Tuning knobs for the LightCast particle filter and the EKF. More...

#include <mcl_config.hpp>

Public Attributes
Particle filter
int	numParticles = 200
	Particle count — reduce if CPU load is high.

float	sensorSigmaIn = 2.5f
	Distance-sensor noise std dev, inches.

float	outlierGapIn = 6.0f
	Readings this much shorter than expected → neutral.

float	maxRangeIn = light::field::FIELD_SIZE_IN
	Max ray-cast distance, inches.

float	initPosSigmaIn = 1.0f
	Initial particle x/y spread around starting pose, inches.

float	initHeadingSigmaRad = 0.05f
	Initial particle heading spread, radians (~3°).

EKF process noise
Larger values = trust sensors more over the motion model.
float	ekfQPos = 0.02f
	Position process noise, in² per second.

float	ekfQTheta = 0.0005f
	Heading process noise, rad² per second.

float	ekfQVel = 1.0f
	Velocity process noise.

EKF / MCL fusion snap thresholds
float	snapDiverge = 9.0f
	EKF cov trace (in²) above which MCL may snap.

float	snapConverge = 3.0f
	MCL std dev (in) below which it's trusted.

Detailed Description

Tuning knobs for the LightCast particle filter and the EKF.

All fields are public and have defaults — override only what you need.

Definition at line 20 of file mcl_config.hpp.

Member Data Documentation

◆ ekfQPos

float MCLConfig::ekfQPos = 0.02f

Position process noise, in² per second.

Definition at line 38 of file mcl_config.hpp.

◆ ekfQTheta

float MCLConfig::ekfQTheta = 0.0005f

Heading process noise, rad² per second.

Definition at line 39 of file mcl_config.hpp.

◆ ekfQVel

float MCLConfig::ekfQVel = 1.0f

Velocity process noise.

Definition at line 40 of file mcl_config.hpp.

◆ initHeadingSigmaRad

float MCLConfig::initHeadingSigmaRad = 0.05f

Initial particle heading spread, radians (~3°).

Definition at line 30 of file mcl_config.hpp.

◆ initPosSigmaIn

float MCLConfig::initPosSigmaIn = 1.0f

Initial particle x/y spread around starting pose, inches.

Definition at line 29 of file mcl_config.hpp.

◆ maxRangeIn

float MCLConfig::maxRangeIn = light::field::FIELD_SIZE_IN

Max ray-cast distance, inches.

Definition at line 28 of file mcl_config.hpp.

◆ numParticles

int MCLConfig::numParticles = 200

Particle count — reduce if CPU load is high.

Definition at line 25 of file mcl_config.hpp.

◆ outlierGapIn

float MCLConfig::outlierGapIn = 6.0f

Readings this much shorter than expected → neutral.

Definition at line 27 of file mcl_config.hpp.

◆ sensorSigmaIn

float MCLConfig::sensorSigmaIn = 2.5f

Distance-sensor noise std dev, inches.

Definition at line 26 of file mcl_config.hpp.

◆ snapConverge

float MCLConfig::snapConverge = 3.0f

MCL std dev (in) below which it's trusted.

Definition at line 48 of file mcl_config.hpp.

◆ snapDiverge

float MCLConfig::snapDiverge = 9.0f

EKF cov trace (in²) above which MCL may snap.

Definition at line 47 of file mcl_config.hpp.

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

include/LightLib/drive/mcl_config.hpp

Public Attributes