MCL.cpp File Reference

#include "MCL.h"
#include "globals.h"
#include <algorithm>
#include <cmath>
#include <vector>

Go to the source code of this file.

Classes
struct	MCL::OptSegment
struct	MCL::AABB
struct	MCL::ValidMeas
struct	MCL::RayHit

Namespaces
namespace	MCL

Functions
std::mt19937	MCL::Random (std::random_device{}())
std::vector< Particle >	MCL::particles (NUM_PARTICLES)
std::vector< Particle >	MCL::resample_buffer (NUM_PARTICLES)
double	MCL::degToRad (double deg)
double	MCL::radToDeg (double rad)
double	MCL::wrapAngleDeg (double angle)
double	MCL::gaussian_sample (double mean, double stddev)
RayHit	MCL::getRaycastDistance (double sensX, double sensY, double dx, double dy)
void	MCL::StartMCL (double x, double y)
void	MCL::MonteCarlo ()

Variables
double	MCL::PARAMS_TRANS_BASE = 0.2
double	MCL::PARAMS_TRANS_GAIN = 0.02
double	MCL::PARAMS_SENSOR_SIGMA = 2
double	MCL::PARAMS_REL_SIGMA = 5.0
double	MCL::global_X = 0
double	MCL::global_Y = 0
double	MCL::global_Theta = 0
double	MCL::global_Confidence = 0
double	MCL::map_min_x = -72.0
double	MCL::map_max_x = 72.0
double	MCL::map_min_y = -72.0
double	MCL::map_max_y = 72.0
pros::Mutex	MCL::particle_mutex
static const Segment	MCL::MAP_SEGMENTS []
static const int	MCL::MAP_SEGMENT_COUNT = sizeof(MAP_SEGMENTS) / sizeof(Segment)
OptSegment	MCL::opt_segments [MAP_SEGMENT_COUNT]
AABB	MCL::map_aabbs [MAP_SEGMENT_COUNT]
std::vector< MCLDistanceSensor >	MCL::Sensors