BALL_Q_NOISE_OBS = [0.05 0
0 0.05];
BALL_Q_NOISE_unOBS = [10.0 6.5
6.5 10.0];
BALL_R_NOISE = [1.0 0.25
0.25 1.0];
MARKER_Q_NOISE_OBS = [1E-2 5E-4
5E-4 1E-2];
MARKER_Q_NOISE_UNOBS = [1E-2 5E-3
5E-3 1E-2];
MARKER_Q_NOISE_UNOBSABLE = [1E-3 1E-4
1E-4 1E-3];
MARKER_R_NOISE = [10.0 0.5
0.5 10.0];
WHEEL_ERROR = 0.1 m/s
SENSOR_NOISE = 1.5 m
