light::field Namespace Reference

Functions
float	raycast (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)
	Cast a ray from (x, y) in direction angleRad (world frame).
Per-distance-sensor map hooks
Defined by user code in src/maps/<face>_map.cpp and linked into the cold package via firmware/libmaps.a. Each face's stub default-delegates to raycast() (the perimeter box) so unfilled stubs match today's behavior. stick one of these into DistanceSensorSpec.raycastFn (over in odometry.hpp) if a sensor needs a face-specifc map. otherwise leave it null and the particle filter just falls back to the generic perimiter raycast(). sensor_aux always uses plain raycast() since its wall-snap assumes the hit lands on the field perimeter.
float	raycast_front (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)
float	raycast_back (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)
float	raycast_left (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)
float	raycast_right (float x, float y, float angleRad, float max_range=FIELD_SIZE_IN)

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

Function Documentation

raycast()

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).

Parameters

x	ray origin X, inches
y	ray origin Y, inches
angleRad	ray direction in world frame, radians
max_range	clamp the returned distance to this many inches

Returns

distance to nearest obstacle along the ray, never negative. A ray that starts outside the field returns 0.

raycast_back()

float light::field::raycast_back	(	float	x,
		float	y,
		float	angleRad,
		float	max_range = FIELD_SIZE_IN
	)

raycast_front()

float light::field::raycast_front	(	float	x,
		float	y,
		float	angleRad,
		float	max_range = FIELD_SIZE_IN
	)

raycast_left()

float light::field::raycast_left	(	float	x,
		float	y,
		float	angleRad,
		float	max_range = FIELD_SIZE_IN
	)

raycast_right()

float light::field::raycast_right	(	float	x,
		float	y,
		float	angleRad,
		float	max_range = FIELD_SIZE_IN
	)

Variable Documentation

FIELD_HALF

constexpr float light::field::FIELD_HALF = FIELD_SIZE_IN / 2.0f

constexpr

Half-side, inches.

Definition at line 21 of file field_map.hpp.

FIELD_SIZE_IN

constexpr float light::field::FIELD_SIZE_IN = 144.0f

constexpr

Field side length, inches (12 ft).

Definition at line 20 of file field_map.hpp.