Build duty cycle command frames for all wheels (without sending). Duty values are -1.0 to 1.0 (full reverse to full forward).

Build a fallback pipeline that's more flexible with formats. Returns (pipeline_string, pipeline_outputs_jpeg) tuple.

Build GStreamer pipeline string for H.264 encoding.

Build a Livox SDK2 IMU packet (data_type=0). IMU data: gyro_x/y/z (rad/s), accel_x/y/z (m/s²) as f32 LE.

Build the linear system H * dx = b for pose graph optimization.

Build GStreamer pipeline string for a camera. Returns (pipeline_string, pipeline_outputs_jpeg) tuple.

Build a Livox SDK2 point cloud packet (Cartesian-32, data_type=1). Returns a complete UDP packet ready to send.

Build GStreamer pipeline string for raw RGB output.

Build the final extraction result from collected data.

Build a PowerStatus from VESC voltage + local readings.

Update the manifest version and timestamp.

Calculate total path length from waypoints.

Calculate total path length.

Internal capture loop that runs in a dedicated thread.

Calculate chase pattern - a moving lit section.

Check a LiDAR scan against the safety zones.

Check watchdog state. Returns (just_timed_out, should_shutdown).

Check for completed splat jobs and update map manifests.

Check if there's an obstacle in front of the robot.

Check if the current path is blocked by obstacles. Returns the index of the first blocked waypoint, or None if path is clear.

Choose a random goal position.

Classify an obstacle based on size, PCA elongation, and fill ratio. Uses PCA elongation (rotation-invariant) instead of bbox aspect ratio: - **Pole**

Get collision radius.

Get the command address.

* Compute frustum plane dimensions and placement from camera calibration. * * Coordinate mapping (physics -> Three.js): * Physics: X=forward, Y=l

Compute ray-box intersection distance

Compute error between predicted and measured relative pose.

Compute information matrix from scan match result.

Compute Jacobians for pose graph edge.

Compute adaptive lookahead distance based on velocity.

Compute total path length from waypoints.

Sum all components.

Perform one-time device configuration at startup. Queries device info, then sets parameters from config. Each step is best-effort: failures are logge

Send a work mode command (start/stop sampling) to the Livox Mid-360. Uses the SDK2 parameter configuration command (0x0100) with work_tgt_mode key.

Get reference to costmap (for visualization).

Get current covariance matrix.

Create a canvas-based text sprite for a label.

Create frame mounting holes

Create triangular gusset for corner (X-Z plane)

Create Jetson carrier mounting holes (center of plate)

Create a new map from a session

Create the tire/wheel (simplified as a thick ring)

Create tire geometry

Create ventilation/cable routing slots

Create 4 vertical posts at corners (between top and bottom frames)

Create VESC mounting holes (4 units in 2x2 layout)

Get current goal waypoint.

Get current target waypoint.

Parse the next message from a byte buffer. Returns (message, bytes_consumed) or None if incomplete.

Deploy depot services

Deploy firmware to a rover

Detect loop closure for a new keyframe using scan context descriptors. Uses the scan context database for fast top-K candidate retrieval, then verifi

Get tray dimensions

Downsample to fixed number of points (for RL observation).

Downsample a point cloud for storage (flat f32 array).

Downsample LiDAR scan to fixed angular bins.