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
	Per-sensor mount configuration for LightCast's ray-cast sensor model. More...
struct	OdomSensors
	Bundle of all sensors used by the LightLib pose estimator. More...

Namespaces
namespace	light
	Public LightLib odometry / pose-estimation API.

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 the chassis to a field-relative point (legacy entry point).
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)
	Linearly extrapolate the pose time seconds into the future, assuming current velocity holds.
void	light::update ()
	Force one update step (normally called by the background task).
Pose	light::getPoseRad ()
	Radian-only pose accessor.

Detailed Description

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

The fused estimator combines wheel-tracking deltas, one or two IMUs, an optional GPS, and an optional set of distance sensors (LightCast). The free functions in namespace light are the public entry points.

Definition in file odometry.hpp.