Risk-aware uncertainty propagation. Includes geometric buffer inflation and probabilistic time-to-go bounds.
Risk-aware uncertainty propagation. Includes geometric buffer inflation and probabilistic time-to-go bounds.
(error-radius uncertainty-map t)Calculate worst-case position error at time t. Delegates to kinematics uncertainty propagator (Quadratic).
Calculate worst-case position error at time t. Delegates to kinematics uncertainty propagator (Quadratic).
(inflate-geometry geom margin)Wrap a physics.spatial.geometry record with a safety margin. Works on :point, :path, and :polygon types.
Wrap a physics.spatial.geometry record with a safety margin. Works on :point, :path, and :polygon types.
(linear-error-growth r0 alpha t)Lightweight linear expansion: R(t) = R0 + alpha * t
Lightweight linear expansion: R(t) = R0 + alpha * t
(ttg-bounds origin target nominal-speed uncertainty)Calculate Time-To-Go bounds considering BOTH position and speed uncertainty. uncertainty-map: {:pos <m> :vel <m/s>} Returns {:min-ttg <t> :max-ttg <t> :nominal-ttg <t>}
Calculate Time-To-Go bounds considering BOTH position and speed uncertainty.
uncertainty-map: {:pos <m> :vel <m/s>}
Returns {:min-ttg <t> :max-ttg <t> :nominal-ttg <t>}cljdoc builds & hosts documentation for Clojure/Script libraries
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