odometry.hpp File Reference

Pose, sensor specs, and the global odometry / pose-estimation API. More...

#include <cmath>
#include <vector>
#include "LightLib/drive/mcl_config.hpp"
#include "light/distance.hpp"
#include "light/gps.hpp"
#include "light/imu.hpp"
#include "light/motor_group.hpp"
#include "light/rotation.hpp"

Go to the source code of this file.

Classes
struct	Pose
	Field-frame 2D pose. More...
class	TrackingWheel
	Single tracking wheel — works with either a Rotation sensor (preferred) or a powered MotorGroup. More...
struct	DistanceSensorSpec
	Distance sensor mount for LightCast. More...
struct	OdomSensors
	Bundle of all sensors used by the LightLib pose estimator. More...

Namespaces
namespace	light
	Initialize once via init(); poll getPose/setPose from any task.

Functions
void	light::reset ()
	Reset all internal pose state to (0, 0, 0).
void	light::init (OdomSensors sensors, MCLConfig cfg={})
	Initialize the estimator.
void	light::stop ()
	Stop the background odometry task.
void	light::moveToPoint (float targetX, float targetY, int timeout, float maxSpeed, bool reversed)
	Drive to a field-relative point (legacy).
Pose	light::getPose (bool radians=false)
void	light::setPose (Pose pose, bool radians=false)
	Overwrite the current pose.
Pose	light::getSpeed (bool radians=false)
Pose	light::getLocalSpeed (bool radians=false)
Pose	light::estimatePose (float time, bool radians=false)
	Linear extrapolation of pose time seconds ahead at current velocity.
void	light::update ()
	Force one update (normally called by the background task).
Pose	light::getPoseRad ()
	Radian-only accessor; trajectory code MUST use this to avoid deg/rad bugs.

Detailed Description

Pose, sensor specs, and the global odometry / pose-estimation API.

Fuses wheel-tracking deltas + IMU(s) + optional GPS + optional LightCast.

Definition in file odometry.hpp.