mcl_laser.h File Reference

#include <mcl.h>
#include <mcl_robot.h>
#include <stdint.h>
#include "mcl_dim.h"

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Classes
struct	mcl_laser_state
struct	mcl_laser_measurement
struct	mcl_laser
Defines
#define	mcl_to_laser(mcl)   (struct mcl_laser*)((mcl)->priv)
#define	MCL_LASER_MAX_MEASURE   10
Typedefs
typedef double	mcl_thetas [BEACON_CNT]
Functions
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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Define Documentation

#define MCL_LASER_MAX_MEASURE   10

#define mcl_to_laser

(

mcl

)

(struct mcl_laser*)((mcl)->priv)

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Typedef Documentation

typedef double mcl_thetas[BEACON_CNT]

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Function Documentation

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

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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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