Module monte_carlo_localization 

Adaptive Monte Carlo Localization (MCL) with KLD-sampling.

This module implements a particle filter variant where the particle count is adapted online using a KLD bound.

Structs

MonteCarloLocalizationConfig

Configuration for adaptive MCL.

MonteCarloLocalizer

Adaptive Monte Carlo localizer.

Particle

Single particle.

Type Aliases

MCLControl

Control input (velocity, yaw rate).

MCLMeasurement

Landmark observation (distance, landmark_x, landmark_y).

MCLState

State representation for MCL (x, y, yaw, velocity).