field_map.hpp File Reference

Fixed-map ray caster used by LightCast's sensor model. More...

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

Functions
float	light::field::raycast (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)
	Cast a ray from (x, y) in direction angleRad (world frame).

Variables
constexpr float	light::field::FIELD_SIZE_IN = 144.0f
	Field side length, inches (12 ft).
constexpr float	light::field::FIELD_HALF = FIELD_SIZE_IN / 2.0f
	Half-side, inches.

Detailed Description

Fixed-map ray caster used by LightCast's sensor model.

The map is the VRC field perimeter (12 ft × 12 ft axis-aligned box) plus optional static segments. Moving game elements are intentionally NOT mapped: LightCast's outlier rejection handles a ball reading shorter than the wall.

Coordinate frame

Origin at field center, +x right, +y forward, theta CCW from +y (radians). Units are inches.

Definition in file field_map.hpp.