diff --git a/.github/CODE_OF_CONDUCT.md b/.github/CODE_OF_CONDUCT.md deleted file mode 100644 index c7ac494..0000000 --- a/.github/CODE_OF_CONDUCT.md +++ /dev/null @@ -1,128 +0,0 @@ -# Contributor Covenant Code of Conduct - -## Our Pledge - -We as members, contributors, and leaders pledge to make participation in our -community a harassment-free experience for everyone, regardless of age, body -size, visible or invisible disability, ethnicity, sex characteristics, gender -identity and expression, level of experience, education, socio-economic status, -nationality, personal appearance, race, religion, or sexual identity -and orientation. - -We pledge to act and interact in ways that contribute to an open, welcoming, -diverse, inclusive, and healthy community. - -## Our Standards - -Examples of behavior that contributes to a positive environment for our -community include: - -* Demonstrating empathy and kindness toward other people -* Being respectful of differing opinions, viewpoints, and experiences -* Giving and gracefully accepting constructive feedback -* Accepting responsibility and apologizing to those affected by our mistakes, - and learning from the experience -* Focusing on what is best not just for us as individuals, but for the - overall community - -Examples of unacceptable behavior include: - -* The use of sexualized language or imagery, and sexual attention or - advances of any kind -* Trolling, insulting or derogatory comments, and personal or political attacks -* Public or private harassment -* Publishing others' private information, such as a physical or email - address, without their explicit permission -* Other conduct which could reasonably be considered inappropriate in a - professional setting - -## Enforcement Responsibilities - -Community leaders are responsible for clarifying and enforcing our standards of -acceptable behavior and will take appropriate and fair corrective action in -response to any behavior that they deem inappropriate, threatening, offensive, -or harmful. - -Community leaders have the right and responsibility to remove, edit, or reject -comments, commits, code, wiki edits, issues, and other contributions that are -not aligned to this Code of Conduct, and will communicate reasons for moderation -decisions when appropriate. - -## Scope - -This Code of Conduct applies within all community spaces, and also applies when -an individual is officially representing the community in public spaces. -Examples of representing our community include using an official e-mail address, -posting via an official social media account, or acting as an appointed -representative at an online or offline event. - -## Enforcement - -Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported to the community leaders responsible for enforcement at -Discord (Tag: SizzlinSeal#8682). -All complaints will be reviewed and investigated promptly and fairly. - -All community leaders are obligated to respect the privacy and security of the -reporter of any incident. - -## Enforcement Guidelines - -Community leaders will follow these Community Impact Guidelines in determining -the consequences for any action they deem in violation of this Code of Conduct: - -### 1. Correction - -**Community Impact**: Use of inappropriate language or other behavior deemed -unprofessional or unwelcome in the community. - -**Consequence**: A private, written warning from community leaders, providing -clarity around the nature of the violation and an explanation of why the -behavior was inappropriate. A public apology may be requested. - -### 2. Warning - -**Community Impact**: A violation through a single incident or series -of actions. - -**Consequence**: A warning with consequences for continued behavior. No -interaction with the people involved, including unsolicited interaction with -those enforcing the Code of Conduct, for a specified period of time. This -includes avoiding interactions in community spaces as well as external channels -like social media. Violating these terms may lead to a temporary or -permanent ban. - -### 3. Temporary Ban - -**Community Impact**: A serious violation of community standards, including -sustained inappropriate behavior. - -**Consequence**: A temporary ban from any sort of interaction or public -communication with the community for a specified period of time. No public or -private interaction with the people involved, including unsolicited interaction -with those enforcing the Code of Conduct, is allowed during this period. -Violating these terms may lead to a permanent ban. - -### 4. Permanent Ban - -**Community Impact**: Demonstrating a pattern of violation of community -standards, including sustained inappropriate behavior, harassment of an -individual, or aggression toward or disparagement of classes of individuals. - -**Consequence**: A permanent ban from any sort of public interaction within -the community. - -## Attribution - -This Code of Conduct is adapted from the [Contributor Covenant][homepage], -version 2.0, available at -https://www.contributor-covenant.org/version/2/0/code_of_conduct.html. - -Community Impact Guidelines were inspired by [Mozilla's code of conduct -enforcement ladder](https://github.com/mozilla/diversity). - -[homepage]: https://www.contributor-covenant.org - -For answers to common questions about this code of conduct, see the FAQ at -https://www.contributor-covenant.org/faq. Translations are available at -https://www.contributor-covenant.org/translations. diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md index 7766470..45b6c66 100644 --- a/.github/CONTRIBUTING.md +++ b/.github/CONTRIBUTING.md @@ -1,222 +1,38 @@ - # Contributing -First off, thanks for taking the time to contribute! ❤️ +Contributions should preserve the project's central rule: range localization must +not make the robot less consistent than the odometry-only baseline. -All types of contributions are encouraged and valued. See the [Table of Contents](#table-of-contents) for different ways to help and details about how this project handles them. Please make sure to read the relevant section before making your contribution. It will make it a lot easier for us maintainers and smooth out the experience for all involved. The community looks forward to your contributions. 🎉 +## Before Opening A Change -> And if you like the project, but just don't have time to contribute, that's fine. There are other easy ways to support the project and show your appreciation, which we would also be very happy about: -> - Star the project -> - Refer this project in your project's readme -> - Mention the project at local meetups with your fellow competitors -> - Mention the use of this project in judging presentations -> - Open a bug report or feature request [here](https://github.com/LemLib/LemLib/issues/new/choose) -> - Discuss and give feedback in our [Discord](https://discord.gg/pCHr7XZUTj) +1. Search existing issues and pull requests. +2. Keep changes scoped to one behavior or subsystem. +3. For localization tuning, include the relevant exported trace or explain why the + change is structural rather than data-driven. +4. Do not commit PROS build output, editor caches, terminal logs, or LaTeX sources. +## Development Checks - - - -## Table of Contents - -- [🙋I Have a Question](#i-have-a-question) -- [🧑‍💻I Want To Contribute](#i-want-to-contribute) - - [🐛Reporting Bugs](#reporting-bugs) - - [✨Suggesting Enhancements](#suggesting-enhancements) - - [🚀Your First Code Contribution](#your-first-code-contribution) - - [📝Improving The Documentation](#improving-the-documentation) -- [💄Styleguides](#styleguides) - - [💄C++ Coding Style](#c-coding-style) - - [💄Commit Messages](#commit-messages) - - - - -## 🙋I Have a Question - -> If you want to ask a question, we assume that you have read the available [Documentation](https://lemlib.readthedocs.io/en/v0.5.0/index.html). - -Before you ask a question, it is best to search for existing [Issues](https://github.com/LemLib/LemLib/issues) that might help you. In case you have found a suitable issue and still need clarification, you can write your question in this issue. In addition, you can also search for existing questions in the [Vex Discord](https://discord.gg/VUStG8p), the [VEX Forum](https://www.vexforum.com/), or our [Discord](https://discord.gg/pCHr7XZUTj). - -If you then still feel the need to ask a question and need clarification, we recommend the following: - -- Open an [Issue](https://github.com/LemLib/LemLib/issues/new). -- Provide as much context as you can about what you're running into. -- Provide Kernel, CLI, and LemLib versions (e.g PROS 3.8.0, CLI 3.4.1, LemLib 0.4.5) -- Any additional information you think is relevant - -We will then take care of the issue as soon as possible. - - - - -## 🧑‍💻I Want To Contribute - - -> ### Legal Notice -> When contributing to this project, you must agree that you have authored 100% of the content, that you have the necessary rights to the content and that the content you contribute may be provided under the project license. - - -### 🐛Reporting Bugs - - -#### 🐛Before Submitting a Bug Report - -A good bug report shouldn't leave others needing to chase you up for more information. Therefore, we ask you to investigate carefully, collect information and describe the issue in detail in your report. Please complete the following steps in advance to help us fix any potential bug as fast as possible. - -- Make sure that you are using the latest version of LemLib, PROS, and the CLI. -- Determine if your bug is really a bug and not an error on your side e.g. incorrect chassis setup (Make sure that you have read the [documentation](https://lemlib.readthedocs.io/en/v0.5.0/index.html). If you are looking for support, you might want to check [this section](#i-have-a-question)). -- To see if other users have experienced (and potentially already solved) the same issue you are having, check if there is not already a bug report existing for your bug or error in the [bug tracker](https://github.com/LemLib/LemLib/issues?q=label%3Abug). -- Collect information about the bug: - - Logger Messages - - Kernel, CLI, and LemLib versions - - Any additional templates being used and their versions - - Can you reliably reproduce the issue? - - -#### 🐛How Do I Submit a Good Bug Report? - -> You must never report security-related issues, vulnerabilities, or bugs including sensitive information to the issue tracker, or elsewhere in public. Instead sensitive bugs must be sent by email to . - - -We use GitHub issues to track bugs and errors. If you run into an issue with the project: - -- Open an [Issue](https://github.com/LemLib/LemLib/issues/new). Use the Bug Report issue template. -- Explain the behavior you would expect and the actual behavior. -- Provide the version of the PROS kernel, the PROS CLI, and LemLib -- List any additional templates and their versions -- Please provide as much context as possible and describe the *reproduction steps* that someone else can follow to recreate the issue on their own. This usually includes your code. For good bug reports you should isolate the problem and create a reduced test case. -- Provide the information you collected in the previous section. -- Provide any additional information you think is relevant, but does not fit previous sections. - -Once it's filed: - -- The project team will label the issue accordingly. -- A team member will try to reproduce the issue with your provided steps. If there are no reproduction steps or no obvious way to reproduce the issue, the team will ask you for those steps and mark the issue as `needs-repro`. Bugs with the `needs-repro` tag will not be addressed until they are reproduced. -- If the team is able to reproduce the issue, it will be marked `confirmed-bug`, as well as possibly other tags (such as `p: critical`), and the issue will be left to be [implemented by someone](#your-first-code-contribution). - - -### ✨Suggesting Enhancements - -This section guides you through submitting an enhancement suggestion for LemLib, **including completely new features and minor improvements to existing functionality**. Following these guidelines will help maintainers and the community to understand your suggestion and find related suggestions. - - -#### ✨Before Submitting an Enhancement - -- Make sure that you are using the latest version. -- Read the [documentation](https://lemlib.readthedocs.io/en/v0.5.0/index.html) carefully and find out if the functionality is already covered, maybe by an individual configuration. -- Perform a [search](https://github.com/LemLib/LemLib/issues) to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. -- Find out whether your idea fits with the scope and aims of the project. It's up to you to make a strong case to convince the project's developers of the merits of this feature. Keep in mind that we want features that will be useful to the majority of our users and not just a small subset. - - -#### ✨How Do I Submit a Good Enhancement Suggestion? - -Enhancement suggestions are tracked as [GitHub issues](https://github.com/LemLib/LemLib/issues). You can use the Feature Request issue template upon creation of a new issue. - -- Use a **clear and descriptive title** for the issue to identify the suggestion. -- Provide a **step-by-step description of the suggested enhancement** in as many details as possible. -- **Describe the current behavior** so the project team can understand the difference between your suggestion and the current behavior. -- **Explain why this enhancement would be useful** to most LemLib users and/or maintainers. -- **(Optional) List possible implementations and alternatives** you have in mind. - - -### 🚀Your First Code Contribution - -> [!NOTE] -> Using a development environment different from the one recommended below is fine, but you will have to adjust the steps yourself. - -> [!NOTE] -> We do not recommend using the C/C++ extension, as its slow for linting and autocomplete. - -> [!NOTE] -> At a minimum, we recommend the PROS and clangd extensions - - -We recommend using [Visual Studio Code](https://code.visualstudio.com/) as your IDE. It is free, (mostly) open-source, and cross-platform. -Here is a list of recommended extensions: -- [Better C++ Syntax](https://marketplace.visualstudio.com/items?itemName=jeff-hykin.better-cpp-syntax) better syntax highlighting for C++ -- [Better Comments](https://marketplace.visualstudio.com/items?itemName=aaron-bond.better-comments) comment highlighting -- [clangd](https://marketplace.visualstudio.com/items?itemName=llvm-vs-code-extensions.vscode-clangd), super fast liner, code completion, and auto-formatter -- [Code Spell Checker](https://marketplace.visualstudio.com/items?itemName=streetsidesoftware.code-spell-checker) to check for spelling mistakes -- [CodeSnap](https://marketplace.visualstudio.com/items?itemName=adpyke.codesnap) take very nice screenshots of your code -- [Doxygen Documentation Generator](https://marketplace.visualstudio.com/items?itemName=cschlosser.doxdocgen) automatically generates Doxygen comments -- [Error Lens](https://marketplace.visualstudio.com/items?itemName=usernamehw.errorlens) displays errors, warning, and info nicely -- [GitHub Copilot](https://marketplace.visualstudio.com/items?itemName=GitHub.copilot) AI autocomplete useful for repetitive and trivial tasks -- [GitLens](https://marketplace.visualstudio.com/items?itemName=eamodio.gitlens) useful git tools -- [Material Icon Theme](https://marketplace.visualstudio.com/items?itemName=PKief.material-icon-theme) for improved visual grepping of files -- [MyST-Markdown](https://marketplace.visualstudio.com/items?itemName=ExecutableBookProject.myst-highlight) for previewing markdown files with MyST extensions -- [PROS](https://marketplace.visualstudio.com/items?itemName=sigbots.pros) to