lightcast_8hpp_source.html

#pragma once


#include "LightLib/drive/mcl_config.hpp"

#include "LightLib/drive/odometry.hpp"


namespace light::lightcast {


void init(const Pose& initial, const std::vector<DistanceSensorSpec>& sensors, MCLConfig cfg = {});


void predict(float dLocalX, float dLocalY, float dTheta);


void update();


void startTask();


Pose best();


float convergence();


bool converged(float threshold_in = 3.0f);


int sensorCount();


std::vector<DistanceSensorSpec> sensors();


uint32_t degenerateTickCount();


MCLConfig config();

void setConfig(const MCLConfig& cfg);

}  // namespace light::lightcast


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

mcl_config.hpp
Runtime tuning for LightCast (particle filter) and the EKF.

light::lightcast
Definition lightcast.hpp:24

light::lightcast::startTask
void startTask()
Spawn the 10 Hz LightCast update task.

light::lightcast::convergence
float convergence()

light::lightcast::sensorCount
int sensorCount()

light::lightcast::predict
void predict(float dLocalX, float dLocalY, float dTheta)
Propagate particles by a local-frame arc delta.

light::lightcast::update
void update()
Measurement update: read sensors, weight particles, resample.

light::lightcast::sensors
std::vector< DistanceSensorSpec > sensors()

light::lightcast::init
void init(const Pose &initial, const std::vector< DistanceSensorSpec > &sensors, MCLConfig cfg={})
Initialize the particle filter.

light::lightcast::degenerateTickCount
uint32_t degenerateTickCount()
Number of ticks where the filter saw all-degenerate weights and reset to uniform (motion-model only).

light::lightcast::setConfig
void setConfig(const MCLConfig &cfg)

light::lightcast::converged
bool converged(float threshold_in=3.0f)

light::lightcast::best
Pose best()

light::lightcast::config
MCLConfig config()

MCLConfig
Tuning knobs for the LightCast particle filter and the EKF.
Definition mcl_config.hpp:20

Pose
Field-frame 2D pose.
Definition odometry.hpp:20