libstp::localization::Localization Class Reference

Thread-safe particle-filter localization service. More...

#include <localization.hpp>

Public Member Functions
	Localization (std::shared_ptr< libstp::odometry::IOdometry > odometry, LocalizationConfig config={}, std::optional< libstp::map::WorldMap > tableMap=std::nullopt)
	~Localization ()
	Localization (const Localization &)=delete
Localization &	operator= (const Localization &)=delete
	Localization (Localization &&)=delete
Localization &	operator= (Localization &&)=delete
libstp::foundation::Pose	getPose () const
	Snapshot of the current world pose. Thread-safe.
void	observe (const Observation &obs)
	Apply a sigma-weighted pose observation. Infinite-sigma axes are ignored.
void	start ()
	Idempotent. The constructor already calls this; tests may re-call.
void	stop ()
	Idempotent. Joins the worker thread. The destructor calls this.
bool	enableRecording (RecorderConfig cfg)

Detailed Description

Thread-safe particle-filter localization service.

Owns a background thread that polls the supplied IOdometry at a fixed rate, propagates a particle cloud from the per-tick odometry delta, and exposes the estimated world pose via getPose(). observe() lets resync sites inject sigma-weighted absolute pose observations.

This Phase-6 increment keeps the existing IO contract but replaces the pass-through state with a low-variance-resampled particle filter. Explicit pose observations become functional; sensor/map likelihoods can plug into the same particle representation later.

Lifecycle:

• The constructor calls start(); the destructor calls stop() and joins.
• start()/stop() are idempotent and may be called explicitly (tests).

Definition at line 76 of file localization.hpp.

Constructor & Destructor Documentation

Localization() [1/3]

libstp::localization::Localization::Localization	(	std::shared_ptr< libstp::odometry::IOdometry >	odometry,
		LocalizationConfig	config = {},
		std::optional< libstp::map::WorldMap >	tableMap = std::nullopt )

~Localization()

libstp::localization::Localization::~Localization

(

)

Localization() [2/3]

libstp::localization::Localization::Localization ( const Localization & )

delete

Localization() [3/3]

libstp::localization::Localization::Localization ( Localization && )

delete

Member Function Documentation

enableRecording()

bool libstp::localization::Localization::enableRecording

(

RecorderConfig

cfg

)

Enable post-run JSONL recording. Constructs the recorder and starts its writer thread; opening failures leave Localization fully functional but cause this method to return false. Idempotent: a second call replaces the previous recorder. Thread-safe.

getPose()

libstp::foundation::Pose libstp::localization::Localization::getPose ( ) const

nodiscard

Snapshot of the current world pose. Thread-safe.

observe()

void libstp::localization::Localization::observe

(

const Observation &

obs

)

Apply a sigma-weighted pose observation. Infinite-sigma axes are ignored.

operator=() [1/2]

Localization & libstp::localization::Localization::operator= ( const Localization & )

delete

operator=() [2/2]

Localization & libstp::localization::Localization::operator= ( Localization && )

delete

start()

void libstp::localization::Localization::start

(

)

Idempotent. The constructor already calls this; tests may re-call.

stop()

void libstp::localization::Localization::stop

(

)

Idempotent. Joins the worker thread. The destructor calls this.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-localization/include/localization/localization.hpp