drive Directory Reference

Files
	autotune.hpp
	custom_move.hpp
	Custom movement primitives using LightLib's Drive and dual distance sensors.
	drive.hpp
	Tank chassis class — the main user-facing API for autonomous and opcontrol drive motions.
	drive_utils.hpp
	Header-only drive helpers built on top of light::Drive:
	ekf.hpp
	6-state Extended Kalman Filter driving the fused pose output.
	field_map.hpp
	Fixed-map ray caster used by LightCast's sensor model.
	holo_drive.hpp
	Holonomic and H-drive chassis classes (alternatives to the tank Drive).
	lightcast.hpp
	LightCast — ray-cast Monte-Carlo localization.
	mcl_config.hpp
	Runtime tuning for LightCast (particle filter) and the EKF.
	odometry.hpp
	Pose, sensor specs, and the global odometry / pose-estimation API.
	paths.hpp
	Named-path registry.
	pure_pursuit.hpp
	Pure Pursuit follower configuration.
	ramsete.hpp
	RAMSETE / Pure Pursuit trajectory follower public API.
	sensor_aux.hpp
	Override-on-confidence accuracy boosters for partial sensor configs.
	spline.hpp
	Quintic Hermite spline over 2-D waypoints.
	tracking_wheel.hpp
	Wrapper around an ADI optical encoder or a smart pros::Rotation sensor that exposes the wheel's distance traveled in inches.
	trajectory.hpp
	Time-parameterized trajectory over a Spline.