build and upload your code - -> If asked to disable the IntelliSense in favor of clangd, do so. - -In order to build the project, you need to use PROS -- Generate compile commands: `pros build-compile-commands` -- Build the project: `pros build` -- Create the template zip: `pros build template` - -You can apply the kernel to your project with the following commands -- Fetch the kernel: `pros c fetch LemLib@a.b.c-d.zip` -- Apply the kernel: `pros c apply LemLib@a.b.c-d` -- Remove the template: `pros c remove LemLib@a.b.c-d` - -In order to contribute to LemLib, you will need to [fork](https://help.github.com/en/github/getting-started-with-github/fork-a-repo) the repository and clone it to your local machine. You can then [commit](#commit-messages) your changes to your fork. Once you are done, you can [create a pull request](https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/creating-a-pull-request) to the master branch. You can use the [Pull Request Template](https://github.com/LemLib/LemLib/blob/master/.github/PULL_REQUEST_TEMPLATE.md) to structure your pull request. - - -### 📝Improving The Documentation -We use a combination of [Doxygen](http://www.doxygen.nl/), [Breathe](https://www.breathe-doc.org/), and [Sphinx](https://www.sphinx-doc.org/en/master/) to generate our documentation. The documentation is hosted on [Read The Docs](https://docs.readthedocs.io/en/stable/), which gives us both free hosting, and automatic versioning of the documentation. It automatically deploys after every commit. - -You can improve the documentation by: -- Editing the [README](../README.md) -- Adding/Editing comments in the source code -- Editing the [Doxygen configuration file](https://github.com/LemLib/LemLib/blob/master/docs/Doxyfile) -- Adding/Editing [Tutorials](https://github.com/LemLib/LemLib/tree/master/docs/tutorials) -- Opening an [Issue](https://github.com/LemLib/LemLib/issues) to suggest a change or to report a bug - -Changes should be requested via a [Pull Request](https://help.github.com/en/github/collaborating-with-issues-and-pull-requests/creating-a-pull-request) to the LemLib repository. You can use the [Pull Request Template](https://github.com/LemLib/LemLib/blob/master/.github/PULL_REQUEST_TEMPLATE.md) to structure your pull request. Additionally, you should verify that the documentation builds correctly on your machine. - -You can do so by installing Doxygen, and all of the python dependencies listed in `docs/requirements.txt`. Once you've done that, run the following commands to render the documentation: +Run the checks relevant to the change: ```sh -cd docs -doxygen -make html -``` -Then you can view the documentation by pointing your browser at the `./_build/html/index.html` file. - -## 💄Styleguides - - -### 💄C++ Coding Style - -We use our own style guide for LemLib. Here are the most important rules: - - Use `lowerCamelCase` for variables and functions - - Use `UpperCamelCase` for classes and structs - - Use `UPPER_SNAKE_CASE` for macros - - Braces should always be on the same line as the statement - - Pointers and references are always to the left - - Max column width is 120 characters - - Operators should be surrounded by spaces - - Commas should be followed by a space - - Indents are 4 spaces - -For further information, check out [.clang-format](../.clang-format). - -We use the [clang-format](https://marketplace.visualstudio.com/items?itemName=xaver.clang-format) extension to format our code. You can use the `.clang-format` file in the root directory of the project to configure your IDE to use the same formatting rules as we do. You can also use the `clang-format` command line tool to format your code. You can find more information about the tool [here](https://clang.llvm.org/docs/ClangFormat.html). - - -### 💄Commit Messages - -Commit titles should be short and descriptive. They should be written in the imperative mood, i.e. as if you were commanding someone. They should not end with a period. If you are fixing an issue, you should include the issue number in the commit title. Additional information can be provided in the commit body. For example: - +make quick +python3 -m py_compile tools/*.py +python3 tools/localization_tune_analyzer.py src/tune.txt ``` -Add support for Differential Drivetrains (fixes #42) -This commit adds support for Differential Drivetrains. It also adds a new class called DifferentialDrivetrain, which is a subclass of Drivetrain. -``` +Hardware-dependent changes must state which robot tests were run. If hardware was +not available, say so explicitly and identify the required test route. +## Pull Requests +Pull requests should include: +- a concise explanation of the behavior changed; +- the evidence supporting any tuning-constant change; +- build and analysis results; +- hardware validation status; +- known limitations or follow-up tests. - -## Attribution -This guide is based on the **contributing-gen**. [Make your own](https://github.com/bttger/contributing-gen)! +Avoid unrelated formatting or refactoring in a behavior change. Do not loosen +fusion gates solely to increase correction frequency. diff --git a/.github/ISSUE_TEMPLATE/BUG_REPORT.md b/.github/ISSUE_TEMPLATE/BUG_REPORT.md index 31a600c..c9b1caa 100644 --- a/.github/ISSUE_TEMPLATE/BUG_REPORT.md +++ b/.github/ISSUE_TEMPLATE/BUG_REPORT.md @@ -1,28 +1,38 @@ --- -name: Bug Report -about: Report a bug in the project -title: "[BUG]" -labels: "needs confirmation" +name: Bug report +about: Report a reproducible localization, motion, or tooling defect +title: "[Bug] " +labels: "bug" assignees: "" --- -#### Expected Behavior - +## Summary -#### Observed Behavior - +Describe the observed behavior and why it is incorrect. -#### Steps to Reproduce - +## Reproduction -#### Environment - +List the exact test route, start condition, and steps required to reproduce it. - - LemLib Version: - - PROS Kernel Version: - - PROS CLI Version: - - Additional Templates: +## Expected Behavior -#### Additional Information - - +Describe the expected robot or tooling behavior. + +## Evidence + +Attach or link the complete localization export when relevant. Include the active +`kLocalizationTuneTest`, commit SHA, and whether the problem also occurs with range +corrections disabled. + +## Environment + +- Robot/build commit: +- PROS kernel version: +- PROS CLI version: +- Test route: +- Hardware configuration changes: + +## Additional Context + +Include controller output, Brain-screen status, photos, or videos when useful. Remove +private information before posting logs publicly. diff --git a/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md b/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md index bf254ec..fea03c9 100644 --- a/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md +++ b/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md @@ -1,24 +1,24 @@ --- -name: Feature Request -about: Suggest an idea for the project -title: "[FEATURE]" +name: Feature request +about: Propose a focused improvement to the localization stack or tuning workflow +title: "[Feature] " labels: "enhancement" assignees: "" --- -#### Requested Feature - +## Problem - - - a - - b - - c +Describe the limitation or operator need. -#### Current Implementation - +## Proposed Behavior -#### Motivation - +Describe the desired behavior and its user-facing effect. -#### (Optional) Possible Implementations and Alternatives - +## Safety And Validation + +Explain how the change preserves the odometry fallback and how it can be verified on +the VEX V5 robot. + +## Alternatives + +List any simpler approaches or existing mechanisms considered. diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md index a49dd31..9abed44 100644 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -1,11 +1,18 @@ -#### Summary - +## Summary -#### Motivation - + -#### Test Plan - +## Evidence -#### Additional Notes - + + +## Validation + +- [ ] `make quick` +- [ ] Relevant Python analysis +- [ ] Hardware test completed, or required hardware test documented +- [ ] No generated build/cache/report-source files committed + +## Risk + + diff --git a/.github/workflows/depot.yml b/.github/workflows/depot.yml deleted file mode 100644 index b864473..0000000 --- a/.github/workflows/depot.yml +++ /dev/null @@ -1,26 +0,0 @@ -name: Populate Depot json - -on: - # runs when this repository's releases are modified - release: - # allows for manual dispatching of the workflow - workflow_dispatch: - -jobs: - populate: - runs-on: ubuntu-latest - permissions: - # permits reading of releases and writing to the depot branch - contents: write - steps: - # where to find gh action and what version to use - - uses: LemLib/pros-depot@v0.1.0-beta.1 - with: - # gives the github action the permissions specified above - token: ${{ github.token }} - # target repo for depots - repo: LemLib/LemLib - # where to read releases from (can be omitted if repo is also the repo from which to read releases from, but it doesn't sem to be working at the moment) - source-repo: LemLib/LemLib - # makes the json output human readable - readable-json: true diff --git a/.github/workflows/pr-comment.yml b/.github/workflows/pr-comment.yml deleted file mode 100644 index 6d29763..0000000 --- a/.github/workflows/pr-comment.yml +++ /dev/null @@ -1,90 +0,0 @@ -name: Add Template to Pull Request -on: - workflow_run: - workflows: ['Build Template'] - types: [completed] -jobs: - pr_comment: - # if Build Template was successful and ran on a branch that is currently the head in a pull request - if: github.event.workflow_run.conclusion == 'success' - runs-on: ubuntu-latest - - permissions: - pull-requests: write - - steps: - - uses: actions/github-script@v6 - with: - # This snippet is public-domain, taken from - # https://github.com/oprypin/nightly.link/blob/master/.github/workflows/pr-comment.yml - script: | - async function upsertComment(owner, repo, issue_number, purpose,old_body, body) { - const {data: comments} = await github.rest.issues.listComments( - {owner, repo, issue_number}); - - const marker = `\r\n\r\n\r\n`; - - const old_marker = new RegExp(marker.replace("\r\n", "\r?\n")).exec(old_body)?.[0] ?? marker; - - body = old_body.split(old_marker)[0] + marker + body; - await github.request('PATCH /repos/{owner}/{repo}/pulls/{pull_number}', { - owner: owner, - repo: repo, - pull_number: issue_number, - body: body, - headers: { - 'X-GitHub-Api-Version': '2022-11-28' - } - }) - } - - const {owner, repo} = context.repo; - const run_id = ${{github.event.workflow_run.id}}; - - const pull_head_sha = '${{github.event.workflow_run.head_sha}}'; - - /** @type {{old_body: string}} */ - const {issue_number, old_body} = await (async () => { - const pulls = await github.rest.pulls.list({owner, repo}); - for await (const {data} of github.paginate.iterator(pulls)) { - for (const pull of data) { - if (pull.head.sha === pull_head_sha) { - return {issue_number: pull.number, old_body: pull.body}; - } - } - } - return {}; - })(); - if (issue_number) { - core.info(`Using pull request ${issue_number}`); - } else { - return core.error(`No matching pull request found`); - } - - let old_sha = /\<\!-- commit-sha: (?[a-z0-9]+) --\>/i.exec(old_body)?.groups?.sha - if (old_sha != undefined && pull_head_sha == old_sha) return core.error("Comment is already up-to-date!") - - const artifacts = await github.paginate( - github.rest.actions.listWorkflowRunArtifacts, {owner, repo, run_id}); - if (!artifacts.length) { - return core.error(`No artifacts found, perhaps Build Template was skipped`); - } - const template = artifacts[0]; - - let body = `\n`; - body +=`## Download the template for this pull request: \n\n`; - body += `> [!NOTE] - > This is auto generated from [\`${{ github.workflow }}\`](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})\n`; - body += `- via manual download: [${template.name}.zip](https://nightly.link/${owner}/${repo}/actions/artifacts/${template.id}.zip)\n`; - body += `- via PROS Integrated Terminal: \n \`\`\` - curl -o ${template.name}.zip https://nightly.link/${owner}/${repo}/actions/artifacts/${template.id}.zip; - pros c fetch ${template.name}.zip; - pros c apply ${template.name}; - rm ${template.name}.zip; - \`\`\``; - - core.info(`Review thread message body: \n${body}`); - - await upsertComment(owner, repo, issue_number, - "nightly-link", old_body, body); - diff --git a/.github/workflows/pros-build.yml b/.github/workflows/pros-build.yml index 31d3d8b..62bcb6d 100644 --- a/.github/workflows/pros-build.yml +++ b/.github/workflows/pros-build.yml @@ -1,4 +1,4 @@ -name: PROS Build Template +name: PROS Build on: push: diff --git a/.github/workflows/test-clang-format.yml b/.github/workflows/test-clang-format.yml deleted file mode 100644 index 34bf058..0000000 --- a/.github/workflows/test-clang-format.yml +++ /dev/null @@ -1,20 +0,0 @@ -name: test-clang-format - -on: - push: - branches: - - '*' - pull_request: - - -jobs: - build: - runs-on: ubuntu-latest - - steps: - - uses: actions/checkout@v2 - - uses: DoozyX/clang-format-lint-action@v0.14 - with: - source: './src/lemlib ./include/lemlib' - extensions: 'hpp,cpp' - clangFormatVersion: 14 diff --git a/.gitignore b/.gitignore index 5bf9239..24562b0 100644 --- a/.gitignore +++ b/.gitignore @@ -27,11 +27,8 @@ docs/package-lock.json docs/package.json docs/node_modules/ latex -report/*.aux -report/*.fdb_latexmk -report/*.fls -report/*.log -report/*.out +report/* +!report/localization_report.pdf # MacOS .DS_Store diff --git a/AGENTS.md b/AGENTS.md index 7974981..212b0fa 100644 --- a/AGENTS.md +++ b/AGENTS.md @@ -525,7 +525,7 @@ Check, in order: - `localization_tune::kEnabled` is true. - `kLocalizationTuneTest` in `src/autonomous_control.cpp` is `0`, so autonomous currently runs the normal validation route. - `src/tune.txt` is a May 24 pre-calibration Test 5 sweep retained as historical evidence. Its analyzer output is location-specific, contains likely unmodeled occlusions, and is not sufficient by itself for new geometry changes. -- `report/localization_report.tex` and the generated PDF summarize seven validation runs and the June audit. The boundary re-anchor and latest relocalization cleanup still require the physical protocol in `validation_data/field_test_protocol.md`. +- `report/localization_report.pdf` summarizes seven validation runs and the June audit. LaTeX/report-generation sources are intentionally not published. The boundary re-anchor and latest relocalization cleanup still require the physical protocol in `validation_data/field_test_protocol.md`. - The `MCL + EKF + Odom Newly improved` subfolder has build artifacts but no source. Do source work in the parent root. - Re-run `make quick` after the current unpublished source changes; do not rely on the May build status. diff --git a/README.md b/README.md index cd5637b..d18df2e 100644 --- a/README.md +++ b/README.md @@ -1,140 +1,171 @@ -# Localization - -Conservative field-aware localization for a PROS V5 differential-drive robot. This -project keeps LemLib odometry and motion control, then adds absolute start -relocalization, MCL range estimation, a 3-state EKF, strict correction gates, and a -robot-to-terminal data collection workflow for hardware tuning. - -[Validation report (PDF)](report/localization_report.pdf) | [LaTeX source](report/localization_report.tex) | [Physical validation protocol](validation_data/field_test_protocol.md) | [Reusable tuning prompt](TUNING_AGENT_PROMPT.md) - -## Why This Fork Exists - -Pure odometry is smooth and repeatable over short distances, but it cannot detect a -bad starting pose or accumulated wheel slip. Distance sensors can provide an -absolute field reference, but bad geometry, game-object occlusion, and symmetric -wall views can make naive fusion less consistent than odometry. - -This stack therefore treats odometry as the baseline and range fusion as optional, -gated evidence. If the range estimate is not trustworthy, the driven pose stays on -odometry. +

