Per-sensor mount configuration for LightCast's ray-cast sensor model. More...

#include <odometry.hpp>

Public Attributes
pros::Distance *	sensor
	Backing PROS distance sensor (not owned).

float	offsetX
	Mount X in robot frame, inches.

float	offsetY
	Mount Y in robot frame, inches.

float	angleRad
	Ray direction in robot frame, radians.

Detailed Description

Per-sensor mount configuration for LightCast's ray-cast sensor model.

offsetX / offsetY is the sensor body's position in robot frame (inches; center at origin). angleRad is the ray direction in robot frame: 0 = forward (+Y), CCW positive.

Defined in light (not light::lightcast) to keep odometry.hpp independent of lightcast.hpp.

Definition at line 108 of file odometry.hpp.

Member Data Documentation

◆ angleRad

float DistanceSensorSpec::angleRad

Ray direction in robot frame, radians.

Definition at line 112 of file odometry.hpp.

◆ offsetX

float DistanceSensorSpec::offsetX

Mount X in robot frame, inches.

Definition at line 110 of file odometry.hpp.

◆ offsetY

float DistanceSensorSpec::offsetY

Mount Y in robot frame, inches.

Definition at line 111 of file odometry.hpp.

◆ sensor

pros::Distance* DistanceSensorSpec::sensor

Backing PROS distance sensor (not owned).

Definition at line 109 of file odometry.hpp.

The documentation for this struct was generated from the following file: