lightcast.hpp

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#pragma once
 
#include "LightLib/drive/mcl_config.hpp"
#include "LightLib/drive/odometry.hpp"
 
namespace light::lightcast {
 
enum class Face { FRONT,
                  BACK,
                  LEFT,
                  RIGHT };
 
DistanceSensorSpec fromFace(pros::Distance* s, Face face, float along, float depth);
 
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