[gabrielfrasantos]

Implements roadmap item E4 from roadmap/localization/MonteCarloLocalization, on top of upstream filters::ParticleFilter (NT70, embedded-pro/numerical-toolbox-cpp#369).

Commit	Change
33f33af	Bump numerical-toolbox for ParticleFilter (NT70), ROADMAP NT70 row
c36baa4	E4 MonteCarloLocalization: header, coverage .cpp, tests, CMake, doc
b61ac1e	Pin numerical-toolbox to the NT70 merge commit bf5cc90

What

robotics/localization/MonteCarloLocalization.hpp:

• MclParameters<T>: the motion noise, hitSigma, hitWeight, randomWeight, maxRange, resampleFraction and beamStride.
• LikelihoodField<T, W, H>: distance to the nearest occupied cell of an OccupancyGridMap (E2), computed by a two-pass 8-neighbour chamfer transform with weights (1, √2). Distances are scaled by the resolution and capped at maxDistance. Distance(world) returns the cap outside the map.
• MonteCarloLocalization<T, N, W, H>: wraps filters::ParticleFilter<T, 3, N>.
  • Initialization: Initialize(draw) and InitializeAround(pose, sigma, normal).
  • Predict(increment, normal): noisy odometry, using F1's IncrementDeviation with one draw per particle and axis.
  • Update(scan, uniform):
    • Scores each particle with the likelihood field, a z_rand / r_max floor and the beam stride.
    • Skips beams at or beyond the maximum range.
    • Then calls ResampleIfNeeded(resampleFraction, uniform()).
  • Estimate(): the weighted mean, with the heading as a circular mean.
  • Particles().

All randomness comes from caller-supplied samplers, so a seeded run is reproducible. There is no heap and no recursion.

Deviations from the spec

• Predict tests: they seed the particles with InitializeAround(pose, sigma, Zero), which places every particle exactly at (1, 2, 0.3).
• Lattice convention: the 27 update candidates are truth ⊕ (dx, dy, dθ), composed through SE2Transform.
• Coverage instantiation: the coverage .cpp also instantiates the test sizes: LikelihoodField<40, 40>, and MonteCarloLocalization with N = 4 and N = 27. It also instantiates the member templates for the test callables (function references, with matching extern template declarations). The test translation unit is not instrumented.
• Roadmap: E4 was the last localization item, so that index section is removed. ROADMAP.md now says "All localization items have shipped", and the canonical example in roadmap/README.md now points to trajectory/TimeOptimalPathParameterization (M27), the last remaining spec.

Verification

• host-single-Debug and coverage builds on pin bf5cc90: ctest 7/7.
• 100% merged line coverage on MonteCarloLocalization.hpp (102/102).
• Clang -Wall -Wextra -Werror -Wshadow with -DROBOTICS_TOOLBOX_COVERAGE_BUILD.
• clang-format --dry-run --Werror and the forbidden-pattern check.
• scripts/validate-docs.py passes, and no doc line exceeds 400 characters.
• Not run locally: MSVC, cppcheck, SonarCloud.

---

Generated by Claude Code

[github-actions]

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.41s
✅ CPP	clang-format	207	0	0		0	1.49s
✅ CPP	cppcheck	207		0		0	2.83s
✅ DOCKERFILE	hadolint	1		0		0	0.27s
✅ JSON	jsonlint	8		0		0	0.08s
✅ JSON	prettier	8	2	0		0	0.25s
✅ MARKDOWN	markdownlint	86	0	0		0	1.59s
✅ MARKDOWN	markdown-table-formatter	86	0	0		0	0.17s
⚠️ SPELL	lychee	133		2		0	1.96s
✅ YAML	prettier	12	0	0		0	0.37s
✅ YAML	yamllint	12		0		0	0.4s

Detailed Issues

⚠️ SPELL / lychee - 2 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........368
🔗 Unique.........129
✅ Successful.....356
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........2
⛔ Unsupported......2

Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 37:21) | Rejected status code: 403 Forbidden

Errors in doc/kinematics/InverseKinematics.md
[ERROR] https://mathweb.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf (at 125:169) | SSL certificate not trusted. Use --insecure if site is trusted

Hint: Followed 5 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
Hint: You can configure accepted/rejected response codes with `-a` or `--accept`

Notices

⚠️ Your configuration references items that have been removed from MegaLinter and are ignored: REPOSITORY_GITLEAKS, REPOSITORY_KICS. See Removed linters to find their replacements.

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

• Documentation: Custom Flavors
• Command: npx mega-linter-runner@10.1.0 --custom-flavor-setup --custom-flavor-linters ACTION_ACTIONLINT,CPP_CPPCHECK,CPP_CLANG_FORMAT,DOCKERFILE_HADOLINT,JSON_JSONLINT,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,SPELL_LYCHEE,YAML_PRETTIER,YAML_YAMLLINT

Show us your support by starring ⭐ the repository

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
100.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud