Front section width (full shell width)

Generate the motor assembly Orientation: - Wheel in XZ plane (rolls along Y) - Axle along Y axis - Motor cable side at -Y, mount side at +Y

Generate battery geometry Orientation: Long axis along Y, flat side down

Generate a simplified 2D profile for laser cutting (DXF export) This creates just the vertical plate as a flat profile.

Generate simplified geometry (just a cylinder)

Generate simplified model (for fast preview)

Generate the mounting tabs as separate flat parts

Get cost at world position.

Get the GPS origin coordinates.

Check if an active (uncleared) alert already exists with the same source+source_id+message

Convert heading angle to quaternion (rotation around Z axis).

* Hermite spline interpolation between two poses. * * Uses cubic Hermite spline with position and velocity at each endpoint * for smooth C1-continu

Integrate pre-classified ground and obstacle points into the grid. Ground points produce free-space rays, obstacle points produce hits with Z height

Get the length

Create a CAN error frame (ID = BASE_ID + 0x07)

Find minimum distance from (x, y) to any point on the path.

Normalize all values to approximately [-1, 1].

Notify all WebSocket clients of an update

Notify the controller that the collision monitor has stopped/released the robot. Called from the main loop after the CollisionMonitor filters the twi

Parse GGA sentence (Global Positioning System Fix Data). Format: $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh

Plan a path from start pose to goal position. Returns a path of waypoints from start to goal, avoiding obstacles.

Process a received packet. Returns a complete frame if one is ready.

Distance from origin.

Cast a ray against this obstacle, returning distance if hit.

Rear section width (full shell width)

Recompute the combined costmap with inflation.

Register with the discovery service.

Reset pose (e.g. after graph optimization) preserving covariance.

Compute L2 distance between ring keys (fast pre-filter).

Create a rounded rectangle cross-section slice. When corner_radius >= min(w,h)/2, the shape approaches a circle/stadium. When corner_radius = 0, it's

Save a map manifest to disk

Serialize a path snapshot to binary.

Serialize an MPPI trajectory to binary. # Binary format ```text Header (8 bytes): [0] u8 MSG_MPPI_TRAJECTORY (0x26) [1] u8 reserved

Update state byte in the identity packet.

Side section length (full shell length)

Stable identity key for tracking across hot-plug cycles. Returns a unique string per physical camera: - USB: device path (e.g. `/dev/video0`) - CSI:

Encode health flags as a u16 bitmask.

Flatten to a single vector for neural network input.

Union-find: find root with path compression.

* Recover principal/cross axis lengths from axis-aligned bbox and PCA rotation. * * The axis-aligned bbox of a rotated rectangle is: * bboxW = L·

Update physics based on wheel RPMs (without world collision). wheel_rpms: [FL, FR, RL, RR] in mechanical RPM

Update the LED state (call at ~30fps)

Update base_link pose in odom frame (from wheel odometry).

Add single-sided dropout/torque-arm mounts at each corner Mount geometry: - Thick plate with M16 slot (dropout) capturing the axle flats - Plate hang

Bounding box dimensions [x, y, z] in mm (for build volume check)

Build a VESC SetDuty CAN frame. VESC extended frame: ID = (command_id << 8) | vesc_id SetDuty = command 0x00, payload = duty * 100000 as i32 big-endi

Build a KD-tree from 3D points. Points are stored as f32 for memory efficiency; the implicit index (position in the input slice) is used as the item

Build a parameter-query payload for the given keys. Format: key_num(2) + rsvd(2) + [key(2)]...

Build an RPM command frame (without sending).

Build a SetState packet from rover Mode.

Build a ToolCommand packet from teleop ToolCommand values.

Get the center point of the bounding box.

Check if a splat job has completed

Get current timestamp in ISO 8601 format (simplified, no external deps).

Clear the obstacle layer.

Close the environment and clean up resources.

Find the closest point on a line segment to a given point. Returns (closest_point, distance).

Compute cross-track error (distance from robot to path).

Compute a scan context descriptor from a point cloud. Uses voxel-downsampled points for consistency across scans (matches the GICP voxel resolution).

Compute Jacobian of residual w.r.t. pose parameters. residual = ref_pt - (R * cur_pt + t) J = d(residual)/d[tx, ty, tz, roll, pitch, yaw] d/dt = -I (

Compute discounted returns.

Correction step: incorporate a measurement.

Create an owned snapshot of the current costmap for streaming.