pioneer2AT (herbert) with one SICK LMS291-S05 (FLASER)
##
##  date    : 14 July 2004
##
##  place   : campus of the Department of Computer Science, Univ of Freiburg
##
##  size    : approx. 250m x 250m, robot traveled 1.750km (~ 1.088 miles)
##
##  creators: Cyrill Stachniss & Giorgio Grisetti
##
##  map(s)  : carmen-map-files:
##            fr_campus_100p_10cm.cmf    - 100 particles, 10cm grid resolution
##	      fr_campus_100p_30cm.cmf    - 100 particles, 30cm grid resolution
##            fr_campus_30p_10cm.cmf     -  30 particles, 10cm grid resolution
##            fr_campus_30p_30cm.cmf     -  30 particles, 30cm grid resolution
##
##            image-files:
##            fr_campus_100p_10cm.png
##            fr_campus_100p_30cm.png
##            fr_campus_100p_30cm_path.png (including the path of the robot)
##            fr_campus_30p_10cm.png
##            fr_campus_30p_30cm.png
##
##            The maps have been created with Giorgio Grisetti's great
##            Rao-Blackwellized mapper. For more information see:
##            Cyrill Stachniss, Giorgio Grisetti, Dirk Haehnel, and 
##            Wolfram Burgard. "Improved Rao-Blackwellized Mapping by 
##            Adaptive Techniques and Active Loop-Closure" (SOAVE04,
##            SelfOrganization of AdaptiVE behavior 04).
##
##            We generated the maps with two different particle sets. The first
##            map was computed with 100 particles which produces really nice
##            results. Due to Giorgio's optimization he is able to build the
##            map with only 30(!) particles and the result is nearly as good 
##            as the one 100 particles.
##
##  comments: This is an outdoor data-set with some moving objects (cars
##            people, bikes), with some trees, bushes, a lot of free space
##            and of course not 100% plain surfaces.... 
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## CARMEN Logfile - file format is one message per line
##
## message_name [message contents] ipc_timestamp ipc_hostname logger_timestamp
## message formats defined: PARAM ODOM FLASER 
##
## PARAM param_name param_value
## ODOM x y theta tv rv accel
## FLASER num_readings [range_readings] x y theta odom_x odom_y odom_theta
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