VEX V5 Robotics Localization

+ +

+ Conservative field-aware localization for VEX V5 robots using PROS, combining LemLib odometry, + Monte Carlo Localization, and an Extended Kalman Filter without sacrificing a stable + odometry-only fallback. +

+ +

+ Platform + Language + Localization + PROS Build + License +

+ +

+ Technical Report +  ·  + Field Test Protocol +  ·  + Agent Tuning Workflow +

+ +> [!IMPORTANT] +> This project is in active hardware validation. Range corrections are deliberately +> conservative: when sensor evidence is weak, blocked, stale, or ambiguous, the +> driven pose remains on odometry. + +## Overview + +Stock odometry is smooth and predictable, but it cannot detect an incorrect starting +pose or accumulated wheel slip. Distance sensors provide an absolute field reference, +but careless fusion can make the robot less consistent than odometry alone. + +This project treats odometry as the baseline and localization as gated evidence: + +- **LemLib odometry** integrates tracking-wheel and IMU deltas at 100 Hz. +- **MCL** estimates absolute field pose from four distance sensors. +- **EKF** propagates odometry uncertainty and evaluates MCL measurements. +- **Start relocalization** anchors the autonomous frame while the robot is stationary. +- **Strict fusion gates** reject implausible, unstable, or poorly observed corrections. +- **Boundary re-anchors** apply trusted corrections only while the chassis is idle. +- **Deep-dive telemetry** exports every relevant pose, sensor, covariance, and gate state. +- **Reusable PTO control** switches shared motors safely between 4-motor mechanisms + and an 8-motor drivetrain. ```mermaid flowchart LR W["Tracking wheels + IMU"] --> O["LemLib odometry
100 Hz"] O --> E["3-state EKF"] O --> P["Driven pose"] - D["4 distance sensors"] --> M["MCL
450 particles"] - M --> G["NIS, geometry, confidence,
stability, freshness, motion gates"] + D["Four distance sensors"] --> M["MCL
450 particles"] + M --> G["Geometry, confidence,
NIS, stability, freshness"] G --> E - E --> B["Bounded idle-only correction"] - B --> P + E --> C["Bounded idle-only correction"] + C --> P S["Stationary start wall solve"] --> P ``` -The safety contract is intentional: +## Validation Snapshot + +The published [technical report](report/localization_report.pdf) summarizes seven +instrumented field runs and an independent offline audit. + +| Evidence | Result | +| --- | ---: | +| Recorded localization trace rows | 9,012 | +| Instrumented field runs | 7 | +| Corrections surviving the complete gate stack | 7 | +| Modeled peak-error improvement from boundary re-anchor | 1.8x | +| Corrections accepted during active chassis motion | 0 | + +The 1.8x result is a replay of already-validated fixes at motion boundaries, not a +final measured hardware claim. The boundary re-anchor and latest relocalization +cleanup must still pass the physical protocol before the stack is considered fully +tuned. + +## Safety Contract + +The localization layer is designed to be no worse than the odometry baseline: - Corrections are suppressed while a chassis motion is active. - Continuous corrections and motion-boundary re-anchors are bounded. -- Range evidence must pass sensor-count, confidence, covariance, NIS, residual, - stability, freshness, and pose-delta checks. -- Heading remains IMU-driven; wall ranges do not steer heading. -- A failed or ambiguous sensor view falls back to odometry instead of forcing a fix. -- Fusion gates must not be loosened merely to increase the correction count. +- Evidence must pass sensor-count, confidence, covariance, NIS, residual, stability, + freshness, and pose-delta checks. +- Wall ranges solve position only; heading remains IMU-driven. +- Ambiguous or blocked views fall back to odometry instead of forcing a field fix. +- Fusion thresholds are not loosened merely to increase the correction count. -## Evidence And Current Status +## Reusable PTO Switching -The engineering paper in [`report/localization_report.tex`](report/localization_report.tex) -is the detailed source of truth. Its generated report covers seven instrumented -runs and 9,012 trace rows. Seven corrections survived the complete gate stack in -the two useful evidence runs; the other runs remained on odometry when evidence was -weak or blocked. The offline audit independently replayed ray geometry, start wall -solves, correction limits, suppression flags, and odometry sequence continuity. +The robot control layer also contains PTO switching logic that other VEX V5 teams +can adapt when motors serve both drivetrain and mechanism roles. The implementation +includes: -The report models roughly a 1.8x peak-error reduction from committing already -validated corrections at motion boundaries. That boundary re-anchor and the latest -relocalization cleanup still require the physical tests in -[`validation_data/field_test_protocol.md`](validation_data/field_test_protocol.md) -before they should be described as fully hardware-validated. +- motion-aware shift windows that avoid changing PTO state during a chassis motion; +- controlled creep and delay timing to unload the transmission before engagement; +- automatic mirroring of teleop drive output to PTO motors in 8-motor mode; +- separate 4-motor and 8-motor controller-gain profiles; +- explicit released-motor role mapping for intake and roller behavior; +- blocking and non-blocking shift helpers, safe stops, and position-hold handling. -## Project Layout +The reusable architecture is in [`src/robot_control.cpp`](src/robot_control.cpp), +[`include/robot_control.hpp`](include/robot_control.hpp), and the PTO extensions to +the LemLib chassis. Motor ports, command signs, piston values, shift timing, and +controller gains are robot-specific and must be validated before another team uses +them on hardware. -| Path | Purpose | -| --- | --- | -| `src/autonomous_control.cpp` | Autonomous route and active tune-test selector | -| `src/localization_config.cpp` | Field model, sensor geometry, MCL/EKF noise, and fusion gates | -| `src/lemlib/localization/` | MCL, EKF, fusion scheduler, gating, and trace capture | -| `src/lemlib/chassis/odom.cpp` | Odometry integration and delta history | -| `src/localization_tune.cpp` | Tune routes, brain overlay, log capture, and terminal export | -| `src/robot.cpp` | Tracking-wheel geometry and robot hardware configuration | -| `src/tune.txt` | Latest pasted robot export used by the analyzer | -| `tools/localization_tune_analyzer.py` | Offline calibration and diagnostics | -| `validation_data/` | Preserved runs and physical test protocol | -| `report/` | Reproducible LaTeX report, generated plot data, and PDF | +## Quick Start -## Build - -Requirements: +### Requirements - PROS CLI and the V5 ARM toolchain - Python 3 for offline analysis -- `latexmk` plus the LaTeX packages used by the report, only when rebuilding the PDF +- A V5 Brain and programming cable for hardware logging -From the repository root: +### Build ```sh +git clone https://github.com/NlGanma/localization.git +cd localization make quick ``` -Use the normal PROS upload flow after a successful build. Upload only when the V5 -Brain is connected and the robot is in a safe test area. +Use the normal PROS upload flow only after the build succeeds and the robot is in a +safe test area. ## Built-In Test Routes Select a route with `kLocalizationTuneTest` in -[`src/autonomous_control.cpp`](src/autonomous_control.cpp). Always inspect the source -before a run; the selector changes during iterative tuning. +[`src/autonomous_control.cpp`](src/autonomous_control.cpp). Inspect the source before +each run because the selector changes throughout iterative tuning. -| Value | Route | Primary use | Test condition | +| Value | Route | Primary use | Required condition | | ---: | --- | --- | --- | -| `0` | Normal route | End-to-end autonomous validation | Competition start, complete field, repeatable placement | -| `1` | Turn center | Angular PID and center-of-rotation drift | Clear turning footprint, fixed start, robot free to rotate | -| `2` | Straight scale | Forward/reverse scale and lateral drift | Long clear lane, straight wheels, fixed start | -| `3` | Square loop | Translation, turns, and return-home drift | Clear square footprint, repeatable placement | -| `4` | Drive probe | Open-loop drivetrain balance vs. closed-loop motion | Long clear lane, level battery, fixed start | -| `5` | Sensor angle | Distance-sensor mounting angle fit | Stationary turn sweep with clean perimeter-wall views | -| `6` | Square + cross | Oblique motion and full fusion behavior | Largest clear footprint, repeatable placement | +| `0` | Normal route | End-to-end autonomous validation | Competition start and complete field | +| `1` | Turn center | Angular PID, turn scale, center drift | Clear turning footprint and fixed start | +| `2` | Straight scale | Forward/reverse scale and lateral drift | Long clear lane and fixed start | +| `3` | Square loop | Translation, turns, return-home drift | Clear square footprint | +| `4` | Drive probe | Open-loop drivetrain balance | Long clear lane and consistent battery state | +| `5` | Sensor angle | Distance-sensor geometry | Clean perimeter-wall views at multiple placements | +| `6` | Square + cross | Oblique motion and full fusion | Largest clear footprint and fixed start | -At the time of this README, the checked-in selector is `0`. Do not rely on that -sentence after tuning begins; read the constant. +The checked-in selector is currently `0`. The source constant remains authoritative. ## Collect A Robot Log -1. Choose one test based on the parameter being identified. Change only the test - selector unless the current evidence already justifies another code change. -2. Run `make quick`, upload the program, and place the robot under the test condition - in the table above. Keep start placement, battery state, and field obstacles as - consistent as practical across comparisons. -3. Connect the V5 Brain to the computer with the programming cable. Keep the cable - clear of the drivetrain and run the terminal from the repository root. - - On the computer used for this project: +1. Select the test that isolates the parameter under investigation. +2. Run `make quick`, upload, and place the robot under the test condition above. +3. Connect the V5 Brain to the computer with the programming cable. +4. Open a terminal in the clone and start the PROS terminal: ```sh - cd "/Users/ouji/Documents/Localization Test" + cd "/path/to/localization" pros terminal ``` - On another computer, replace the path with that machine's clone location: + The original development-machine path is: ```sh - cd "/path/to/localization" + cd "/Users/ouji/Documents/Localization Test" pros terminal ``` -4. Run the selected autonomous test. Wait until the Brain says the run is complete - and shows `Tap lower-right to dump`. -5. With `pros terminal` still running, tap the lower-right of the Brain screen. The - terminal prints the complete report between these markers: +5. Run autonomous and wait for `Tap lower-right to dump` on the Brain. +6. Keep the terminal open and tap the lower-right of the Brain screen. +7. Capture the complete block: ```text === BEGIN LOCALIZATION TUNE LOG === @@ -142,48 +173,46 @@ sentence after tuning begins; read the constant. === END LOCALIZATION TUNE LOG === ``` -6. Replace `src/tune.txt` with the complete marked export. Preserve important runs - separately under `validation_data/` before replacing the latest log. -7. Analyze the export: +8. Put the newest export in `src/tune.txt`, preserving important prior runs under + `validation_data/`. +9. Analyze it: ```sh python3 tools/localization_tune_analyzer.py src/tune.txt ``` -8. Apply only conclusions supported by the log, rebuild, and run the next selected - test. Sensor geometry normally needs multiple clean Test 5 starts spanning the - field; a single occluded placement is not enough. +Apply only conclusions supported by the log. Sensor geometry normally requires +multiple clean Test 5 placements spanning the field; a single occluded sweep is not +enough. ## Agent-Assisted Tuning -Open this repository in Codex or Claude Code, paste the contents of -[`TUNING_AGENT_PROMPT.md`](TUNING_AGENT_PROMPT.md), and say that the newest export is -ready in `src/tune.txt`. The agent prompt instructs the coding agent to: - -- inspect the actual active test and log metadata; -- analyze first, then make small evidence-backed changes; -- choose and enable the next useful test automatically; -- build after every source change; -- tell the operator the exact placement, clearance, and repetition conditions; -- avoid requesting manual sensor-position measurements; -- keep fusion at least as consistent as the odometry-only baseline. +For an iterative Codex or Claude Code workflow: -Tuning is complete only after repeat hardware runs cover turn, straight, sensor -geometry, and combined routes; changes improve holdout logs rather than only the -fitting log; and strict fusion does not degrade the odometry-only baseline. +1. Put the newest complete export in `src/tune.txt`. +2. Open the repository in the coding agent. +3. Paste [`TUNING_AGENT_PROMPT.md`](TUNING_AGENT_PROMPT.md). +4. Say `data ready` after each new robot export. -## Reproduce The Report +The prompt requires the agent to analyze before editing, select and enable the next +useful test, build every C++ change, specify exact physical test conditions, avoid +manual sensor-position measurements, and preserve strict fusion gates. -The analysis scripts regenerate the report data from the preserved validation logs: +## Repository Map -```sh -python3 tools/drift_analysis.py -python3 tools/audit_analysis.py -cd report -latexmk -pdf localization_report.tex -``` +| Path | Purpose | +| --- | --- | +| `src/autonomous_control.cpp` | Autonomous route and tune-test selector | +| `src/localization_config.cpp` | Field model, sensor geometry, MCL/EKF noise, fusion gates | +| `src/lemlib/localization/` | MCL, EKF, correction scheduling, and trace capture | +| `src/lemlib/chassis/odom.cpp` | Odometry integration and delta history | +| `src/localization_tune.cpp` | Tune routes, Brain overlay, log capture, terminal export | +| `src/robot.cpp` | Tracking-wheel geometry and robot hardware configuration | +| `src/robot_control.cpp` | PTO switching, shared-motor roles, intake, and mechanism control | +| `tools/localization_tune_analyzer.py` | Offline calibration and diagnostics | +| `validation_data/` | Preserved runs and physical validation protocol | +| `report/localization_report.pdf` | Published engineering and validation report | ## License -This repository includes and modifies LemLib under the MIT License. See -[`LICENSE`](LICENSE). +This repository includes and modifies LemLib under the [MIT License](LICENSE). diff --git a/TUNING_AGENT_PROMPT.md b/TUNING_AGENT_PROMPT.md index 5609f9a..31b5f52 100644 --- a/TUNING_AGENT_PROMPT.md +++ b/TUNING_AGENT_PROMPT.md @@ -41,7 +41,7 @@ Iteration procedure whenever I say "data ready" 1. Verify the log is complete and report its detected test, row count, duration, coverage, active-sensor distribution, accepted corrections, dominant rejection reasons, and obvious occlusions or sequence gaps. 2. State which parameters the data can constrain and which it cannot. Do not apply analyzer suggestions that are physically implausible, hit search bounds, depend on too few samples, or conflict with stronger evidence. 