Get the state covariance matrix.

CRC-16/CCITT-FALSE: poly=0x1021, init=0xFFFF, refin=false, refout=false, xorout=0x0000

CRC-32 (Ethernet/ADCCP): poly=0x04C11DB7, init=0xFFFFFFFF, reflected, xorout=0xFFFFFFFF

Create corner mounting holes for frame attachment

Create a rectangular frame in XY plane at given Z (bottom of rail)

Create frame mounting holes for a tab (holes along Y axis)

Calculate total size of a directory.

Get all edges.

Serialize a CAN frame for TCP wire. Returns: type(0x01) + flags(1) + id(4 LE) + len(1) + data

Encodes a frame into UDP packets.

End the current session. Writes the session metadata.json file for quick lookups.

Ensure we have a command socket ready.

Get current episode statistics.

Convert a relative/inverse depth map to approximate metric depth using known camera mount height as reference. Finds the median depth value in the lo

Export all panels as DXF files for laser cutting New 2-panel design: - shell_big_shell.dxf: L-shaped walls + bottom (4 bends) - shell_top_lid.dxf: Hi

Extract all relevant data from an RRD file.

Extract discrete obstacles from the costmap. Uses connected-component labeling on LETHAL cells to identify obstacle clusters with bounding boxes and

Extract text from a RecordBatch.

* Extrapolate pose forward using velocity.

Fallback segmentation using simple z-threshold when RANSAC fails.

Format a 4-byte version payload as "a.b.c.d".

Forward pass through the policy network, dispatching by architecture. Returns a vector of action values, each in `[-1, 1]` (tanh-bounded). The vector

MLP forward pass through dense layers with tanh activations. Iterates through `self.layers` sequentially. For each layer, computes `y = tanh(W * x +

Generate hub motor geometry Orientation: wheel rotates around X axis, axle points in +X direction

Generate the complete nozzle part

Generate just the base plate (for laser cutting)

Generate flat version for laser cutting (rectangular stock)

Loft from inlet cross-section to outlet cross-section. Uses rounded-rectangle cross-sections that interpolate: - t=0: circle (corner_radius = diamete

Generate simplified geometry

Generate ultra-simplified extrusion (just a box, fastest)

Generate status frames.

Generate observation from current state.

Get SHA256 hash of a remote file via SSH

Get current rover list with online status updated

Get the goal (last waypoint).

Get current goal position.

Convert grid cell to world coordinates (cell center).

Check if nvjpegenc (hardware JPEG encoder) is available.

Heuristic function (Euclidean distance).

Inlet area (mm²) - circular

Interpolate pose at a given timestamp using linear interpolation.

Create camera intrinsics matrix for projection.

Check if distance is within goal threshold.

Get the number of keyframes since last save (for auto-save logic).

Apply rate limiting to a twist command.

Convert log-odds to probability.

Create an ACK frame

Next sequence number.

Normalize angle to [-π, π].

Asynchronously POST the alert to the webhook. Spawns a background task so the caller is never blocked.

Panel height (same as shell height) Note: This is the vertical wall height only - the visor adds height on the lid

Total number of trainable parameters.

Parse an SLCAN command string (without trailing \r)

Parse Cartesian 16-bit point data (type 2). Each point: x(i16), y(i16), z(i16), reflectivity(u8), tag(u8) = 8 bytes Coordinates are in 10mm units.

Parse Cartesian 32-bit point data (type 1). Each point: x(i32), y(i32), z(i32), reflectivity(u8), tag(u8) = 14 bytes

Parse NMEA coordinate (DDMM.MMMM format) to decimal degrees

Parse a parameter response ACK (from CMD_ID_PARAM_SET or CMD_ID_PARAM_GET). Expected layout after the 24-byte SDK2 header: ret_code(1) + key_num(2) +

Distance from point to the infinite line through a and b.

Compute distance from point to line segment.

Downsample and serialize with custom configuration.

Process a command frame. Returns true if it was for this VESC.

Process a command frame. Returns true if it was for this VESC.

Process a received CAN frame. Returns true if it was for this VESC.

Process a single job file.

Process queued sessions into maps

Process a "sent" frame and generate appropriate responses.

Pure pursuit steering calculation.

Queue a splatting job for the splat-worker. Creates a job.json file in the jobs directory that the splat-worker will pick up and process.