MCL.cpp File Reference

#include "globals.h"
#include <cmath>
#include "lemlib/chassis/trackingWheel.hpp"
#include "lemlib/util.hpp"
#include "MCL.h"

Go to the source code of this file.

Namespaces
namespace	MCL

Functions
mt19937	MCL::Random (random_device {}())
vector< Particle >	MCL::Particles (num_particles)
double	MCL::getAvgVelocity (void) noexcept
void	MCL::StartMCL (double x_, double y_, double theta_)
void	MCL::MonteCarlo (void)
vector< Particle >	MCL::Resampled (num_particles)
vector< double >	MCL::CDF (num_particles)

Variables
double	MCL::X = 0
double	MCL::Y = 0
double	MCL::theta = 0
double	MCL::Velo = 0
double	MCL::Deviation
double	MCL::weights_sum
double	MCL::start_theta
vector< MCLDistanceSensor >	MCL::Sensors
Field	MCL::field_
vector< MCLDistanceSensor >	MCL::activeSensors
pros::Mutex	MCL::particle_mutex
const double	MCL::LOOP_DELAY_MS = 20.0
const double	MCL::LOOP_DT_SEC = LOOP_DELAY_MS / 1000.0
const float	MCL::wheel_circumference = (float)lemlib::Omniwheel::NEW_325 * M_PI
const float	MCL::gear_ratio = 4.0f / 3.0f
const float	MCL::rpm_to_ips_factor = (wheel_circumference / gear_ratio) / 60.0f