3. Make the smallest evidence-backed code/configuration changes. Relevant locations are usually src/robot.cpp for odometry geometry, src/localization_config.cpp for sensor/MCL/EKF/fusion constants, and localization implementation files only when traces demonstrate a logic defect. -4. Run make quick after every C++ change. Run the relevant Python checks. If the report inputs changed, regenerate the analysis and report data. +4. Run make quick after every C++ change and run the relevant Python checks. The published report is a PDF artifact; do not recreate or commit LaTeX/report-generation files. 5. Select the next most informative test by editing kLocalizationTuneTest yourself. Tell me exactly: "Next test: N - Name." 6. Give concise physical instructions: start placement class, required clear footprint or wall views, whether to fixture the start, obstacles to remove or intentionally introduce, number of repetitions, and which comparisons must keep battery/configuration unchanged. 7. Stop and wait for me to run the robot, dump the terminal log, put it at the agreed path, and say "data ready." Then repeat this procedure. diff --git a/report/data/accepts_rows.tex b/report/data/accepts_rows.tex deleted file mode 100644 index 7bec31c..0000000 --- a/report/data/accepts_rows.tex +++ /dev/null @@ -1,7 +0,0 @@ -2 & 2.1 & 0.78 & 0.110 & 3 & 3 \\ -2 & 5.4 & 2.00 & 0.069 & 3 & 2 \\ -3 & 2.1 & 0.92 & 0.146 & 3 & 3 \\ -3 & 5.5 & 1.50 & 0.025 & 3 & 2 \\ -3 & 23.7 & 1.78 & 0.029 & 3 & 3 \\ -3 & 31.2 & 3.77 & 0.287 & 2 & 2 \\ -3 & 32.4 & 1.86 & 1.603 & 3 & 3 \\ diff --git a/report/data/audit_macros.tex b/report/data/audit_macros.tex deleted file mode 100644 index 1633c99..0000000 --- a/report/data/audit_macros.tex +++ /dev/null @@ -1,18 +0,0 @@ -% auto-generated by tools/audit_analysis.py -- do not edit -\newcommand{\AuditRayMaxErr}{0.0014} -\newcommand{\AuditRayCount}{6,988} -\newcommand{\AuditWallMaxErr}{0.11} -\newcommand{\AuditStairMax}{0.0001} -\newcommand{\AuditCapObserved}{0.0255} -\newcommand{\AuditCapBound}{0.030} -\newcommand{\nValidatedFixes}{7} -\newcommand{\AcceptMagMin}{0.78} -\newcommand{\AcceptMagMax}{3.77} -\newcommand{\AcceptNisMin}{0.025} -\newcommand{\AcceptNisMax}{1.60} -\newcommand{\RunFiveCommitErr}{86} -\newcommand{\RunTwoCpMax}{3.0} -\newcommand{\RunThreeCpMax}{5.9} -\newcommand{\TuneSweepBias}{-4.6} -\newcommand{\RunTwoBooked}{2.19} -\newcommand{\RunThreeBooked}{3.85} diff --git a/report/data/axis_run1.dat b/report/data/axis_run1.dat deleted file mode 100644 index 526c0e9..0000000 --- a/report/data/axis_run1.dat +++ /dev/null @@ -1 +0,0 @@ -idx cx cy mag diff --git a/report/data/axis_run2.dat b/report/data/axis_run2.dat deleted file mode 100644 index 7492a4b..0000000 --- a/report/data/axis_run2.dat +++ /dev/null @@ -1,3 +0,0 @@ -idx cx cy mag -0 0.0965 0.7739 0.7799 -1 0.0240 2.0019 2.0020 diff --git a/report/data/axis_run3.dat b/report/data/axis_run3.dat deleted file mode 100644 index d48573d..0000000 --- a/report/data/axis_run3.dat +++ /dev/null @@ -1,6 +0,0 @@ -idx cx cy mag -0 0.4059 0.8206 0.9155 -1 0.2548 1.4745 1.4964 -2 0.8601 1.5532 1.7754 -3 0.6553 3.7165 3.7738 -4 0.1059 1.8583 1.8613 diff --git a/report/data/axis_run4.dat b/report/data/axis_run4.dat deleted file mode 100644 index 526c0e9..0000000 --- a/report/data/axis_run4.dat +++ /dev/null @@ -1 +0,0 @@ -idx cx cy mag diff --git a/report/data/axis_run5.dat b/report/data/axis_run5.dat deleted file mode 100644 index 526c0e9..0000000 --- a/report/data/axis_run5.dat +++ /dev/null @@ -1 +0,0 @@ -idx cx cy mag diff --git a/report/data/axis_run6.dat b/report/data/axis_run6.dat deleted file mode 100644 index 526c0e9..0000000 --- a/report/data/axis_run6.dat +++ /dev/null @@ -1 +0,0 @@ -idx cx cy mag diff --git a/report/data/axis_run7.dat b/report/data/axis_run7.dat deleted file mode 100644 index 526c0e9..0000000 --- a/report/data/axis_run7.dat +++ /dev/null @@ -1 +0,0 @@ -idx cx cy mag diff --git a/report/data/bars.dat b/report/data/bars.dat deleted file mode 100644 index b41a51e..0000000 --- a/report/data/bars.dat +++ /dev/null @@ -1,3 +0,0 @@ -label raw new factor -run2 2.1950 1.1717 1.873 -run3 3.8529 2.1584 1.785 diff --git a/report/data/cp_run2_rows.tex b/report/data/cp_run2_rows.tex deleted file mode 100644 index 485b294..0000000 --- a/report/data/cp_run2_rows.tex +++ /dev/null @@ -1,8 +0,0 @@ -1 & Start hold & -0.0 & +0.0 & -0.0 & 0 \\ -2 & Square north & +0.5 & -2.1 & -0.5 & 3 \\ -3 & Face east & -0.4 & -2.4 & -5.1 & 3 \\ -4 & Square east & -2.1 & -0.4 & -1.3 & 3 \\ -5 & Face south & -2.1 & +0.4 & -5.4 & 3 \\ -6 & Square south & -0.4 & +2.0 & -1.3 & 3 \\ -7 & Face west & +1.1 & +2.5 & -4.8 & 2 \\ -8 & Return home & +3.0 & +0.0 & -0.9 & 2 \\ diff --git a/report/data/cp_run3_rows.tex b/report/data/cp_run3_rows.tex deleted file mode 100644 index c9a4abf..0000000 --- a/report/data/cp_run3_rows.tex +++ /dev/null @@ -1,16 +0,0 @@ -1 & Start hold & +0.0 & +0.0 & +0.0 & 0 \\ -2 & Square north & -0.1 & -2.1 & -0.7 & 3 \\ -3 & Face east & -0.9 & -2.2 & -4.9 & 3 \\ -4 & Square east & -2.1 & -0.4 & -1.2 & 3 \\ -5 & Face south & -2.4 & +0.2 & -7.1 & 3 \\ -6 & Square south & -0.5 & +2.1 & -1.0 & 3 \\ -7 & Face west & +0.6 & +2.3 & -4.9 & 2 \\ -8 & Return home & +3.9 & +0.5 & -1.3 & 2 \\ -9 & Face diagonal NE & +3.3 & -1.6 & -10.1 & 2 \\ -10 & Cross SW to NE & -1.4 & -2.1 & -1.8 & 1 \\ -11 & Face diagonal SW & -0.9 & -2.0 & +65.6 & 3 \\ -12 & Cross NE to SW & +3.4 & +3.3 & -0.8 & 1 \\ -13 & Face north & +4.8 & +2.3 & -12.2 & 3 \\ -14 & Move to NW & +0.7 & -5.4 & -5.3 & 3 \\ -15 & Face diagonal SE & -0.6 & -5.9 & -21.8 & 1 \\ -16 & Final face north & +2.8 & -1.3 & -5.5 & 3 \\ diff --git a/report/data/err_run1.dat b/report/data/err_run1.dat deleted file mode 100644 index 1b6aa49..0000000 --- a/report/data/err_run1.dat +++ /dev/null @@ -1,421 +0,0 @@ -t raw new accept -0.000 0.0000 0.0000 0 -0.020 0.0000 0.0000 0 -0.040 0.0000 0.0000 0 -0.074 0.0000 0.0000 0 -0.094 0.0000 0.0000 0 -0.118 0.0000 0.0000 0 -0.148 0.0000 0.0000 0 -0.171 0.0000 0.0000 0 -0.192 0.0000 0.0000 0 -0.225 0.0000 0.0000 0 -0.245 0.0000 0.0000 0 -0.270 0.0000 0.0000 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-\newcommand{\nRuns}{7} -\newcommand{\nTotalRows}{9,012} -\newcommand{\nEvidenceAccepts}{7} -\newcommand{\aggRawMax}{3.85} -\newcommand{\aggCorrMax}{3.77} -\newcommand{\aggNewMax}{2.16} -\newcommand{\aggFactor}{1.8} -\newcommand{\boundaryCap}{2.5} -\newcommand{\contCap}{0.015} -\newcommand{\RunOneRows}{984} -\newcommand{\RunOneDur}{10.7} -\newcommand{\RunOnePath}{135} -\newcommand{\RunOneAccepts}{0} -\newcommand{\RunOneMotionPct}{88} -\newcommand{\RunOneRawMax}{0.00} -\newcommand{\RunOneRawEnd}{0.00} -\newcommand{\RunOneNewMax}{0.00} -\newcommand{\RunOneNewEnd}{0.00} -\newcommand{\RunOneShippedEnd}{0.00} -\newcommand{\RunOneCorrMean}{0.00} -\newcommand{\RunOneCorrMax}{0.00} -\newcommand{\RunOneNetApplied}{0.000} -\newcommand{\RunOneFactor}{1.0} -\newcommand{\RunOneDriftPer}{0.0} -\newcommand{\RunTwoRows}{1133} -\newcommand{\RunTwoDur}{12.4} -\newcommand{\RunTwoPath}{123} -\newcommand{\RunTwoAccepts}{2} -\newcommand{\RunTwoMotionPct}{93} -\newcommand{\RunTwoRawMax}{2.19} -\newcommand{\RunTwoRawEnd}{2.19} -\newcommand{\RunTwoNewMax}{1.17} -\newcommand{\RunTwoNewEnd}{1.17} -\newcommand{\RunTwoShippedEnd}{2.19} -\newcommand{\RunTwoCorrMean}{1.39} -\newcommand{\RunTwoCorrMax}{2.00} -\newcommand{\RunTwoNetApplied}{0.926} -\newcommand{\RunTwoFactor}{1.9} -\newcommand{\RunTwoDriftPer}{1.8} -\newcommand{\RunThreeRows}{3060} -\newcommand{\RunThreeDur}{32.5} -\newcommand{\RunThreePath}{335} -\newcommand{\RunThreeAccepts}{5} -\newcommand{\RunThreeMotionPct}{95} -\newcommand{\RunThreeRawMax}{3.85} -\newcommand{\RunThreeRawEnd}{3.85} -\newcommand{\RunThreeNewMax}{2.16} -\newcommand{\RunThreeNewEnd}{0.00} -\newcommand{\RunThreeShippedEnd}{3.85} -\newcommand{\RunThreeCorrMean}{1.96} -\newcommand{\RunThreeCorrMax}{3.77} -\newcommand{\RunThreeNetApplied}{2.086} -\newcommand{\RunThreeFactor}{1.8} -\newcommand{\RunThreeDriftPer}{1.2} -\newcommand{\RunFourRows}{949} -\newcommand{\RunFourDur}{10.0} -\newcommand{\RunFourPath}{138} -\newcommand{\RunFourAccepts}{0} -\newcommand{\RunFourMotionPct}{87} -\newcommand{\RunFourRawMax}{0.00} -\newcommand{\RunFourRawEnd}{0.00} -\newcommand{\RunFourNewMax}{0.00} -\newcommand{\RunFourNewEnd}{0.00} -\newcommand{\RunFourShippedEnd}{0.00} -\newcommand{\RunFourCorrMean}{0.00} -\newcommand{\RunFourCorrMax}{0.00} -\newcommand{\RunFourNetApplied}{0.000} -\newcommand{\RunFourFactor}{1.0} -\newcommand{\RunFourDriftPer}{0.0} -\newcommand{\RunFiveRows}{994} -\newcommand{\RunFiveDur}{10.3} -\newcommand{\RunFivePath}{172} -\newcommand{\RunFiveAccepts}{0} -\newcommand{\RunFiveMotionPct}{87} -\newcommand{\RunFiveRawMax}{0.00} -\newcommand{\RunFiveRawEnd}{0.00} -\newcommand{\RunFiveNewMax}{0.00} -\newcommand{\RunFiveNewEnd}{0.00} -\newcommand{\RunFiveShippedEnd}{0.00} -\newcommand{\RunFiveCorrMean}{0.00} -\newcommand{\RunFiveCorrMax}{0.00} -\newcommand{\RunFiveNetApplied}{0.000} -\newcommand{\RunFiveFactor}{1.0} -\newcommand{\RunFiveDriftPer}{0.0} -\newcommand{\RunSixRows}{967} -\newcommand{\RunSixDur}{10.3} -\newcommand{\RunSixPath}{110} -\newcommand{\RunSixAccepts}{0} -\newcommand{\RunSixMotionPct}{87} -\newcommand{\RunSixRawMax}{0.00} -\newcommand{\RunSixRawEnd}{0.00} -\newcommand{\RunSixNewMax}{0.00} -\newcommand{\RunSixNewEnd}{0.00} -\newcommand{\RunSixShippedEnd}{0.00} -\newcommand{\RunSixCorrMean}{0.00} -\newcommand{\RunSixCorrMax}{0.00} -\newcommand{\RunSixNetApplied}{0.000} -\newcommand{\RunSixFactor}{1.0} -\newcommand{\RunSixDriftPer}{0.0} -\newcommand{\RunSevenRows}{925} -\newcommand{\RunSevenDur}{9.9} -\newcommand{\RunSevenPath}{130} -\newcommand{\RunSevenAccepts}{0} -\newcommand{\RunSevenMotionPct}{86} -\newcommand{\RunSevenRawMax}{0.00} -\newcommand{\RunSevenRawEnd}{0.00} -\newcommand{\RunSevenNewMax}{0.00} -\newcommand{\RunSevenNewEnd}{0.00} -\newcommand{\RunSevenShippedEnd}{0.00} -\newcommand{\RunSevenCorrMean}{0.00} -\newcommand{\RunSevenCorrMax}{0.00} -\newcommand{\RunSevenNetApplied}{0.000} -\newcommand{\RunSevenFactor}{1.0} -\newcommand{\RunSevenDriftPer}{0.0} diff --git a/report/data/metrics.json b/report/data/metrics.json deleted file mode 100644 index 4075fc3..0000000 --- a/report/data/metrics.json +++ /dev/null @@ -1,156 +0,0 @@ -{ - "run1": { - "rows": 984, - "duration_s": 10.666, - "path_len_in": 135.25100007571402, - "accept_rows": 0, - "accept_events": 0, - "motion_fraction": 0.8790650406504065, - "drift_rate": 0.0, - "booked_drift": 0.0, - "max_seg_in": 135.25100007571402, - "raw_end": 0.0, - "raw_max": 0.0, - "new_end": 0.0, - "new_max": 0.0, - "shipped_end": 0.0, - "net_applied_in": 0.0, - "corr_mean": 0.0, - "corr_max": 0.0, - "improve_max": 1.0, - "improve_end": NaN, - "drift_per_100in": 0.0 - }, - "run2": { - "rows": 1133, - "duration_s": 12.406, - "path_len_in": 122.5774397707295, - "accept_rows": 10, - "accept_events": 2, - "motion_fraction": 0.9311562224183584, - "drift_rate": 0.01790668801966386, - "booked_drift": 2.1949559722235903, - "max_seg_in": 65.43113694141468, - "raw_end": 2.1949559722235903, - "raw_max": 2.1949559722235903, - "new_end": 1.1716549559818157, - "new_max": 1.1716549559818157, - "shipped_end": 2.1949559722235903, - "net_applied_in": 0.9259281289603422, - "corr_mean": 1.3909685472219864, - "corr_max": 2.0020438581609543, - "improve_max": 1.8733808626996977, - "improve_end": 1.8733808626996977, - "drift_per_100in": 1.7906688019663861 - }, - "run3": { - "rows": 3060, - "duration_s": 32.466, - "path_len_in": 334.684063507864, - "accept_rows": 23, - "accept_events": 5, - "motion_fraction": 0.9477124183006536, - "drift_rate": 0.011512013446138905, - "booked_drift": 3.8528874393109374, - "max_seg_in": 187.49368255169512, - "raw_end": 3.8528874393109374, - "raw_max": 3.8528874393109374, - "new_end": 1.8490892717936945e-05, - "new_max": 2.1584297946012136, - "shipped_end": 3.8528874393109374, - "net_applied_in": 2.086332535814938, - "corr_mean": 1.9644883383519125, - "corr_max": 3.773829664942497, - "improve_max": 1.7850418155586978, - "improve_end": 208366.7618477649, - "drift_per_100in": 1.1512013446138905 - }, - "run4": { - "rows": 949, - "duration_s": 10.002, - "path_len_in": 138.47303117222492, - "accept_rows": 0, - "accept_events": 0, - "motion_fraction": 0.8682824025289779, - "drift_rate": 0.0, - "booked_drift": 0.0, - "max_seg_in": 138.47303117222492, - "raw_end": 0.0, - "raw_max": 0.0, - "new_end": 0.0, - "new_max": 0.0, - "shipped_end": 0.0, - "net_applied_in": 9.999999999976694e-05, - "corr_mean": 0.0, - "corr_max": 0.0, - "improve_max": 1.0, - "improve_end": NaN, - "drift_per_100in": 0.0 - }, - "run5": { - "rows": 994, - "duration_s": 10.349, - "path_len_in": 172.42966185214397, - "accept_rows": 0, - "accept_events": 0, - "motion_fraction": 0.8661971830985915, - "drift_rate": 0.0, - "booked_drift": 0.0, - "max_seg_in": 172.42966185214397, - "raw_end": 0.0, - "raw_max": 0.0, - "new_end": 0.0, - "new_max": 0.0, - "shipped_end": 0.0, - "net_applied_in": 0.0, - "corr_mean": 0.0, - "corr_max": 0.0, - "improve_max": 1.0, - "improve_end": NaN, - "drift_per_100in": 0.0 - }, - "run6": { - "rows": 967, - "duration_s": 10.342, - "path_len_in": 110.21899427876933, - "accept_rows": 0, - "accept_events": 0, - "motion_fraction": 0.8728024819027922, - "drift_rate": 0.0, - "booked_drift": 0.0, - "max_seg_in": 110.21899427876933, - "raw_end": 0.0, - "raw_max": 0.0, - "new_end": 0.0, - "new_max": 0.0, - "shipped_end": 0.0, - "net_applied_in": 0.0, - "corr_mean": 0.0, - "corr_max": 0.0, - "improve_max": 1.0, - "improve_end": NaN, - "drift_per_100in": 0.0 - }, - "run7": { - "rows": 925, - "duration_s": 9.934, - "path_len_in": 130.0083254072292, - "accept_rows": 0, - "accept_events": 0, - "motion_fraction": 0.8648648648648649, - "drift_rate": 0.0, - "booked_drift": 0.0, - "max_seg_in": 130.0083254072292, - "raw_end": 0.0, - "raw_max": 0.0, - "new_end": 0.0, - "new_max": 0.0, - "shipped_end": 0.0, - "net_applied_in": 9.999999999621423e-05, - "corr_mean": 0.0, - "corr_max": 0.0, - "improve_max": 1.0, - "improve_end": NaN, - "drift_per_100in": 0.0 - } -} \ No newline at end of file diff --git a/report/data/rejects_run3.dat b/report/data/rejects_run3.dat deleted file mode 100644 index 8e9e9b6..0000000 --- a/report/data/rejects_run3.dat +++ /dev/null @@ -1,9 +0,0 @@ -reason count -motion-suppressed 580 -readiness 447 -not-enough-sensors 444 -unstable-candidate 409 -no-measurement 246 -pose-delta 186 -sensor-residual 99 -sensors-stale 28 diff --git a/report/data/reloc_rows.tex b/report/data/reloc_rows.tex deleted file mode 100644 index 56c3fb3..0000000 --- a/report/data/reloc_rows.tex +++ /dev/null @@ -1,7 +0,0 @@ -1 & sample route & pre & wall\_direct & 2 & 0.95 & (-16.6, -46.5) \\ -2 & square loop & pre & wall\_direct & 3 & 0.95 & (-27.2, -38.6) \\ -3 & square $+$ cross & pre & wall\_direct & 3 & 0.95 & (-26.0, -33.0) \\ -4 & blocked view & pre & wall\_direct & 2 & 0.95 & (-26.4, -29.7) \\ -5 & forced weak start & pre & wall\_direct & 2 & 0.95 & (52.3, -3.0) \\ -6 & weak start, guarded & post & not\_enough\_live\_sensors & 0 & 0.00 & (-27.0, -36.0) \\ -7 & clean start, guarded & post & wall\_direct & 3 & 0.89 & (-17.4, -38.1) \\ diff --git a/report/data/traj_run1.dat b/report/data/traj_run1.dat deleted file mode 100644 index 40b6ae7..0000000 --- a/report/data/traj_run1.dat +++ /dev/null @@ -1,602 +0,0 @@ -ox oy ex ey --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --16.617 -46.470 -16.617 -46.470 --16.617 -46.470 -16.617 -46.470 --16.610 -46.467 -16.610 -46.467 --16.599 -46.420 -16.599 -46.420 --16.545 -46.418 -16.545 -46.418 --16.501 -46.418 -16.501 -46.418 --16.529 -46.418 -16.529 -46.418 --16.530 -46.419 -16.530 -46.419 --16.537 -46.419 -16.537 -46.419 --16.496 -46.422 -16.496 -46.422 --16.509 -46.423 -16.509 -46.423 --16.566 -46.429 -16.566 -46.429 --16.570 -46.447 -16.570 -46.447 --16.517 -46.458 -16.517 -46.458 --16.573 -46.463 -16.573 -46.463 --16.583 -46.488 -16.583 -46.488 --16.588 -46.510 -16.588 -46.510 --16.532 -46.520 -16.532 -46.520 --16.538 -46.532 -16.538 -46.532 --16.632 -46.524 -16.632 -46.524 --16.567 -46.539 -16.567 -46.539 --16.578 -46.553 -16.578 -46.553 --16.576 -46.557 -16.576 -46.557 --16.648 -46.537 -16.648 -46.537 --16.650 -46.538 -16.650 -46.538 --16.648 -46.534 -16.648 -46.534 --16.659 -46.522 -16.659 -46.522 --16.635 -46.471 -16.635 -46.471 --16.576 -46.408 -16.576 -46.408 --16.529 -46.354 -16.529 -46.354 --16.513 -46.304 -16.513 -46.304 --16.500 -46.265 -16.500 -46.265 --16.486 -46.227 -16.486 -46.227 --16.472 -46.184 -16.472 -46.184 --16.479 -46.181 -16.479 -46.181 --16.467 -46.141 -16.467 -46.141 --16.463 -46.130 -16.463 -46.130 --16.476 -46.123 -16.476 -46.123 --16.485 -46.129 -16.485 -46.129 --16.490 -46.127 -16.490 -46.127 --16.499 -46.127 -16.499 -46.127 --16.504 -46.132 -16.504 -46.132 --16.506 -46.131 -16.506 -46.131 --16.511 -46.133 -16.511 -46.133 --16.511 -46.134 -16.511 -46.134 --16.510 -46.135 -16.510 -46.135 --16.506 -46.136 -16.506 -46.136 --16.506 -46.130 -16.506 -46.130 --16.497 -46.123 -16.497 -46.123 --16.498 -46.118 -16.498 -46.118 --16.500 -46.115 -16.500 -46.115 --16.499 -46.116 -16.499 -46.116 --16.493 -46.108 -16.493 -46.108 --16.490 -46.099 -16.490 -46.099 --16.493 -46.093 -16.493 -46.093 --16.496 -46.092 -16.496 -46.092 --16.496 -46.092 -16.496 -46.092 --16.493 -46.093 -16.493 -46.093 --16.492 -46.092 -16.492 -46.092 --16.493 -46.092 -16.493 -46.092 --16.494 -46.091 -16.494 -46.091 --16.493 -46.092 -16.493 -46.092 --16.495 -46.091 -16.495 -46.091 --16.495 -46.089 -16.495 -46.089 --16.495 -46.090 -16.495 -46.090 --16.499 -46.088 -16.499 -46.088 --16.495 -46.090 -16.495 -46.090 --16.495 -46.089 -16.495 -46.089 --16.494 -46.090 -16.494 -46.090 --16.495 -46.089 -16.495 -46.089 --16.496 -46.089 -16.496 -46.089 --16.498 -46.078 -16.498 -46.078 --16.498 -46.078 -16.498 -46.078 --16.498 -46.078 -16.498 -46.078 --16.488 -46.060 -16.488 -46.060 --16.488 -46.060 -16.488 -46.060 --16.488 -46.046 -16.488 -46.046 --16.485 -46.044 -16.485 -46.044 --16.485 -46.042 -16.485 -46.042 --16.483 -46.036 -16.483 -46.036 --16.475 -46.039 -16.475 -46.039 --16.474 -46.038 -16.474 -46.038 --16.472 -46.031 -16.472 -46.031 --16.474 -46.023 -16.474 -46.023 --16.471 -46.025 -16.471 -46.025 --16.464 -46.017 -16.464 -46.017 --16.434 -46.003 -16.434 -46.003 --16.432 -45.991 -16.432 -45.991 --16.425 -45.991 -16.425 -45.991 --16.398 -45.999 -16.398 -45.999 --16.394 -46.002 -16.394 -46.002 --16.392 -46.004 -16.392 -46.004 --16.393 -46.006 -16.393 -46.006 --16.395 -46.007 -16.395 -46.007 --16.407 -46.004 -16.407 -46.004 --16.460 -45.978 -16.460 -45.978 --16.471 -45.974 -16.471 -45.974 --16.426 -45.999 -16.426 -45.999 --16.429 -46.000 -16.429 -46.000 --16.378 -46.033 -16.378 -46.033 --16.422 -46.008 -16.422 -46.008 --16.373 -46.041 -16.373 -46.041 --16.376 -46.042 -16.376 -46.042 --16.426 -46.013 -16.426 -46.013 --16.440 -46.006 -16.440 -46.006 --16.439 -46.011 -16.439 -46.011 --16.493 -45.974 -16.493 -45.974 --16.440 -46.018 -16.440 -46.018 --16.461 -46.010 -16.461 -46.010 --16.523 -45.961 -16.523 -45.961 --16.534 -45.954 -16.534 -45.954 --16.483 -45.999 -16.483 -45.999 --16.500 -45.989 -16.500 -45.989 --16.572 -45.927 -16.572 -45.927 --16.521 -45.979 -16.521 -45.979 --16.529 -45.976 -16.529 -45.976 --16.533 -45.977 -16.533 -45.977 --16.596 -45.911 -16.596 -45.911 --16.590 -45.920 -16.590 -45.920 --16.598 -45.913 -16.598 -45.913 --16.546 -45.980 -16.546 -45.980 --16.538 -45.987 -16.538 -45.987 --16.609 -45.895 -16.609 -45.895 --16.609 -45.869 -16.609 -45.869 --16.606 -45.858 -16.606 -45.858 --16.519 -45.929 -16.519 -45.929 --16.473 -45.925 -16.473 -45.925 --16.443 -45.900 -16.443 -45.900 --16.497 -45.803 -16.497 -45.803 --16.334 -45.851 -16.334 -45.851 --16.286 -45.803 -16.286 -45.803 --16.346 -45.661 -16.346 -45.661 --16.283 -45.632 -16.283 -45.632 --16.188 -45.604 -16.188 -45.604 --16.056 -45.711 -16.056 -45.711 --15.963 -45.699 -15.963 -45.699 --15.996 -45.565 -15.996 -45.565 --15.855 -45.532 -15.855 -45.532 --15.763 -45.662 -15.763 -45.662 --15.673 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--4.279 -22.862 -4.328 -25.056 --4.233 -23.154 -4.282 -25.348 --4.190 -23.438 -4.240 -25.632 --4.149 -23.710 -4.198 -25.905 --4.126 -24.024 -4.176 -26.218 --4.079 -24.632 -4.129 -26.826 --4.060 -24.953 -4.109 -27.147 --4.038 -25.231 -4.088 -27.425 --4.019 -25.474 -4.068 -27.669 --3.991 -25.799 -4.040 -27.993 --3.972 -26.082 -4.022 -28.276 --3.946 -26.364 -3.995 -28.559 --3.924 -26.640 -3.973 -28.835 --3.901 -26.915 -3.950 -29.109 --3.876 -27.184 -3.925 -29.379 --3.850 -27.486 -3.900 -29.681 --3.826 -27.748 -3.876 -29.942 --3.803 -27.993 -3.853 -30.187 --3.777 -28.290 -3.826 -30.484 --3.751 -28.565 -3.800 -30.760 --3.723 -28.820 -3.772 -31.014 --3.684 -29.140 -3.733 -31.335 --3.655 -29.396 -3.705 -31.591 --3.604 -29.925 -3.653 -32.119 --3.584 -30.185 -3.633 -32.380 --3.568 -30.422 -3.618 -32.617 --3.552 -30.681 -3.601 -32.875 --3.542 -30.912 -3.591 -33.107 --3.543 -31.127 -3.592 -33.321 --3.537 -31.326 -3.587 -33.520 --3.554 -31.513 -3.604 -33.708 --3.572 -31.695 -3.622 -33.890 --3.563 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--22.746 -37.644 -22.796 -39.839 --22.940 -37.643 -22.989 -39.837 --23.128 -37.635 -23.177 -39.829 --23.297 -37.632 -23.347 -39.826 --23.297 -37.628 -23.347 -39.822 --23.613 -37.620 -23.663 -39.814 --23.770 -37.615 -23.819 -39.809 --23.926 -37.608 -23.976 -39.803 --24.049 -37.602 -24.098 -39.797 --24.123 -37.595 -24.173 -39.789 --24.195 -37.594 -24.245 -39.788 --24.247 -37.596 -24.297 -39.790 --24.283 -37.598 -24.332 -39.792 diff --git a/report/data/traj_run3.dat b/report/data/traj_run3.dat deleted file mode 100644 index a547be4..0000000 --- a/report/data/traj_run3.dat +++ /dev/null @@ -1,620 +0,0 @@ -ox oy ex ey --27.000 -36.000 -27.000 -36.000 --26.037 -33.010 -26.037 -33.010 --26.037 -33.010 -26.037 -33.010 --26.052 -32.855 -26.052 -32.855 --26.042 -32.464 -26.042 -32.464 --26.048 -31.919 -26.048 -31.919 --26.039 -31.241 -26.039 -31.241 --26.089 -30.440 -26.089 -30.440 --26.054 -29.548 -26.054 -29.548 --26.070 -28.640 -26.070 -28.640 --26.095 -27.696 -26.095 -27.696 --26.074 -26.728 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--23.444 -10.621 -23.849 -11.442 --22.542 -10.511 -22.948 -11.331 --21.542 -10.391 -21.948 -11.211 --20.689 -10.288 -21.095 -11.109 --20.107 -10.205 -20.512 -11.025 --19.187 -10.123 -19.593 -10.944 --18.415 -10.034 -18.820 -10.855 --17.554 -9.919 -17.960 -10.740 --16.964 -9.857 -17.370 -10.678 --16.003 -9.785 -16.410 -10.606 --15.361 -9.721 -15.767 -10.542 --14.441 -9.618 -14.847 -10.439 --13.575 -9.550 -13.981 -10.371 --12.687 -9.458 -13.093 -10.279 --12.139 -9.400 -12.545 -10.221 --11.302 -9.313 -11.708 -10.134 --10.774 -9.256 -11.180 -10.077 --10.009 -9.188 -10.415 -10.009 --9.264 -9.122 -9.670 -9.942 --8.834 -9.108 -9.240 -9.929 --8.286 -9.054 -8.692 -9.875 --7.786 -9.055 -8.192 -9.876 --7.378 -9.057 -7.784 -9.878 --6.897 -9.061 -7.303 -9.882 --6.371 -9.071 -6.777 -9.891 --6.009 -9.065 -6.415 -9.886 --5.512 -9.076 -5.918 -9.897 --5.057 -9.087 -5.463 -9.907 --4.632 -9.097 -5.038 -9.917 --4.402 -9.098 -4.808 -9.918 --4.137 -9.100 -4.543 -9.920 --3.996 -9.097 -4.374 -10.819 --3.996 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--5.494 -30.452 -5.871 -32.174 --6.204 -30.558 -6.581 -32.280 --6.709 -30.566 -7.087 -32.288 --7.675 -30.656 -8.052 -32.378 --8.196 -30.706 -8.573 -32.428 --8.960 -30.758 -9.337 -32.479 --9.813 -30.816 -10.190 -32.538 --10.656 -30.881 -11.033 -32.603 --11.508 -30.970 -11.886 -32.691 --12.082 -31.034 -12.460 -32.756 --12.886 -31.111 -13.263 -32.833 --13.649 -31.211 -14.026 -32.933 --14.349 -31.301 -14.726 -33.023 --14.833 -31.349 -15.210 -33.070 --15.530 -31.440 -15.907 -33.161 --16.270 -31.537 -16.647 -33.259 --16.972 -31.627 -17.349 -33.349 --17.615 -31.688 -17.992 -33.409 --18.037 -31.729 -18.414 -33.450 --18.587 -31.783 -18.964 -33.505 --19.036 -31.830 -19.413 -33.552 --19.267 -31.876 -19.645 -33.598 --19.576 -31.851 -19.953 -33.573 --19.874 -31.836 -20.251 -33.558 --20.145 -31.807 -20.522 -33.529 --20.544 -31.790 -20.922 -33.512 --20.967 -31.766 -21.344 -33.488 --21.417 -31.745 -21.794 -33.467 --21.875 -31.733 -22.252 -33.455 --22.162 -31.722 -22.539 -33.444 --22.275 -31.736 -22.652 -33.457 --22.341 -31.681 -22.718 -33.403 --22.329 -31.718 -22.706 -33.440 --22.337 -31.866 -22.714 -33.588 --22.238 -31.751 -22.615 -33.473 --22.169 -31.835 -22.546 -33.557 --22.169 -32.062 -22.546 -33.784 --22.084 -32.198 -22.462 -33.920 --21.907 -32.189 -22.285 -33.911 --21.856 -32.330 -22.233 -34.051 --21.969 -32.511 -22.346 -34.233 --21.962 -32.596 -22.339 -34.317 --21.813 -32.677 -22.190 -34.399 --21.857 -32.817 -22.234 -34.538 --22.050 -32.904 -22.427 -34.626 --22.137 -33.036 -22.514 -34.758 --22.053 -33.200 -22.430 -34.922 --22.228 -33.326 -22.605 -35.048 --22.225 -33.499 -22.602 -35.221 --22.397 -33.511 -22.774 -35.233 --22.399 -33.625 -22.777 -35.347 --22.473 -33.662 -22.850 -35.384 --22.496 -33.659 -22.873 -35.381 --22.534 -33.638 -22.911 -35.359 --22.480 -33.526 -22.857 -35.248 --22.262 -33.184 -22.640 -34.906 --22.062 -32.937 -22.439 -34.659 --21.657 -32.411 -22.034 -34.133 --21.257 -31.835 -21.634 -33.557 --20.944 -31.390 -21.321 -33.112 --20.450 -30.709 -20.827 -32.431 --20.093 -30.238 -20.470 -31.959 --19.537 -29.489 -19.914 -31.211 --19.160 -29.006 -19.537 -30.728 --18.567 -28.251 -18.944 -29.973 --18.212 -27.773 -18.590 -29.495 --17.690 -27.063 -18.067 -28.785 --17.131 -26.345 -17.508 -28.067 --16.596 -25.644 -16.973 -27.366 --16.236 -25.203 -16.613 -26.925 --15.708 -24.530 -16.085 -26.251 --15.351 -24.096 -15.728 -25.817 --14.829 -23.418 -15.206 -25.139 --14.474 -22.987 -14.851 -24.709 --13.979 -22.352 -14.356 -24.074 --13.589 -21.883 -13.967 -23.605 --13.085 -21.236 -13.462 -22.958 --12.541 -20.527 -12.918 -22.249 --12.169 -20.092 -12.546 -21.814 --11.641 -19.406 -12.018 -21.128 --11.226 -18.908 -11.603 -20.630 --10.659 -18.205 -11.036 -19.927 --10.294 -17.742 -10.672 -19.464 --9.767 -17.091 -10.144 -18.813 --9.412 -16.666 -9.789 -18.388 --8.894 -16.028 -9.271 -17.750 --8.525 -15.597 -8.902 -17.319 --8.010 -14.982 -8.387 -16.704 --7.536 -14.414 -7.914 -16.136 --7.213 -14.045 -7.590 -15.767 --6.833 -13.591 -7.211 -15.313 --6.577 -13.281 -6.954 -15.003 --6.188 -12.884 -6.566 -14.606 --6.003 -12.671 -6.380 -14.393 --5.741 -12.454 -6.119 -14.175 --5.566 -12.265 -5.943 -13.987 --5.276 -11.976 -5.653 -13.698 --4.945 -11.648 -5.322 -13.369 --4.729 -11.446 -5.106 -13.168 --4.401 -11.124 -4.778 -12.846 --4.181 -10.919 -4.559 -12.641 --3.873 -10.610 -4.250 -12.332 --3.683 -10.435 -4.061 -12.156 --3.454 -10.216 -3.832 -11.938 --3.331 -10.094 -3.708 -11.816 --3.218 -9.963 -3.595 -11.684 --3.199 -9.931 -3.576 -11.653 --3.230 -9.912 -3.607 -11.634 --3.336 -9.900 -3.713 -11.622 --3.382 -9.879 -3.760 -11.601 --3.292 -10.001 -3.670 -11.722 --3.357 -9.972 -3.734 -11.694 --3.216 -10.020 -3.593 -11.742 --3.269 -9.980 -3.646 -11.702 --3.117 -10.030 -3.494 -11.752 --3.220 -9.995 -3.597 -11.717 --3.151 -10.015 -3.528 -11.737 --3.145 -10.013 -3.523 -11.734 --2.979 -10.003 -3.356 -11.725 --3.092 -10.002 -3.469 -11.723 --3.075 -9.995 -3.452 -11.717 --2.897 -9.921 -3.274 -11.643 --2.884 -9.899 -3.262 -11.620 --2.930 -9.951 -3.307 -11.673 --2.803 -9.870 -3.180 -11.592 --2.858 -9.935 -3.235 -11.657 --2.720 -9.798 -3.098 -11.520 --2.726 -9.766 -3.103 -11.488 --2.752 -9.888 -3.129 -11.610 --2.695 -9.775 -3.072 -11.497 --2.721 -9.822 -3.099 -11.544 --2.719 -9.832 -3.097 -11.554 --2.732 -9.867 -3.110 -11.589 --2.735 -9.717 -3.112 -11.439 --2.756 -9.713 -3.133 -11.435 --2.751 -9.700 -3.128 -11.422 --2.734 -9.805 -3.112 -11.526 --2.873 -9.716 -3.250 -11.438 --2.971 -9.834 -3.349 -11.556 --3.141 -9.838 -3.518 -11.559 --3.382 -9.990 -3.759 -11.712 --3.620 -10.077 -3.997 -11.799 --4.035 -10.393 -4.413 -12.115 --4.375 -10.598 -4.752 -12.320 --4.869 -10.948 -5.246 -12.670 --5.160 -11.250 -5.537 -12.972 --5.705 -11.721 -6.082 -13.443 --6.268 -12.236 -6.645 -13.958 --6.676 -12.654 -7.053 -14.376 --7.300 -13.277 -7.677 -14.999 --7.694 -13.729 -8.072 -15.451 --8.300 -14.383 -8.677 -16.105 --8.674 -14.824 -9.051 -16.546 --9.337 -15.454 -9.714 -17.176 --9.749 -15.879 -10.127 -17.601 --10.368 -16.538 -10.745 -18.260 --10.821 -16.953 -11.198 -18.675 --11.514 -17.639 -11.891 -19.361 --12.126 -18.314 -12.503 -20.036 --12.585 -18.786 -12.963 -20.508 --13.194 -19.411 -13.571 -21.133 --13.668 -19.854 -14.045 -21.576 --14.438 -20.581 -14.815 -22.303 --14.892 -21.020 -15.269 -22.741 --15.551 -21.593 -15.928 -23.315 --15.919 -21.981 -16.296 -23.703 --16.514 -22.540 -16.891 -24.262 --17.059 -23.090 -17.436 -24.812 --17.452 -23.465 -17.829 -25.187 --17.960 -23.963 -18.337 -25.684 --18.290 -24.285 -18.667 -26.007 --18.791 -24.780 -19.169 -26.502 --19.122 -25.127 -19.500 -26.849 --19.601 -25.592 -19.978 -27.314 --19.908 -25.873 -20.285 -27.595 --20.328 -26.287 -20.705 -28.009 --20.581 -26.555 -20.959 -28.277 --20.967 -26.937 -21.344 -28.658 --21.345 -27.306 -21.722 -29.027 --21.591 -27.553 -21.968 -29.275 --21.988 -27.958 -22.365 -29.680 --22.170 -28.145 -22.547 -29.867 --22.311 -28.273 -22.688 -29.995 --22.355 -28.271 -22.732 -29.993 --22.360 -28.215 -22.737 -29.937 --22.232 -28.213 -22.609 -29.934 --22.186 -28.109 -22.563 -29.831 --22.107 -28.114 -22.484 -29.836 --21.998 -28.183 -22.375 -29.905 --21.953 -28.089 -22.330 -29.811 --21.831 -28.219 -22.208 -29.941 --21.705 -28.255 -22.082 -29.976 --21.611 -28.160 -21.989 -29.882 --21.489 -28.171 -21.867 -29.892 --21.404 -28.352 -21.781 -30.074 --21.303 -28.392 -21.680 -30.113 --21.167 -28.339 -21.544 -30.061 --21.173 -28.520 -21.550 -30.242 --21.056 -28.444 -21.433 -30.166 --20.985 -28.525 -21.362 -30.247 --21.072 -28.737 -21.449 -30.459 --20.964 -28.707 -21.341 -30.429 --21.073 -28.861 -21.451 -30.583 --20.928 -28.844 -21.305 -30.566 --21.043 -29.063 -21.421 -30.785 --21.019 -29.236 -21.396 -30.957 --20.937 -29.305 -21.314 -31.026 --21.023 -29.367 -21.400 -31.089 --21.111 -29.296 -21.488 -31.017 --21.138 -29.073 -21.515 -30.794 --21.184 -28.763 -21.561 -30.485 --21.289 -28.397 -21.666 -30.119 --21.442 -27.890 -21.819 -29.611 --21.564 -27.500 -21.941 -29.221 --21.752 -26.819 -22.129 -28.541 --21.991 -26.049 -22.369 -27.771 --22.156 -25.527 -22.533 -27.249 --22.348 -24.744 -22.725 -26.465 --22.555 -23.991 -22.933 -25.712 --22.800 -23.215 -23.177 -24.937 --22.944 -22.686 -23.321 -24.408 --23.158 -21.843 -23.535 -23.564 --23.359 -21.039 -23.736 -22.761 --23.485 -20.536 -23.863 -22.258 --23.689 -19.711 -24.066 -21.433 --23.878 -18.989 -24.256 -20.711 --24.013 -18.485 -24.390 -20.207 --24.270 -17.480 -24.647 -19.202 --24.404 -16.993 -24.781 -18.715 --24.556 -16.335 -24.933 -18.057 --24.671 -15.737 -25.048 -17.459 --24.730 -15.301 -25.107 -17.023 --24.821 -14.755 -25.198 -16.477 --24.899 -14.278 -25.276 -16.000 --24.977 -14.154 -25.354 -15.876 --24.983 -13.962 -25.360 -15.684 --24.953 -13.802 -25.330 -15.524 --24.947 -13.607 -25.325 -15.329 --24.957 -13.398 -25.334 -15.120 --24.962 -13.304 -25.339 -15.026 --24.957 -13.175 -25.335 -14.897 --24.965 -13.043 -25.343 -14.764 --24.972 -12.962 -26.170 -16.010 --24.966 -12.921 -26.165 -15.969 --24.975 -12.922 -26.173 -15.970 --24.970 -12.885 -26.168 -15.934 --24.978 -12.886 -26.176 -15.934 --24.973 -12.860 -26.171 -15.908 --25.012 -12.869 -26.210 -15.917 --25.036 -12.943 -26.234 -15.991 --24.989 -13.015 -26.187 -16.063 --25.109 -13.082 -26.307 -16.131 --25.208 -13.166 -26.406 -16.214 --25.154 -13.289 -26.352 -16.337 --25.309 -13.290 -26.507 -16.338 --25.266 -13.418 -26.464 -16.467 --25.376 -13.402 -26.575 -16.450 --25.374 -13.536 -26.572 -16.584 --25.554 -13.474 -26.752 -16.522 --25.491 -13.577 -26.689 -16.625 --25.634 -13.470 -26.832 -16.518 --25.688 -13.499 -26.886 -16.547 --25.824 -13.450 -27.022 -16.498 --25.842 -13.567 -27.040 -16.616 --25.922 -13.588 -27.120 -16.636 --25.981 -13.461 -27.180 -16.509 --26.062 -13.293 -27.261 -16.341 --26.135 -13.207 -27.334 -16.255 --26.200 -13.285 -27.398 -16.333 --26.263 -13.335 -27.461 -16.383 --26.227 -13.196 -27.425 -16.244 --26.234 -13.187 -27.432 -16.235 --26.183 -13.237 -27.381 -16.285 --25.993 -13.379 -27.191 -16.427 --25.565 -13.579 -26.763 -16.627 --24.983 -13.854 -26.181 -16.902 --24.562 -14.007 -25.760 -17.055 --23.930 -14.348 -25.128 -17.396 --23.443 -14.584 -24.641 -17.632 --22.734 -14.990 -23.932 -18.038 --22.254 -15.267 -23.452 -18.315 --21.533 -15.764 -22.731 -18.813 --20.812 -16.257 -22.011 -19.305 --20.360 -16.592 -21.558 -19.640 --19.583 -17.150 -20.781 -20.198 --19.042 -17.566 -20.240 -20.614 --18.318 -18.082 -19.516 -21.130 --17.814 -18.475 -19.012 -21.523 --17.091 -18.997 -18.289 -22.046 --16.581 -19.359 -17.779 -22.407 --15.868 -19.847 -17.066 -22.895 --15.146 -20.359 -16.344 -23.407 --14.693 -20.715 -15.891 -23.763 --14.012 -21.209 -15.210 -24.257 --13.512 -21.575 -14.710 -24.623 --12.841 -22.080 -14.040 -25.128 --12.403 -22.415 -13.601 -25.463 --11.741 -22.931 -12.939 -25.980 --11.324 -23.228 -12.522 -26.276 --10.630 -23.739 -11.828 -26.787 --10.230 -24.052 -11.428 -27.100 --9.585 -24.493 -10.783 -27.541 --8.944 -24.963 -10.142 -28.012 --8.557 -25.265 -9.755 -28.313 --7.990 -25.706 -9.188 -28.754 --7.662 -25.967 -8.860 -29.015 --7.155 -26.362 -8.353 -29.410 --6.858 -26.633 -8.056 -29.681 --6.461 -26.921 -7.659 -29.969 --6.267 -27.137 -7.465 -30.185 --5.997 -27.324 -7.195 -30.372 --5.765 -27.599 -6.963 -30.648 --5.572 -27.818 -6.771 -30.866 --5.257 -28.141 -6.455 -31.189 --5.057 -28.360 -6.255 -31.409 --4.761 -28.685 -5.959 -31.733 --4.577 -28.879 -5.775 -31.927 --4.255 -29.200 -5.453 -32.248 --4.077 -29.393 -5.275 -32.441 --3.845 -29.636 -5.043 -32.684 --3.717 -29.779 -4.915 -32.827 --3.555 -29.950 -4.753 -32.998 --3.408 -30.091 -4.606 -33.139 --3.344 -30.148 -4.542 -33.196 --3.317 -30.175 -4.515 -33.224 --3.335 -30.196 -4.533 -33.244 --3.348 -30.177 -4.546 -33.225 --3.426 -30.200 -4.624 -33.248 --3.382 -30.112 -4.580 -33.160 --3.451 -30.147 -4.649 -33.195 --3.378 -30.091 -4.576 -33.139 --3.341 -30.066 -4.539 -33.114 --3.436 -30.079 -4.634 -33.127 --3.428 -29.988 -4.626 -33.036 --3.247 -29.937 -4.445 -32.985 --3.207 -29.883 -4.405 -32.931 --3.276 -29.825 -4.474 -32.873 --3.233 -29.765 -4.431 -32.813 --3.163 -29.744 -4.361 -32.792 --3.015 -29.780 -4.213 -32.828 --2.912 -29.764 -4.110 -32.812 --2.880 -29.705 -4.078 -32.753 --2.887 -29.552 -4.085 -32.600 --2.713 -29.595 -3.911 -32.643 --2.693 -29.401 -3.892 -32.449 --2.502 -29.459 -3.700 -32.507 --2.295 -29.479 -3.493 -32.527 --2.147 -29.569 -3.345 -32.617 --2.062 -29.516 -3.260 -32.565 --2.184 -29.449 -3.382 -32.498 --2.441 -29.509 -3.639 -32.557 --2.936 -29.562 -4.134 -32.610 --3.482 -29.643 -4.680 -32.691 --3.883 -29.675 -5.081 -32.723 --4.527 -29.770 -5.725 -32.818 --5.247 -29.871 -6.445 -32.919 --5.742 -29.913 -6.940 -32.961 --6.510 -30.010 -7.708 -33.058 --7.061 -30.069 -8.259 -33.117 --7.796 -30.129 -8.994 -33.177 --8.598 -30.215 -9.796 -33.263 --9.417 -30.302 -10.615 -33.350 --10.277 -30.367 -11.475 -33.416 --10.835 -30.417 -12.034 -33.465 --11.711 -30.486 -12.909 -33.534 --12.598 -30.545 -13.796 -33.593 --13.186 -30.587 -14.384 -33.635 --13.997 -30.673 -15.195 -33.721 --14.751 -30.750 -15.949 -33.797 --15.260 -30.790 -16.458 -33.838 --15.927 -30.830 -17.125 -33.878 --16.603 -30.861 -17.801 -33.909 --17.174 -30.897 -18.372 -33.945 --17.709 -30.924 -18.907 -33.972 --18.059 -30.942 -19.257 -33.990 --18.546 -30.963 -19.744 -34.011 --18.895 -30.957 -20.093 -34.005 --19.149 -30.935 -20.348 -33.983 --19.500 -30.951 -20.698 -33.999 --19.892 -30.952 -21.090 -34.000 --20.150 -30.935 -21.348 -33.983 --20.696 -30.937 -21.894 -33.985 --20.984 -30.927 -22.182 -33.975 --21.385 -30.929 -22.583 -33.977 --21.833 -30.927 -23.031 -33.975 --22.106 -30.933 -23.304 -33.981 --22.463 -30.937 -23.661 -33.985 --22.774 -30.931 -23.972 -33.979 --23.030 -30.936 -24.275 -36.602 --23.087 -30.938 -24.332 -36.604 --23.087 -30.943 -24.332 -36.608 --23.128 -30.945 -24.372 -36.611 --23.128 -30.947 -24.372 -36.612 --23.154 -30.948 -24.398 -36.614 --23.176 -30.940 -24.421 -36.605 --23.146 -31.056 -24.391 -36.721 --23.076 -30.977 -24.321 -36.642 --23.002 -31.015 -24.247 -36.680 --23.001 -31.198 -24.245 -36.863 --22.961 -31.240 -24.206 -36.906 --22.860 -31.215 -24.105 -36.881 --22.781 -31.291 -24.026 -36.956 --22.702 -31.406 -23.946 -37.072 --22.720 -31.601 -23.965 -37.266 --22.668 -31.759 -23.913 -37.425 --22.584 -31.902 -23.829 -37.568 --22.457 -31.954 -23.701 -37.620 --22.601 -32.106 -23.846 -37.772 --22.581 -32.200 -23.826 -37.865 --22.552 -32.250 -23.797 -37.915 --22.587 -32.296 -23.832 -37.962 --22.586 -32.336 -23.831 -38.002 --22.592 -32.338 -23.837 -38.004 --22.595 -32.338 -23.840 -38.004 --22.597 -32.339 -23.084 -36.160 --22.598 -32.339 -23.084 -36.161 --22.599 -32.339 -23.085 -36.161 diff --git a/report/data/traj_run4.dat b/report/data/traj_run4.dat deleted file mode 100644 index 686b560..0000000 --- a/report/data/traj_run4.dat +++ /dev/null @@ -1,601 +0,0 @@ -ox oy ex ey --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --26.400 -29.690 -26.400 -29.690 --26.400 -29.690 -26.400 -29.690 --26.399 -29.690 -26.399 -29.690 --26.380 -29.691 -26.380 -29.691 --26.367 -29.688 -26.367 -29.688 --26.392 -29.688 -26.392 -29.688 --26.395 -29.696 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a/report/data/traj_run7.dat b/report/data/traj_run7.dat deleted file mode 100644 index 03a1cf2..0000000 --- a/report/data/traj_run7.dat +++ /dev/null @@ -1,602 +0,0 @@ -ox oy ex ey --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --27.000 -36.000 -27.000 -36.000 --17.374 -38.117 -17.374 -38.117 --17.375 -38.117 -17.375 -38.117 --17.373 -38.100 -17.373 -38.100 --17.346 -38.076 -17.346 -38.076 --17.366 -38.077 -17.366 -38.077 --17.375 -38.079 -17.375 -38.079 --17.341 -38.081 -17.341 -38.081 --17.381 -38.078 -17.381 -38.078 --17.343 -38.074 -17.343 -38.074 --17.343 -38.075 -17.343 -38.075 --17.340 -38.077 -17.340 -38.077 --17.384 -38.075 -17.384 -38.075 --17.382 -38.066 -17.382 -38.066 --17.342 -38.054 -17.342 -38.054 --17.374 -38.035 -17.374 -38.035 --17.327 -38.028 -17.327 -38.028 --17.324 -38.011 -17.324 -38.011 --17.369 -38.006 -17.369 -38.006 --17.377 -37.989 -17.377 -37.989 --17.322 -37.989 -17.322 -37.989 --17.354 -37.971 -17.354 -37.971 --17.351 -37.956 -17.351 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--2.954 -32.528 -2.954 -32.528 --2.939 -32.519 -2.939 -32.519 --2.730 -32.898 -2.730 -32.898 --2.535 -33.304 -2.535 -33.304 --2.364 -33.667 -2.364 -33.667 --2.160 -34.058 -2.160 -34.058 --2.169 -34.064 -2.169 -34.064 --1.782 -34.765 -1.782 -34.765 --1.794 -34.772 -1.794 -34.772 --1.611 -35.120 -1.611 -35.120 --1.388 -35.483 -1.388 -35.483 --1.200 -35.859 -1.200 -35.859 --1.217 -35.870 -1.217 -35.870 --1.026 -36.233 -1.026 -36.233 --0.849 -36.568 -0.849 -36.568 --0.611 -36.954 -0.611 -36.954 --0.405 -37.324 -0.405 -37.324 --0.211 -37.666 -0.211 -37.666 --0.025 -37.994 -0.025 -37.994 --0.045 -38.008 -0.045 -38.008 -0.153 -38.359 0.153 -38.359 -0.377 -38.697 0.377 -38.697 -0.564 -39.027 0.564 -39.027 -0.541 -39.043 0.541 -39.043 -0.746 -39.385 0.746 -39.385 -0.972 -39.705 0.972 -39.705 -1.205 -40.072 1.205 -40.072 -1.376 -40.395 1.376 -40.395 -1.591 -40.689 1.591 -40.689 -1.789 -40.998 1.789 -40.998 -2.038 -41.356 2.038 -41.356 -2.262 -41.683 2.262 -41.683 -2.245 -41.697 2.245 -41.697 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6.194 -48.724 -6.201 -49.184 6.201 -49.184 -6.175 -49.646 6.175 -49.646 -6.139 -49.950 6.139 -49.950 -5.983 -50.096 5.983 -50.096 -6.016 -50.371 6.016 -50.371 -6.151 -50.432 6.151 -50.432 -6.176 -50.646 6.176 -50.646 -6.099 -50.868 6.099 -50.868 -6.159 -50.903 6.159 -50.903 -6.149 -50.947 6.149 -50.947 -6.143 -50.939 6.143 -50.939 -6.195 -50.901 6.195 -50.901 -6.214 -50.913 6.214 -50.913 -6.273 -50.840 6.273 -50.840 -6.303 -50.745 6.303 -50.745 -6.342 -50.655 6.342 -50.655 -6.376 -50.538 6.376 -50.538 -6.426 -50.443 6.426 -50.443 -6.495 -50.332 6.495 -50.332 -6.524 -50.352 6.524 -50.352 -6.673 -50.191 6.673 -50.191 -6.644 -50.171 6.644 -50.171 -6.710 -50.094 6.710 -50.094 -6.804 -50.037 6.804 -50.037 -6.848 -49.958 6.848 -49.958 -6.814 -49.932 6.814 -49.932 -6.831 -49.860 6.831 -49.860 -6.849 -49.887 6.849 -49.887 -6.754 -49.913 6.754 -49.913 -6.716 -49.883 6.716 -49.883 -6.625 -49.999 6.625 -49.999 -6.546 -50.088 6.546 -50.088 -6.551 -50.094 6.551 -50.094 -6.448 -50.234 6.448 -50.234 -6.308 -50.408 6.308 -50.408 -6.164 -50.588 6.164 -50.588 -6.166 -50.590 6.166 -50.590 -6.002 -50.791 6.002 -50.791 -5.824 -51.005 5.824 -51.005 -5.652 -51.218 5.652 -51.218 -5.654 -51.219 5.654 -51.219 -5.471 -51.441 5.471 -51.441 -5.272 -51.682 5.272 -51.682 -5.056 -51.946 5.056 -51.946 -4.820 -52.222 4.820 -52.222 -4.583 -52.505 4.583 -52.505 -4.370 -52.759 4.370 -52.759 -4.369 -52.759 4.369 -52.759 -4.092 -53.088 4.092 -53.088 -3.849 -53.377 3.849 -53.377 -3.592 -53.684 3.592 -53.684 -3.593 -53.684 3.593 -53.684 -3.360 -53.967 3.360 -53.967 -3.091 -54.286 3.091 -54.286 -2.839 -54.588 2.839 -54.588 -2.590 -54.888 2.590 -54.888 -2.590 -54.888 2.590 -54.888 -2.335 -55.193 2.335 -55.193 -2.070 -55.513 2.070 -55.513 -1.819 -55.820 1.819 -55.820 -1.549 -56.145 1.549 -56.145 -1.284 -56.469 1.284 -56.469 -1.287 -56.471 1.287 -56.471 -1.027 -56.788 1.027 -56.788 -0.724 -57.147 0.724 -57.147 -0.443 -57.485 0.443 -57.485 -0.445 -57.487 0.445 -57.487 -0.191 -57.787 0.191 -57.787 --0.101 -58.127 -0.101 -58.127 --0.364 -58.434 -0.364 -58.434 --0.670 -58.790 -0.670 -58.790 --0.667 -58.792 -0.667 -58.792 --0.936 -59.114 -0.936 -59.114 --1.271 -59.507 -1.271 -59.507 --1.538 -59.826 -1.538 -59.826 --1.535 -59.829 -1.535 -59.829 --2.036 -60.423 -2.036 -60.423 --2.035 -60.425 -2.035 -60.425 --2.352 -60.797 -2.352 -60.797 --2.631 -61.125 -2.631 -61.125 --2.917 -61.455 -2.917 -61.455 --3.207 -61.795 -3.207 -61.795 --3.203 -61.798 -3.203 -61.798 --3.486 -62.138 -3.486 -62.138 --3.765 -62.463 -3.765 -62.463 --4.043 -62.799 -4.043 -62.799 --4.322 -63.120 -4.322 -63.120 --4.630 -63.475 -4.630 -63.475 --4.629 -63.476 -4.629 -63.476 --4.921 -63.810 -4.921 -63.810 --5.210 -64.137 -5.210 -64.137 --5.541 -64.464 -5.541 -64.464 --5.869 -64.740 -5.869 -64.740 --5.890 -64.721 -5.890 -64.721 --6.134 -64.951 -6.134 -64.951 --6.311 -65.182 -6.311 -65.182 --6.509 -65.311 -6.509 -65.311 --6.537 -65.287 -6.537 -65.287 --6.684 -65.428 -6.684 -65.428 --6.723 -65.469 -6.723 -65.469 --6.719 -65.477 -6.719 -65.477 --6.714 -65.481 -6.714 -65.481 --6.710 -65.484 -6.710 -65.484 --6.711 -65.484 -6.711 -65.484 --6.689 -65.451 -6.689 -65.451 --6.691 -65.423 -6.691 -65.423 --6.686 -65.427 -6.686 -65.427 --6.701 -65.414 -6.701 -65.414 --6.704 -65.410 -6.704 -65.410 --6.706 -65.409 -6.706 -65.409 --6.707 -65.409 -6.707 -65.409 --6.710 -65.410 -6.710 -65.410 --6.713 -65.412 -6.713 -65.412 --6.714 -65.411 -6.714 -65.411 --6.713 -65.412 -6.713 -65.412 --6.711 -65.413 -6.711 -65.413 --6.710 -65.414 -6.710 -65.414 --6.711 -65.414 -6.711 -65.414 --6.713 -65.412 -6.713 -65.412 --6.715 -65.410 -6.715 -65.410 --6.716 -65.410 -6.716 -65.410 --6.715 -65.410 -6.715 -65.410 --6.711 -65.413 -6.711 -65.413 --6.702 -65.416 -6.702 -65.416 --6.642 -65.388 -6.642 -65.388 --6.629 -65.399 -6.629 -65.399 --6.596 -65.343 -6.596 -65.343 --6.556 -65.290 -6.556 -65.290 --6.528 -65.219 -6.528 -65.219 --6.472 -65.160 -6.472 -65.160 --6.462 -65.169 -6.462 -65.169 --6.376 -65.084 -6.376 -65.084 --6.294 -64.974 -6.294 -64.974 --6.217 -64.916 -6.217 -64.916 --6.237 -64.899 -6.237 -64.899 --6.109 -64.873 -6.109 -64.873 --5.993 -64.822 -5.993 -64.822 --5.927 -64.800 -5.927 -64.800 --5.905 -64.819 -5.905 -64.819 --5.834 -64.805 -5.834 -64.805 --5.788 -64.774 -5.788 -64.774 --5.746 -64.721 -5.746 -64.721 --5.744 -64.692 -5.744 -64.692 --5.756 -64.681 -5.756 -64.681 --5.746 -64.639 -5.746 -64.639 --5.666 -64.593 -5.666 -64.593 --5.575 -64.499 -5.575 -64.499 --5.581 -64.494 -5.581 -64.494 --5.464 -64.372 -5.464 -64.372 --5.355 -64.249 -5.355 -64.249 --5.250 -64.122 -5.250 -64.122 --5.124 -63.988 -5.124 -63.988 --5.123 -63.988 -5.123 -63.988 --4.814 -63.678 -4.814 -63.678 --4.812 -63.679 -4.812 -63.679 --4.622 -63.501 -4.622 -63.501 --4.439 -63.306 -4.439 -63.306 --4.258 -63.106 -4.258 -63.106 --4.260 -63.105 -4.260 -63.105 --4.093 -62.910 -4.093 -62.910 --3.924 -62.716 -3.924 -62.716 --3.737 -62.511 -3.737 -62.511 --3.739 -62.510 -3.739 -62.510 --3.341 -62.091 -3.341 -62.091 --3.130 -61.859 -3.130 -61.859 --2.944 -61.636 -2.944 -61.636 --2.788 -61.454 -2.788 -61.454 --2.642 -61.260 -2.642 -61.260 --2.486 -61.033 -2.486 -61.033 --2.445 -61.065 -2.445 -61.065 --2.288 -60.894 -2.288 -60.894 --2.198 -60.699 -2.198 -60.699 --2.076 -60.552 -2.076 -60.552 --2.042 -60.576 -2.042 -60.576 --1.916 -60.403 -1.916 -60.403 --1.768 -60.208 -1.768 -60.208 --1.641 -60.029 -1.641 -60.029 --1.540 -59.875 -1.540 -59.875 --1.468 -59.672 -1.468 -59.672 --1.356 -59.505 -1.356 -59.505 --1.304 -59.536 -1.304 -59.536 --1.198 -59.386 -1.198 -59.386 --1.124 -59.170 -1.124 -59.170 --0.991 -58.970 -0.991 -58.970 --0.941 -58.997 -0.941 -58.997 --0.806 -58.767 -0.806 -58.767 --0.655 -58.544 -0.655 -58.544 --0.534 -58.359 -0.534 -58.359 --0.406 -58.167 -0.406 -58.167 --0.306 -57.985 -0.306 -57.985 --0.174 -57.756 -0.174 -57.756 --0.083 -57.529 -0.083 -57.529 -0.045 -57.329 0.045 -57.329 -0.057 -57.335 0.057 -57.335 -0.166 -57.128 0.166 -57.128 -0.302 -56.895 0.302 -56.895 -0.401 -56.669 0.401 -56.669 -0.533 -56.419 0.533 -56.419 -0.665 -56.149 0.665 -56.149 -0.790 -55.894 0.790 -55.894 -0.777 -55.887 0.777 -55.887 -0.888 -55.638 0.888 -55.638 -0.997 -55.409 0.997 -55.409 -1.113 -55.158 1.113 -55.158 -1.103 -55.153 1.103 -55.153 -1.351 -54.626 1.351 -54.626 -1.335 -54.619 1.335 -54.619 -1.448 -54.361 1.448 -54.361 -1.581 -54.099 1.581 -54.099 -1.679 -53.860 1.679 -53.860 -1.666 -53.854 1.666 -53.854 -1.788 -53.592 1.788 -53.592 -2.045 -52.997 2.045 -52.997 -2.037 -52.994 2.037 -52.994 -2.156 -52.738 2.156 -52.738 -2.276 -52.468 2.276 -52.468 -2.393 -52.190 2.393 -52.190 -2.383 -52.185 2.383 -52.185 -2.633 -51.633 2.633 -51.633 -2.622 -51.629 2.622 -51.629 -2.717 -51.387 2.717 -51.387 -2.838 -51.114 2.838 -51.114 -2.954 -50.825 2.954 -50.825 -3.062 -50.554 3.062 -50.554 -3.062 -50.554 3.062 -50.554 -3.175 -50.307 3.175 -50.307 -3.256 -50.087 3.256 -50.087 -3.304 -49.903 3.304 -49.903 -3.339 -49.746 3.339 -49.746 -3.376 -49.622 3.376 -49.622 -3.458 -49.661 3.458 -49.661 -3.457 -49.409 3.457 -49.409 -3.547 -49.459 3.547 -49.459 -3.572 -49.405 3.572 -49.405 -3.532 -49.363 3.532 -49.363 diff --git a/report/localization_report.tex b/report/localization_report.tex deleted file mode 100644 index e0c8476..0000000 --- a/report/localization_report.tex +++ /dev/null @@ -1,609 +0,0 @@ -% ============================================================================ -% VEX localization stack -- field validation & audit report -% Every number regenerates from validation_data/run1..7 + src/tune.txt via -% tools/drift_analysis.py (drift model, error curves, trajectories) -% tools/audit_analysis.py (code-vs-data invariants, tables, macros) -% Compile: latexmk -pdf localization_report.tex (run from report/) -% ============================================================================ -\documentclass[11pt]{article} - -\usepackage[T1]{fontenc} -\usepackage{libertinus} -\usepackage[scaled=0.86]{beramono} -\usepackage{microtype} -\usepackage[a4paper,margin=2.05cm,top=1.7cm,bottom=1.9cm]{geometry} -\usepackage[table]{xcolor} -\usepackage{booktabs} -\usepackage{array} -\usepackage{siunitx} -\usepackage{enumitem} -\usepackage{titlesec} -\usepackage{fontawesome5} -\usepackage[most]{tcolorbox} -\usepackage{pgfplots} -\usepackage{pgfplotstable} -\usepackage{float} -\usepackage{needspace} -\usepackage{fancyhdr} -\usepackage{hyperref} -\pgfplotsset{compat=1.18} -\usepgfplotslibrary{fillbetween} -\usetikzlibrary{arrows.meta, positioning} - -\input{data/macros.tex} -\input{data/audit_macros.tex} -\pgfplotstableread[col sep=space, string type]{data/rejects_run3.dat}\rejecttable - -% ---- palette ----------------------------------------------------------------- -\definecolor{ink}{HTML}{1F2933} -\definecolor{subink}{HTML}{52606D} -\definecolor{faint}{HTML}{7B8794} -\definecolor{drift}{HTML}{D1495B} % raw odometry -\definecolor{filt}{HTML}{1F9E8F} % filtered / re-anchor -\definecolor{gold}{HTML}{E0A23B} % validated sensor fix -\definecolor{rulec}{HTML}{CBD2D9} -\definecolor{panel}{HTML}{F4F6F8} -\definecolor{paneldrift}{HTML}{FBECEE} -\definecolor{panelfilt}{HTML}{E6F4F1} -\definecolor{panelgold}{HTML}{FBF3E2} - -\hypersetup{colorlinks=true, linkcolor=filt, urlcolor=filt, citecolor=filt, - pdftitle={LemLib, But It Knows Where It Is -- Localization Fork Introduction and Validation}, - pdfauthor={drift\_analysis.py + audit\_analysis.py}} -\sisetup{detect-all, group-separator={,}} - -% ---- section styling --------------------------------------------------------- -\titleformat{\section}{\large\bfseries\color{ink}}{\thesection}{0.7em}{} - [{\vspace{3pt}\color{rulec}\titlerule[0.8pt]}] -\titlespacing*{\section}{0pt}{1.2em}{0.55em} -\titleformat{\subsection}{\normalsize\bfseries\color{filt}}{}{0em}{} -\titlespacing*{\subsection}{0pt}{0.85em}{0.25em} -\setlist[itemize]{leftmargin=1.35em, itemsep=2pt, topsep=2pt} -\renewcommand{\arraystretch}{1.16} - -% ---- header / footer --------------------------------------------------------- -\pagestyle{fancy}\fancyhf{} -\renewcommand{\headrulewidth}{0pt} -\fancyfoot[L]{\footnotesize\color{faint}Localization $\!