add tests

gen_tests updated
solution.md updated

docs/03_tests/53_test_sharp_turn_scenarios_spec.md

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+# GPS-Analyzed Scenario Test: Sharp Turn Recovery
+
+## Summary
+Test using GPS-analyzed sharp turn datasets with frame gaps to simulate tracking loss.
+
+## Dataset Characteristics
+
+### Dataset A: Single Frame Gap
+- **Images**: AD000042, AD000044, AD000045, AD000046
+- **Gap**: Skip AD000043 (simulates tracking loss)
+- **Purpose**: Test L2 recovery
+
+### Dataset B: Sequential with Jump
+- **Images**: AD000032-AD000035
+- **Jump**: AD000032→033 (220.6m)
+- **Purpose**: Validate sharp turn handling
+
+### Dataset C: 5-Frame Gap
+- **Images**: AD000003, AD000009
+- **Gap**: Skip AD000004-008
+- **Purpose**: Test larger discontinuity
+
+## Test Steps
+1. Process each dataset separately
+2. Verify L2 global relocalization succeeds
+3. Check L1 failure detection
+4. Validate recovery accuracy
+
+## Expected Results
+```
+Dataset A: L2 recovery successful, error < 50m
+Dataset B: Sharp turn handled, accuracy maintained
+Dataset C: Large gap recovered, relocated < 200m
+AC-4 Status: PASS (all datasets)
+```
+
+## Pass/Fail
+**Passes**: AC-4 met, all recovery scenarios successful
+**Fails**: L2 fails to relocalize, errors > 200m
+