Breakdown ◉ Enumerate asset files ◉ Read localization ◉ Load textures, models and audio ◉ Load game rules & databases 14Start Enumeration Read Localization Load Audio Load 2D Assets Load 3D Assets 3s Wait: 5.1s CPU: 3.2s Wait: 6.8s 2.7 (Old) Startup Profile 15Start Enumeration Read Localization Load Audio Load 2D Assets Load 3D Assets Load Game Databases CPU: 0.5s Wait: 0.6s CPU:

Resample Duplicate particles with high weights Eliminate particles with low weights 6.1MONTE CARLO LOCALIZATION (MCL) STATE - Position and orientation of the robot TRANSITION - Control commands, odometry size()) | to(); /* Resample algorithm in AMCL (Adaptive Monte-Carlo Localization) */ particles = particles | sample(gen) | take_until_kld() | size()) | to(); /* Resample algorithm in AMCL (Adaptive Monte-Carlo Localization) */ particles = particles | sample(gen) | take_until_kld() |

Diagnostics General Utilities Containers Iterators Algorithms Strings Ranges Numerics Time Localization Input/Output Regular Expressions Atomic Operations Thread Support The C++20 Standard LibraryCppCon Diagnostics Original Utilities Containers Iterators Algorithms Strings Ranges Numerics Time Localization Input/Output Regular Expressions Atomic Operations Thread Support The C++20 Standard Library

Humanoid robots: locomotion algorithms, hardware design, simulation ○ Wheeled robots: navigation, localization, 3D perception ○ Robotic arms: control, motion planning ○ Tooling: logging, data visualization

Install/uninstall Integration Inter-Systems Interface Internationalization Keyword-driven Load Localization Loop Manual Scripted Manual-Support Model-Based Modularity-driven Mutation Negative Non-functional

ODBC Database Classes Application to MFC DAO Classes 56. Installation of MFC Components 57. Localization of MFC Components 58. MFC Module State Implementation 59. Using MFC MBCS/Unicode Convertion MFC as Part of a DLL TN033: DLL Version of MFC TN056: Installation of MFC Components TN057: Localization of MFC Components ■MFC OLE TN008: MFC OLE Support TN018: Migrating OLE Applications from MFC