Reset the rate limiter (call on e-stop or mode change)

Build command header.

Build a command with header for testing.

Get the currently loaded policy.

Decay all cells toward zero (unknown) by `step`. Call once per scan integration to fade stale observations. Resets height envelope when a cell's log-o

Compute inverse transform.

Build extended CAN ID for a command.

Epoch seconds when the current mode was entered.

Parse a coordinate from NMEA format to decimal degrees. NMEA format: ddmm.mmmm (latitude) or dddmm.mmmm (longitude)

Run the dashboard server.

Scale a color by brightness (0-255).

Transform a world-frame displacement into robot-frame coordinates. Given a displacement (dx, dy) in the world frame and the robot's heading t

Update with new tachometer readings from VESCs. Returns the displacement in robot frame: (dx, dy, dtheta) - dx: forward displacement (meters) - dy: l

GPS position update with quality-adaptive noise.

Expand the height envelope for a cell.

Update with new odometry pose (high frequency, ~100Hz). Call this every control loop iteration.

Update with an explicit time delta (for testing or external time sources).

* @param {any} reason * @returns {Promise<any>}

Build a command frame for a tool.

Build a properly formatted SDK2 command frame. Frame layout (24-byte header + payload): [0] SOF = 0xAA [1] Version = 0x00 [2..4] Length (u16

Compose transforms: self * other. If self is A->B and other is B->C, result is A->C.

Compute motor outputs from a target twist Applies rate limiting for safety, mixes to wheel velocities, and converts to duty cycles with optional boos

Integrate a single gyro-Z sample. `gyro_z_body` should already be compensated for the IMU mounting pitch (i.e. `-gyro_x * sin(pitch) + gyro_z * cos(p

Match current scan to reference scan. Returns the transform that best aligns `current` to `reference`, starting from `initial_guess` (2D, lifted to 3

Serialize downsampled points to binary format for streaming. # Binary format (32-byte header + 8 bytes/point): ```text [0] u8 MSG_POINT_CLOUD

Build and serialize to JSON string.

Update the filter with new IMU measurements. # Arguments `gyro` - Gyroscope readings [x, y, z] in rad/s (body frame) `accel` - Accelerometer readings

Get the current attitude estimate without updating.

Distance from top of bracket to axle center Axle positioned near bottom of vertical arm, leaving room for gusset at top and wheel clearance below

Build a VESC UART packet: `0x02 | len | payload | crc16_hi | crc16_lo | 0x03` Uses short format (1-byte length) for payloads ≤ 255 bytes.

Build a parameter-set payload from key-value entries. Format: key_num(2) + rsvd(2) + [key(2) + length(2) + value(N)]...

Compute optimal control given current state and reference path. This is the main entry point, called every control cycle. Target: < 5ms on Jetson Ori

Get the motor configuration

Distance to another waypoint.

Get all entries (for serialization).

Generate simplified BVR0 assembly

Expose per-cell height envelope for clustering.

Check if this connection is the operator.

Get keyframe count.

Viewpoint-dependent room scan: walls at x=±5, y=±5, with 3D structure.

Normalize angle to [-PI, PI].

Normalize angle to [-PI, PI).

Record a send operation with latency in microseconds.

Render the UI to a display

Serialize to 24 bytes (used by MCU firmware).

Calculate shell outer height

Tick the simulation (call at ~100Hz).

Extract a Rerun Scalar column as a flat numpy float64 array. Rerun stores Scalar components as Arrow list<double> — each row is eithe

Compute reward for a step.

Consume the accumulated pre-integrated delta, resetting for the next interval. Returns `None` if no samples were integrated or pre-integration is dis

Create a new alert and return it

Get the current task ID (if any)

Compute the column-shift cosine distance to another descriptor. Returns `(distance, best_shift)` where distance is in [0, 2] (0 = identical, 2 = oppo

Extract a scalar value from a RecordBatch. Handles Rerun's Scalar component: List(Float64) or List(Float32)

Find the top-K candidate keyframe IDs for a query descriptor. Uses ring-key L2 distance as a fast pre-filter, then full column-shift cosine distance

Get occupancy probability at grid cell (0.0 = free, 1.0 = occupied).

Convert GPS coordinates to local X/Y (meters from origin). Uses equirectangular projection (accurate for small distances).

Run 2D ICP: find the rigid transform that aligns `source` to `reference`. Returns the transform that maps source points to reference points, i.e., th

Check if a specific position is in collision.

Check if database is empty.

Get all keyframes.

Generate a distinctive point cloud (L-shape + scattered objects) that avoids ICP's aperture problem on straight edges.

Set training metrics.

Get a reference to the policy name.