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

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

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

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

Pose	best ()

float	convergence ()

bool	converged (float threshold_in=3.0f)

int	sensorCount ()

std::vector< DistanceSensorSpec >	sensors ()

uint32_t	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	config ()

void	setConfig (const MCLConfig &cfg)

Function Documentation

◆ best()

Pose light::lightcast::best ( )

Returns: The current best-estimate pose (highest-weight particle / mean).

◆ config()

MCLConfig light::lightcast::config ( )

◆ converged()

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

Returns: true if convergence() < threshold_in.

◆ convergence()

float light::lightcast::convergence ( )

Returns: The standard deviation of the particle cloud, inches.

◆ degenerateTickCount()

uint32_t light::lightcast::degenerateTickCount ( )

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

Increments without printing — caller can poll on its own schedule for diagnostics.

◆ init()

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

Initialize the particle filter.

Parameters

initial	starting pose
sensors	list of distance-sensor specs
cfg	tuning constants

◆ predict()

void light::lightcast::predict	(	float	dLocalX,
		float	dLocalY,
		float	dTheta
	)

Propagate particles by a local-frame arc delta.

Cheap, no ray-casts.

◆ sensorCount()

int light::lightcast::sensorCount ( )

Returns: Number of distance sensors registered.

◆ sensors()

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

Returns: The registered sensor specs.

◆ setConfig()

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

◆ startTask()

void light::lightcast::startTask ( )

Spawn the 10 Hz LightCast update task.

Call after init().

◆ update()

void light::lightcast::update ( )

Measurement update: read sensors, weight particles, resample.

Functions