mcl_laser.c File Reference

#include "mcl_laser.h"
#include <stdlib.h>
#include <math.h>
#include "mcl_math.h"

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Functions
void	mcl_laser_done (struct mcl_model *mcl)
struct mcl_model *	mcl_laser_init (struct mcl_laser *l, unsigned count)
double	mcl_beacon_angle (const struct mcl_laser_state *part, unsigned char color)
void	mcl_pos2ang (const struct mcl_laser_state *part, mcl_thetas theta, unsigned char cnt, unsigned char color)
	Convert the position to angles between robot's head and reflectors (angles sense is counter-clockwise).

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Function Documentation

double mcl_beacon_angle	(	const struct mcl_laser_state *	part,
		unsigned char	color
	)

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void mcl_laser_done

(

struct mcl_model *

mcl

)

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struct mcl_model* mcl_laser_init	(	struct mcl_laser *	l,
		unsigned	count
	)			[read]

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void mcl_pos2ang	(	const struct mcl_laser_state *	part,
		mcl_thetas	theta,
		unsigned char	cnt,
		unsigned char	color
	)

Convert the position to angles between robot's head and reflectors (angles sense is counter-clockwise).

Parameters:

	part	MCL particle
	theta	Returned angles to reflectors
	color	beacon color
	cnt	beacon count

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