Add projections and tests!#3
Open
zeerekahmad wants to merge 11 commits into
Open
Conversation
zeerekahmad
force-pushed
the
zeerek/add_projection_mapping
branch
from
10b377f to
d3f9406
Compare
Footprint is now computed in the C++ projectors and exposed via pybind so projecting a trajectory yields the vehicle outline at each step (single body for bicycle/differential, front + rear for articulated, folding about the articulation angle). Dimensions live on the projectors; models stay pure kinematics. Unset/invalid dims -> empty footprint, never throws. - Articulated base_link/pose is now the articulation joint (integration still runs at the rear axle); footprints gain front/rear overhang beyond the axles - Rename k-style constants to ALL_CAPS; normalizeAngle via std::remainder - Explorer: consume projected footprints; show only the longest (highest-vel) lattice subplot; 16:9 landscape plots constrained to 2/3-width columns - Conservative test trim (bindings tests -> surface checks; C++ owns geometry) and small app cleanup (hoist vel_options, shared single-trajectory render) Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.