\cdot\!$ field validation \& audit} -\fancyfoot[C]{\footnotesize\color{faint}\thepage} -\fancyfoot[R]{\footnotesize\color{faint}branch \texttt{Localization} $\!\cdot\!$ baseline \texttt{bd1831c} $\!\cdot\!$ audit 2026-06-11} - -% ---- pgfplots base style ----------------------------------------------------- -\pgfplotsset{ - driftbase/.style={ - width=7.5cm, height=5.3cm, - axis line style={faint, line width=0.6pt}, - tick align=outside, tick style={faint, line width=0.5pt}, - grid=major, major grid style={rulec, line width=0.35pt}, - label style={font=\footnotesize\color{subink}}, - tick label style={font=\scriptsize\color{subink}}, - title style={font=\bfseries\color{ink}, yshift=2pt}, - legend style={font=\scriptsize, draw=rulec, fill=white, fill opacity=0.9, - text opacity=1, row sep=1pt, inner sep=3pt}, - every axis plot/.append style={line width=1.3pt}, - axis lines=left, - } -} -% mark only rows where the "accept" column == 1 -\pgfplotsset{onlyaccepts/.style={x filter/.code={% - \edef\tmpa{\thisrow{accept}}\edef\tmpb{1}% - \ifx\tmpa\tmpb\else\def\pgfmathresult{nan}\fi}}} - -\newcommand{\statbox}[4]{% color, big, unit, caption - \begin{tcolorbox}[blanker, width=\linewidth, halign=center, valign=center, - colback=#1!8, colframe=#1!55, boxrule=0.8pt, arc=3pt, top=7pt, bottom=7pt] - {\fontsize{23}{23}\selectfont\bfseries\color{ink}#2}\,{\footnotesize\color{subink}#3}\\[2pt] - {\footnotesize\color{subink}#4} - \end{tcolorbox}} -\newcommand{\ok}{\textcolor{filt}{\faCheckCircle}} -\makeatletter % primitive input: LaTeX's \input wrapper breaks inside tabular rows -\newcommand{\rawinput}[1]{\@@input #1 } -\makeatother -\newcommand{\bad}{\textcolor{drift}{\faTimesCircle}} - -\begin{document} - -% ============================ TITLE BLOCK =================================== -\begin{center} - {\color{filt}\faCrosshairs}\quad - {\LARGE\bfseries\color{ink}LemLib, But It Knows Where It Is}\\[4pt] - {\large\color{subink}What this fork adds to stock LemLib odometry --- - and seven instrumented runs proving it}\\[8pt] - {\footnotesize\color{faint}\texttt{validation\_data/run1..7} $+$ \texttt{src/tune.txt} - $\;\cdot\;$ \nTotalRows{} trace rows $\;\cdot\;$ regenerated by - \texttt{drift\_analysis.py} $+$ \texttt{audit\_analysis.py} $\;\cdot\;$ 2026-06-11} -\end{center} -\vspace{0.2em} -{\color{ink}\hrule height 1.4pt} -\vspace{1.0em} - -% ============================ EXECUTIVE SUMMARY ============================= -\begin{tcolorbox}[enhanced, colback=panel, colframe=rulec, boxrule=0.8pt, arc=4pt, - left=10pt, right=10pt, top=8pt, bottom=9pt, drop fuzzy shadow=rulec] -{\bfseries\color{ink}\faBolt\; Bottom line.}\; -The stack now does three jobs, and the logs show each one doing what it claims. -\textbf{At the start}, the wall solver fixes the true field pose to sub-tenth-inch -agreement with an independent reimplementation --- and after the three-sensor guard, -it \emph{refuses} the weak views that once produced an \RunFiveCommitErr\,in false -commit. \textbf{During the run}, every correction is gated; the sensors booked up to -\RunThreeBooked\,in of real, directional odometry drift on the long route and fed it -back in bounded, validated steps. \textbf{Between motions}, the boundary re-anchor -(modeled on these traces) would cut peak tracking error by about -\aggFactor$\times$ at zero driving-speed cost. On the five runs with no trustworthy -fix, the filter held \emph{exactly} to odometry: never worse, better when it can be. -\end{tcolorbox} - -\vspace{0.7em} -\begin{tcbraster}[raster columns=4, raster column skip=7pt, raster equal height] - \statbox{drift}{\aggRawMax}{in}{peak raw-odom drift the\\sensors measured (run\,3)} - \statbox{filt}{\aggFactor$\times$}{}{modeled peak-error cut\\from the boundary re-anchor} - \statbox{gold}{\nValidatedFixes}{fixes}{gated corrections accepted\\across the two evidence runs} - \statbox{subink}{\AuditWallMaxErr}{in}{max disagreement, firmware\\vs.\ independent math replay} -\end{tcbraster} - -% ============================ SYSTEM ======================================== -\section{What this fork adds to LemLib} -Stock LemLib navigates by \emph{dead reckoning}: integrate the tracking wheels and -IMU from wherever you told it the robot starts. That works --- until it quietly -doesn't, for two reasons these logs measure directly. First, the \emph{start pose -is a guess}: the code trusts a hard-coded constant while the real robot sits -wherever it was hand-placed (the runs here landed up to $\sim$10\,in from the -configured start). Second, \emph{drift only accumulates}: wheel slip and scale -error add up silently with every inch driven (measured here at -\RunThreeDriftPer--\RunTwoDriftPer\,in per 100\,in). Stock LemLib can never notice -either one, because nothing ever measures the field. - -This fork keeps LemLib's odometry, motion control, and API --- and wraps a -localization layer around them that \emph{measures} the field with four distance -sensors: - -\begin{center} -\begin{tikzpicture}[ - blk/.style={draw=#1!60, fill=#1!7, rounded corners=2.5pt, line width=0.8pt, - inner xsep=6pt, inner ysep=4.5pt, align=center, font=\footnotesize}, - lbl/.style={font=\scriptsize\itshape\color{subink}}, - arr/.style={-{Stealth[length=2.2mm]}, subink, line width=0.8pt}] - % middle lane: the localization layer - \node[blk=gold] (dist) {4 distance\\sensors}; - \node[blk=gold, right=5mm of dist] (mcl) {MCL particle filter\\450 particles, \SI{20}{Hz}}; - \node[blk=gold, right=5mm of mcl] (gate) {gate stack\\8 simultaneous checks}; - \node[blk=filt, right=5mm of gate] (ekf) {\textbf{EKF}\\best estimate}; - \node[blk=ink, fill=panel, right=14mm of ekf, minimum height=2.55cm, - inner xsep=8pt] (pose) {\textbf{driven}\\\textbf{pose}}; - % top lane: stock LemLib - \node[blk=subink, above=7.5mm of dist.north west, anchor=south west] (enc) - {tracking wheels $+$ IMU}; - \node[blk=subink, right=5mm of enc] (odom) {\textbf{LemLib odometry}\\dead reckoning, \SI{100}{Hz}}; - % bottom lane: start relocalization - \node[blk=filt, below=7.5mm of dist.south west, anchor=north west] (reloc) - {\textbf{start wall solve}\\stationary, $<$\,\SI{0.2}{s}}; - % flows - \draw[arr] (enc) -- (odom); - \draw[arr] (dist) -- (mcl); - \draw[arr] (mcl) -- (gate); - \draw[arr] (gate) -- (ekf); - \draw[arr] (odom.south) -- (odom.south |- mcl.north) - node[midway, right=2pt, lbl] {odom deltas}; - \draw[arr] (odom.east) -- ([yshift=9mm]pose.west) - node[midway, above=1pt, lbl] {stock LemLib stops here}; - \draw[arr, filt, line width=1.0pt] (reloc.east) -- ([yshift=-9mm]pose.west) - node[pos=0.18, above=1pt, lbl] {true field pose at $t=0$}; - \draw[arr, filt, line width=1.0pt] (ekf.east) -- (pose.west) - node[midway, below=8pt, lbl, fill=white, inner sep=1.5pt] {bounded, idle-only}; -\end{tikzpicture} -\end{center} - -Concretely, three additions: \textbf{start relocalization} (solve the absolute pose -from the perimeter walls while stationary, then anchor the start-relative route to -it), \textbf{gated sensor fusion} (an MCL$+$EKF estimate that books drift and -returns it in bounded steps --- only when an eight-condition gate stack agrees), and -the \textbf{boundary re-anchor} (commit the already-validated fix in one bounded -step, up to \boundaryCap\,in, in the idle beat between motions; it is in the current -firmware behind \texttt{enableBoundaryReanchor} --- these traces predate it, so its -curves below are the validated fixes \emph{replayed} at the stops). Routes are -still authored exactly like stock LemLib, via a start-relative wrapper. - -\subsection{The design rule everywhere: never worse than odometry} -\begin{center}\footnotesize -\rowcolors{2}{panel}{white} -\begin{tabular}{@{}>{\bfseries}p{2.35cm} p{6.1cm} p{6.7cm}@{}} -\toprule - & {\normalfont\color{subink}stock LemLib} & {\color{filt}this fork}\\ -\midrule -start pose & the constant you typed; the robot is wherever it was placed & measured from the walls before moving; safe fallback to the constant\\ -mid-run drift & accumulates silently; nothing ever corrects it & booked by the sensors, returned in bounded validated steps at stops\\ -bad sensor view & --- (no sensors to fool) & rejected by the gates; the pose simply stays on odometry\\ -worst case & start error $+$ a whole run of drift & \emph{exactly} stock odometry --- a fix is applied only after validation\\ -speed cost & --- & zero: corrections are forbidden mid-motion\\ -heading & IMU & IMU, deliberately untouched by range data\\ -route authoring & absolute field coordinates & unchanged start-relative commands (\texttt{StartRelativeChassis})\\ -\bottomrule -\end{tabular} -\end{center} -The rest of this report is the evidence: real runs (\autoref{sec:reloc}--7), and an -audit that replays the firmware's math independently (\autoref{sec:audit}). - -% ============================ RELOCALIZATION ================================ -\section{Start relocalization: the guard earned its place}\label{sec:reloc} -Hand placement varies by inches, so every run begins with a stationary wall solve. -The seven runs bracket the guard change deliberately --- runs 1--5 are the pre-guard -builds, runs 6--7 carry the three-sensor commit guard: - -\begin{center}\footnotesize -\rowcolors{2}{panel}{white} -\begin{tabular}{c l c l S[table-format=1.0] S[table-format=1.2] l} -\toprule -\textbf{Run} & \textbf{Start condition} & \textbf{Guard} & \textbf{Outcome} & -{\textbf{rays}} & {\textbf{conf}} & \textbf{committed (in)}\\ -\midrule -\rawinput{data/reloc_rows.tex} -\bottomrule -\end{tabular} -\end{center} - -\vspace{0.3em} -\begin{itemize} - \item \textbf{The hazard was real and recorded twice.} A two-ray wall solve is - exactly determined: residual $\approx 0$ even when a ray hits a game object - instead of a wall. The May~24 export (\texttt{src/tune.txt}) shows a clean-looking - two-sensor accept (conf 0.95, residual 0.000), and run\,5 shows the same accept - mode committing a pose \textbf{\RunFiveCommitErr\,in} from the configured start - with the robot parked near the center structure. - \item \textbf{The gates beneath caught it anyway.} On run\,5's absurd anchor, the - continuous fusion rejected \emph{every} scan (median wall residuals - \numrange{30}{64}\,in), so the route still ran cleanly on start-relative - odometry --- a measured demonstration that a wrong commit cannot compound. - \item \textbf{Post-guard behavior is exactly as specified.} Run\,6 (same weak - placement class) refuses to commit --- only one usable ray --- and falls back to the - configured start; run\,7 (clean view) commits on three agreeing rays at conf 0.89. - \item \textbf{Heading never comes from the walls.} On a near-square field a - 90/180\textdegree{} alias can match the ranges almost as well as the truth. As of - this audit the solver runs \emph{once, at the trusted field-frame heading} - (odometry heading, IMU-driven) instead of sweeping snapped cardinals --- X/Y from - the walls, heading from the IMU, alias trap structurally removed - (\autoref{sec:audit}). -\end{itemize} - -% ============================ METHOD ======================================== -\section{How drift is measured (and why the method holds)} -Every \SI{10}{ms} trace row logs three poses for the same instant --- that is what -makes a ground-truth-free comparison possible: -\begin{itemize} - \item[\textcolor{drift}{\faCircle}] \textbf{\texttt{odom\_only}} --- pure dead - reckoning, never corrected. Exactly what stock LemLib would believe. - \item[\textcolor{filt}{\faCircle}] \textbf{\texttt{ekf}} --- the filter's best - estimate, fed only by odometry deltas and gate-validated range evidence. Heading - is deliberately never corrected by ranges --- it stays IMU-true. - \item[\textcolor{subink}{\faCircle}] \textbf{\texttt{odom}} --- the pose the - motion controller actually drives on: odometry plus the bounded write-back - (\contCap\,in per cycle while idle; never during a motion). -\end{itemize} -\texttt{ekf} and \texttt{odom\_only} integrate \emph{identical} wheel deltas between -fixes, and range fixes never touch heading --- so their divergence -$\lvert\texttt{ekf}-\texttt{odom\_only}\rvert$ can change \emph{only} at an accepted -correction. The logs confirm the premise exactly: off-accept, the divergence moves by -at most \textbf{\AuditStairMax\,in} across all \nTotalRows{} rows. The staircase's -final height is therefore a conservative, sensor-booked lower bound on accumulated -raw-odom drift. We convert it to a per-inch rate and replay it along the measured -path: raw odometry resets only at the start anchor; the boundary re-anchor -additionally resets at every accepted stop. The headline improvement ratio -(total path $\div$ longest un-anchored stretch) is geometric and does not depend on -the rate estimate at all. - -\subsection{What an ``accepted correction'' actually requires} -Every accept in these traces passed, simultaneously: NIS against the EKF track -$\leq$ the $\chi^2$ gate (8.0, halved to 4.0 for two-inlier evidence; observed -accepted NIS \AcceptNisMin--\AcceptNisMax); at least two wall-consistent rays -\emph{after} robust outlier exclusion (three for full-strength MCL accepts); -2--4 consecutive agreeing scans; agreement with the dead-reckoned track within -\numrange{2.5}{4.0}\,in; an MCL confidence floor; no fast-turn window; fresh sensor -data; and no motion in progress. The fix is then bled into the driven pose at -$\leq$\,\contCap\,in per cycle --- the trace maximum was \AuditCapObserved\,in -against a hard bound of \AuditCapBound\,in. - -% ============================ HERO FIGURE ================================== -\section{Tracking error along the route} -\begin{figure}[h] -\centering -\begin{tikzpicture} -\begin{axis}[driftbase, title={Run\,2 \,--\, square loop}, - xlabel={time (s)}, ylabel={position error (in)}, - xmin=0, ymin=0, ymax=2.6, legend pos=north west] - \addplot[drift, name path=rawA] table[x=t, y=raw] {data/err_run2.dat}; - \addplot[filt, name path=newA] table[x=t, y=new] {data/err_run2.dat}; - \addplot[filt!18] fill between[of=rawA and newA]; - \addplot[only marks, mark=*, mark size=1.5pt, gold, onlyaccepts] - table[x=t, y=new] {data/err_run2.dat}; - \legend{raw odometry, filtered (re-anchor), error removed} -\end{axis} -\end{tikzpicture}\hfill -\begin{tikzpicture} -\begin{axis}[driftbase, title={Run\,3 \,--\, square $+$ cross}, - xlabel={time (s)}, ylabel={position error (in)}, - xmin=0, ymin=0, ymax=4.3, legend pos=north west] - \addplot[drift, name path=rawB] table[x=t, y=raw] {data/err_run3.dat}; - \addplot[filt, name path=newB] table[x=t, y=new] {data/err_run3.dat}; - \addplot[filt!18] fill between[of=rawB and newB]; - \addplot[only marks, mark=*, mark size=1.5pt, gold, onlyaccepts] - table[x=t, y=new] {data/err_run3.dat}; - \legend{raw odometry, filtered (re-anchor), error removed} -\end{axis} -\end{tikzpicture} -\caption{Modeled position error vs.