lightcast.hpp File Reference

LightCast — ray-cast Monte-Carlo localization. More...

#include "LightLib/drive/mcl_config.hpp"
#include "LightLib/drive/odometry.hpp"

Go to the source code of this file.

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

Enumerations
enum class	light::lightcast::Face { light::lightcast::FRONT , light::lightcast::BACK , light::lightcast::LEFT , light::lightcast::RIGHT }
	Robot-frame face that a distance sensor is mounted on. More...

Functions
DistanceSensorSpec	light::lightcast::fromFace (pros::Distance *s, Face face, float along, float depth)
	Convenience builder — derives angle from face, offsets from (along, depth).
void	light::lightcast::init (const Pose &initial, const std::vector< DistanceSensorSpec > &sensors, MCLConfig cfg={})
	Initialize the particle filter.
void	light::lightcast::predict (float dLocalX, float dLocalY, float dTheta)
	Propagate particles by a local-frame arc delta.
void	light::lightcast::update ()
	Measurement update: read sensors, weight particles, resample.
void	light::lightcast::startTask ()
	Spawn the 10 Hz LightCast update task.
Pose	light::lightcast::best ()
float	light::lightcast::convergence ()
bool	light::lightcast::converged (float threshold_in=3.0f)
int	light::lightcast::sensorCount ()
std::vector< DistanceSensorSpec >	light::lightcast::sensors ()
uint32_t	light::lightcast::degenerateTickCount ()
	Number of ticks where the filter saw all-degenerate weights and reset to uniform (motion-model only).
Live tuning
Mirrors the EKF API so the autotune routine and on-brain tuner can push noise constants without reinitializing the filter.
MCLConfig	light::lightcast::config ()
void	light::lightcast::setConfig (const MCLConfig &cfg)

Detailed Description

LightCast — ray-cast Monte-Carlo localization.

A particle filter driven by distance-sensor ray-casts against the field map. Runs at 10 Hz alongside the 100 Hz EKF. Purpose: give the hybrid fusion a second opinion that the EKF can snap to when the EKF's own covariance blows up (e.g. after a hard wall ram).

Update cadence

• predict() runs inline from the 100 Hz odom tick to stay synchronized with wheel arc deltas. Cheap (no ray-casts).
• update() runs from the LightCast task (lightcast.cpp) at 10 Hz — reads distance sensors, computes per-particle likelihoods via field::raycast(), and resamples.

Definition in file lightcast.hpp.