MCL.cpp File Reference

#include "MCL.h"
#include "globals.h"
#include "pros/rtos.hpp"
#include <algorithm>
#include <cmath>
#include <vector>
#include <cstdio>

Go to the source code of this file.

Classes
struct	MCL::SensorConfig
struct	MCL::XorShift32

Namespaces
namespace	MCL

Functions
float	MCL::degToRad (float d)
float	MCL::wrapAngle (float a)
void	MCL::StartMCL (double x, double y)
void	MCL::MotionUpdate (double dX_global, double dY_global, double dTheta, double robot_theta_deg)
void	MCL::SensorUpdate (const std::vector< float > &measurements, float robot_theta_deg, float current_confidence)
float	MCL::computeESS ()
void	MCL::Resample ()
void	MCL::MonteCarlo ()

Variables
double	MCL::PARAMS_TRANS_BASE = 0.3
double	MCL::PARAMS_TRANS_GAIN = 0.025
double	MCL::global_X = 0
double	MCL::global_Y = 0
double	MCL::global_Theta = 0
double	MCL::global_Confidence = 0
float	MCL::w_slow = 0.0f
float	MCL::w_fast = 0.0f
constexpr float	MCL::ALPHA_SLOW = 0.001f
constexpr float	MCL::ALPHA_FAST = 0.1f
constexpr float	MCL::FIELD_SIZE = 140.42f
constexpr float	MCL::HALF_SIZE = FIELD_SIZE * 0.5f
constexpr float	MCL::FIELD_MIN = -HALF_SIZE
constexpr float	MCL::FIELD_MAX = HALF_SIZE
constexpr float	MCL::MAX_SENSOR_READING = 55.0f
float	MCL::particle_x [NUM_PARTICLES]
float	MCL::particle_y [NUM_PARTICLES]
float	MCL::particle_weights [NUM_PARTICLES]
pros::Mutex	MCL::particle_mutex
const std::vector< SensorConfig >	MCL::SENSOR_CONFIGS
struct MCL::XorShift32	MCL::rng