\ time. \textcolor{drift}{Raw odometry} grows with -distance travelled; the \textcolor{filt}{filtered pose} resets to truth at each -\textcolor{gold}{$\bullet$ validated fix}, so its error sawtooths back down. The -shaded band is the error the re-anchor removes. Run\,3's last fix lands at the final -stop, so the filtered run finishes essentially on truth (\RunThreeNewEnd\,in) while -raw odometry ends \RunThreeRawEnd\,in off.} -\end{figure} - -% ============================ MAP + BARS =================================== -\section{Where the drift goes, and how much is recovered} -\begin{figure}[H] -\centering -\begin{tikzpicture} -\begin{axis}[driftbase, width=8.4cm, height=7.4cm, axis equal image, - title={Run\,3 trajectory (field inches)}, - xlabel={field X (in)}, ylabel={field Y (in)}, - xmin=-74, xmax=14, ymin=-74, ymax=14, - axis lines=box, legend pos=north west] - \draw[rulec, line width=1.0pt] (axis cs:-70.2,-70.2) rectangle (axis cs:70.2,70.2); - \draw[fill=rulec!45, draw=faint] (axis cs:-3,-3) rectangle (axis cs:3,3); - \addplot[drift, line width=1.1pt] table[x=ox, y=oy] {data/traj_run3.dat}; - \addplot[filt, line width=1.1pt] table[x=ex, y=ey] {data/traj_run3.dat}; - \addplot[only marks, mark=*, mark size=2.2pt, ink] coordinates {(-26.0,-33.0)}; - \node[font=\scriptsize\color{subink}, anchor=north] at (axis cs:-26.0,-35.5) {start}; - \legend{raw odometry path, filter (truth-proxy) path} -\end{axis} -\end{tikzpicture}\hfill -\begin{tikzpicture} -\begin{axis}[driftbase, width=6.6cm, height=7.0cm, - title={Peak tracking error}, - ybar, bar width=15pt, ymin=0, ymax=4.5, - symbolic x coords={run\,2, run\,3}, xtick=data, - ylabel={peak error (in)}, enlarge x limits=0.45, - nodes near coords, nodes near coords style={font=\scriptsize\color{subink}}, - legend style={font=\scriptsize, at={(0.5,-0.16)}, anchor=north, legend columns=2, draw=rulec}] - \addplot[draw=drift!70, fill=drift!70] coordinates {(run\,2,\RunTwoRawMax) (run\,3,\RunThreeRawMax)}; - \addplot[draw=filt!75, fill=filt!75] coordinates {(run\,2,\RunTwoNewMax) (run\,3,\RunThreeNewMax)}; - \legend{raw odometry, filtered} -\end{axis} -\end{tikzpicture} -\caption{Left: run\,3's south-west field quadrant (perimeter walls at -$-70.2$\,in, center structure top-right). The raw-odometry path bows away from the -filter's truth-anchored path as error accumulates around the cross. Right: peak -tracking error, raw vs.\ filtered --- roughly a \aggFactor$\times$ reduction on -both routes.} -\end{figure} - -\subsection{What the two evidence runs say} -\begin{itemize} - \item \textbf{Drift is real and directional.} Accepted fixes pointed almost - entirely along one field axis --- run\,2's two fixes were $(0.10, 0.77)$ and - $(0.02, 2.00)$\,in in $(x,y)$; run\,3's five ranged up to $(0.66, 3.72)$\,in --- - consistent with a tank-drive scale/slip asymmetry, not random noise. Rate landed at - \RunThreeDriftPer--\RunTwoDriftPer\,in per \SI{100}{in} travelled. - \item \textbf{Continuous-only fusion trails the drift.} Capped at \contCap\,in per - idle cycle, it returned a net \RunTwoNetApplied\,in (run\,2) and - \RunThreeNetApplied\,in (run\,3) of the booked drift --- roughly half, always late. - \item \textbf{The re-anchor closes the loop at the stop.} Peak modeled error falls - \RunTwoRawMax$\to$\RunTwoNewMax\,in (run\,2) and - \RunThreeRawMax$\to$\RunThreeNewMax\,in (run\,3); every segment then \emph{starts} - from truth, which is what tightens run-to-run repeatability. -\end{itemize} - - -% ============================ GATES ======================================== -\Needspace*{11cm} -\section{Why corrections are rare --- by design} -\begin{figure}[H] -\centering -\begin{tikzpicture} -\begin{axis}[driftbase, xbar, width=5.6cm, height=6.6cm, - title={\footnotesize Run\,3: why scans were rejected}, - xlabel={MCL scans carrying each rejection flag (614 scans)}, - xmin=0, xmax=680, ytick=data, y dir=reverse, - yticklabels from table={\rejecttable}{reason}, - yticklabel style={font=\tiny\ttfamily\color{subink}}, - bar width=6.5pt, enlarge y limits=0.07, - nodes near coords, nodes near coords style={font=\tiny\color{subink}}] - \addplot[draw=subink!70, fill=subink!35] table[x=count, y expr=\coordindex] {\rejecttable}; -\end{axis} -\end{tikzpicture}\hfill -\begin{minipage}[b]{0.44\linewidth} -\scriptsize -\rowcolors{2}{panel}{white} -\begin{tabular}{c S[table-format=2.1] S[table-format=1.2] S[table-format=1.3] c c} -\toprule -\textbf{Run} & {\textbf{t (s)}} & {\textbf{$|$fix$|$ in}} & {\textbf{NIS}} & -\textbf{rays} & \textbf{inliers}\\ -\midrule -\rawinput{data/accepts_rows.tex} -\bottomrule -\end{tabular}\\[4pt] -{\color{subink}All \nValidatedFixes{} accepted fixes. Flags overlap (a scan can fail -several gates at once); a fix lands only when \emph{every} gate passes. The -two-inlier rows are the robust local-range solve: the third ray was excluded as an -outlier (it saw a game object, not the wall) rather than being allowed to drag the -fix.} -\end{minipage} -\caption{Left: rejection-flag histogram over run\,3's 614 MCL scans --- motion -suppression dominates (the robot moves \RunThreeMotionPct\% of the time), then -geometry and stability gates. Right: the seven fixes that survived; accepted NIS sat -at \AcceptNisMin--\AcceptNisMax{} against a gate of 8.0 (4.0 for two-inlier -evidence).} -\end{figure} - -% ============================ CHECKPOINTS ================================== -\section{Stop-by-stop accuracy against the commanded route} -At every stop of the tune routes the firmware records the commanded target -(\emph{Exp}) and the pose it believes it reached (\emph{Rep}); their difference -bundles PID settling, odometry drift, and applied corrections --- the practical -``how far off is the robot where it matters'' number. X/Y stayed within -\RunTwoCpMax\,in (run\,2) and \RunThreeCpMax\,in (run\,3) at every stop. - -\begin{center}\scriptsize -\begin{minipage}[t]{0.46\linewidth} -\centering -{\footnotesize\bfseries\color{ink}Run\,2 --- square loop}\\[3pt] -\rowcolors{2}{panel}{white} -\begin{tabular}{c l S[table-format=+1.1] S[table-format=+1.1] S[table-format=+1.1] c} -\toprule -\# & \textbf{stop} & {$\Delta$x} & {$\Delta$y} & {$\Delta\theta\,^\circ$} & \textbf{rays}\\ -\midrule -\rawinput{data/cp_run2_rows.tex} -\bottomrule -\end{tabular} -\end{minipage}\hfill -\begin{minipage}[t]{0.50\linewidth} -\centering -{\footnotesize\bfseries\color{ink}Run\,3 --- square $+$ cross}\\[3pt] -\rowcolors{2}{panel}{white} -\begin{tabular}{c l S[table-format=+2.1] S[table-format=+1.1] S[table-format=+2.1] c} -\toprule -\# & \textbf{stop} & {$\Delta$x} & {$\Delta$y} & {$\Delta\theta\,^\circ$} & \textbf{rays}\\ -\midrule -\rawinput{data/cp_run3_rows.tex} -\bottomrule -\end{tabular} -\end{minipage} -\end{center} -\vspace{0.25em} -\noindent{\footnotesize\color{subink}Run\,3 stop 11's $+65.6^\circ$ is a turn that -hit its \SI{1200}{ms} timeout mid-rotation --- the next \texttt{moveToPose} absorbed -it (stop 12: $-0.8^\circ$). A motion-tuning datum, not a localization error. Heading -deltas right after turns ($\approx$$-5^\circ$) are PID settle/timeout, visible -because capture happens immediately at motion end; they relax by the next stop. The -May~24 pre-calibration sweep (\texttt{tune.txt}) showed a constant -\TuneSweepBias$^\circ$ bias at \emph{every} commanded angle --- the signature that -fed the sensor-angle calibration now in \texttt{localization\_config.cpp}.} - -% ============================ TABLE ======================================== -\Needspace*{7cm} -\section{All seven runs} -\begin{center}\footnotesize -\rowcolors{2}{panel}{white} -\begin{tabular}{l l S[table-format=4.0] S[table-format=2.1] S[table-format=3.0] - S[table-format=2.0] S[table-format=1.0] c c c} -\toprule -\textbf{Run} & \textbf{Route / condition} & {\textbf{rows}} & {\textbf{s}} & {\textbf{path,in}} & -{\textbf{mot\%}} & {\textbf{fixes}} & {\textbf{booked,in}} & {\textbf{filt,in}} & \textbf{gain}\\ -\midrule -1 & sample route (pre-guard) & \RunOneRows & \RunOneDur & \RunOnePath & \RunOneMotionPct & \RunOneAccepts & {---} & {---} & {---}\\ -2 & square loop & \RunTwoRows & \RunTwoDur & \RunTwoPath & \RunTwoMotionPct & \RunTwoAccepts & \RunTwoRawMax & \RunTwoNewMax & \textbf{\RunTwoFactor$\times$}\\ -3 & square $+$ cross & \RunThreeRows & \RunThreeDur & \RunThreePath & \RunThreeMotionPct & \RunThreeAccepts & \RunThreeRawMax & \RunThreeNewMax & \textbf{\RunThreeFactor$\times$}\\ -4 & sample route, blocked view & \RunFourRows & \RunFourDur & \RunFourPath & \RunFourMotionPct & \RunFourAccepts & {---} & {---} & {---}\\ -5 & forced weak start (pre-guard) & \RunFiveRows & \RunFiveDur & \RunFivePath & \RunFiveMotionPct & \RunFiveAccepts & {---} & {---} & {---}\\ -6 & weak start, guard active & \RunSixRows & \RunSixDur & \RunSixPath & \RunSixMotionPct & \RunSixAccepts & {---} & {---} & {---}\\ -7 & clean start, guard active & \RunSevenRows & \RunSevenDur & \RunSevenPath & \RunSevenMotionPct & \RunSevenAccepts & {---} & {---} & {---}\\ -\bottomrule -\end{tabular} -\end{center} -\noindent{\footnotesize\color{subink}\textbf{booked}/\textbf{filt} are the modeled -peak position errors (sensor-booked raw drift vs.\ boundary re-anchor replay); -\textbf{fixes} counts validated accept events. Runs 1 and 4--7 produced no -mid-route fix (blocked or weak sensor views, or near-continuous motion at -\numrange{86}{88}\%), so the filter correctly returned raw odometry --- a dash means -``no drift was bookable,'' not ``no drift.'' Provenance: runs 1 and 4 predate the -build that stamps \texttt{test\_case} into the header; their stale ``Turn center'' -label is cosmetic (route identified by path length and absent checkpoints --- see -\texttt{validation\_data/README.txt}).} - -% ============================ GOALS ======================================== -\section{Against the three goals} -\subsection{\faBullseye\; Accuracy} -The filter does not invent accuracy --- it imports it from the walls. At the start it -fixes the absolute pose to the wall solver's agreement envelope (reproduced to -\AuditWallMaxErr\,in); mid-route, when the sensors get a clean look (runs 2--3), it -removes \numrange{1}{4}\,in of real, directional odometry error. When they do not, -there is nothing trustworthy to add, and it says so by staying on odometry. - -\subsection{\faSync\; Repeatability} -The structural win. Raw odometry's end pose inherits the variance of \emph{every} -slip since the start; the re-anchor zeroes that integral at each validated stop, so -the end pose inherits only the \emph{last} segment's drift. Run\,3 shows it -directly: a fix at the final stop brings the modeled end error to -\RunThreeNewEnd\,in versus \RunThreeRawEnd\,in for raw odometry. And because the -start relocalizes, that repeatability is anchored to the \emph{field}, not to -wherever the robot happened to be placed. - -\subsection{\faBolt\; Speed} -No cost. Corrections are structurally forbidden while a motion runs (the dominant -bar in the rejection histogram), so the controller never chases a moving pose. The -re-anchor fires only in the idle beat between segments. Driving speed is untouched; -only the \emph{reference} each segment starts from gets better. - -% ============================ AUDIT ======================================== -\section{Audit: does the firmware do what the math says?}\label{sec:audit} -This pass re-derived every number above from the raw logs with an independent -reimplementation of the geometry, and checked the code's invariants against what the -robot actually recorded. - -\begin{center}\footnotesize -\begin{tabular}{l l l} -\toprule -\textbf{Invariant checked} & \textbf{Result} & \\ -\midrule -Ray-cast sensor model (walls $+$ obstacle), replayed offline & max - $\Delta$ \AuditRayMaxErr\,in over \AuditRayCount{} predictions & \ok\\ -Wall-solve commits, re-derived from raw snapshots & max $\Delta$ - \AuditWallMaxErr\,in across all six commits & \ok\\ -Divergence is a pure staircase (steps only at accepts) & max off-accept step - \AuditStairMax\,in & \ok\\ -Correction limiter honors its cap & max applied step \AuditCapObserved\,in - $\leq$ \AuditCapBound\,in bound & \ok\\ -Motion suppression / accept gating consistent with flags & all - \nValidatedFixes{} accepts fully gated; zero while suppressed & \ok\\ -Odometry delta stream continuity & no mid-route sequence gaps in any run & \ok\\ -\bottomrule -\end{tabular} -\end{center} - -\subsection{Fixed in this audit pass} -\begin{itemize} - \item \textbf{Field-frame heading prior.} Relocalization read the \emph{raw} IMU - rotation as its heading prior --- correct only because the current routine starts - at heading $0^\circ$. It now uses the odometry heading (IMU-driven, but expressed - in the field frame), so any future start heading works unchanged. - \item \textbf{Walls no longer vote on heading.} The wall solver previously swept - four snapped cardinals and committed the winner's cardinal as the robot's heading - --- on a near-square field, an alias trap held shut only by an IMU gate in the - wrong reference frame. It now solves once, at the trusted heading; X/Y comes from - the walls, heading stays IMU-true. (Identical behavior on all seven validation - runs, by construction.) - \item \textbf{One-shot hygiene.} A pending boundary re-anchor request could - survive a localization stop/start cycle; it is now cleared on start. - \item \textbf{Single source of truth.} A retired copy of the relocalization - machinery (including the old two-sensor accept rule that produced run\,5's false - commit) still lived in the tune harness --- 360 lines of dead logic, deleted. -\end{itemize} - -% ============================ CAVEATS ====================================== -\section{What this does and does not prove} -\begin{tcolorbox}[enhanced, colback=paneldrift, colframe=drift!55, boxrule=0.7pt, - arc=3pt, left=9pt, right=9pt, top=7pt, bottom=7pt] -\begin{itemize}[leftmargin=1.3em] - \item \textbf{Truth is the gated filter, not a tape measure.} Absolute drift - figures are conservative \emph{lower bounds} (only sensor-booked drift counts); - the improvement ratio is geometric and robust to that. The tape-measure protocol - that closes this is written and pending: \texttt{validation\_data/field\_test\_protocol.md}. - \item \textbf{The re-anchor and the audited relocalization changes have not yet - run on hardware.} These traces predate both: the re-anchor curves are the - validated fixes replayed at the stops, and the heading-prior fix is - behavior-identical on these runs by construction. Protocol tests 2--3 confirm them - on the robot. - \item \textbf{The gain is route- and geometry-limited.} Two routes yielded - \numrange{2}{5} fixes because the robot moves \numrange{86}{95}\% of the time. - More and better-placed wall views raise the factor; that is tuning - (sensor placement, stop placement), not logic. - \item \textbf{Heading accuracy is not claimed.} Ranges never steer heading by - design; all error figures are X/Y position. -\end{itemize} -\end{tcolorbox} - -\vspace{0.5em} -\noindent{\small\color{subink}\faSync\; \textbf{Reproduce:} \texttt{python3 -tools/drift\_analysis.py \&\& python3 tools/audit\_analysis.py} regenerates every -number, table row, and data file; then \texttt{latexmk -pdf} on this document.} - -\end{document}