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[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing
- AZ-414 (FT-P-07 + FT-N-02): sharp_turn_detector helper covering AC-1 (gyro_z run detection + synthetic-overlay fallback), AC-2/AC-3 (FT-N-02 during-turn label + monotonic covariance), AC-4/AC-5/AC-6 (FT-P-07 recovery lag/drift/heading); twin scenario files under positive/ and negative/. - AZ-415 (FT-P-08): multi_segment_evaluator helper + scenario. - AZ-418 (FT-P-10): smoothing_evaluator helper covering AC-1 (raw + smoothed pose pairing), AC-2 (improvement rate >= 0.80), AC-3 (mean improvement >= 5 m); scenario file. - All scenarios skip-gated on upstream frame_source_replay / imu_replay / fdr_reader stubs (auto-activate when AZ-441 + AZ-407 leftovers land). - +68 unit tests; full e2e unit suite: 393 passed. See _docs/03_implementation/batch_71_report.md and _docs/03_implementation/reviews/batch_71_review.md. Co-authored-by: Cursor <cursoragent@cursor.com>
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Oleksandr Bezdieniezhnykh
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# Batch 71 Report — Test Implementation (cycle 1, batch 5 of test phase)
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**Batch**: 71
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**Date**: 2026-05-16
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**Context**: Test implementation (greenfield Step 10 — Implement Tests)
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**Tasks**: AZ-414 (3pt), AZ-415 (3pt), AZ-418 (3pt) — 9 cp / 3 tasks
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**Cycle**: 1
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**Verdict**: COMPLETE — PASS (self-reviewed; see `reviews/batch_71_review.md`)
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## Summary
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Three scenarios covering sharp-turn recovery (positive + negative twin),
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multi-segment relocalisation, and GTSAM smoothing-loop look-back. Same
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pattern as batches 69 + 70:
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* Pure-logic helper under `e2e/runner/helpers/` for everything the
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scenario can express without docker-bound replay + FDR ingestion.
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* Scenario file(s) under `e2e/tests/{positive,negative}/`,
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parameterized across `(fc_adapter, vio_strategy)`, skip-gated on
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upstream `frame_source_replay` / `imu_replay` / `fdr_reader` stubs
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(auto-activates when AZ-441 + AZ-407 leftovers land).
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* Helper-driven unit test file under `e2e/_unit_tests/helpers/`.
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### AZ-414 — FT-P-07 + FT-N-02 sharp-turn recovery + failure twin (3pt)
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* **`runner/helpers/sharp_turn_detector.py`** — `load_zgyro_samples`
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reads `SCALED_IMU2.zgyro` (millidegree/s) from `data_imu.csv`;
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`get_threshold_mdps` reads the AC-3.2 threshold from env var
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`AC32_SHARP_TURN_GYRO_Z_MDPS` (default 30,000 mdps) per spec note;
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`detect_turn_segments` finds contiguous runs of ≥3 samples above
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threshold (using `|zgyro|` so left + right turns both qualify);
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`synthesize_overlay_segment` provides the AC-1 fallback when the
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natural fixture has no qualifying turn; `detect_or_synthesize` is the
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scenario-facing helper that picks natural-first; `evaluate_ft_n_02`
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computes AC-2 (label ∈ {visual_propagated, dead_reckoned}) + AC-3
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(cov non-decreasing); `evaluate_ft_p_07` computes AC-4 (recovery
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lag ≤ 3 frames safety-budget = 1100 ms), AC-5 (drift ≤ 200 m), AC-6
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(heading delta ≤ 70°). `write_csv_evidence` emits a combined CSV
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with `synthetic_overlay` column so the fallback fact is recorded per
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AC-1.
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* **`tests/positive/test_ft_p_07_sharp_turn_recovery.py`** — asserts
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AC-4 + AC-5 + AC-6 per segment; records NFR metrics with AC IDs;
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records `synthetic_overlay` flag.
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* **`tests/negative/test_ft_n_02_sharp_turn_failure.py`** — asserts
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AC-2 + AC-3 per segment; uses the same detector + frame-collection
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logic.
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* **30 unit tests** in `test_sharp_turn_detector.py`.
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### AZ-415 — FT-P-08 multi-segment relocalisation (3pt)
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* **`runner/helpers/multi_segment_evaluator.py`** — `load_schedule`
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reads the AZ-408 multi-segment schedule (blackout window times +
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recovery anchors); `evaluate_window` checks AC-2 (label =
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dead_reckoned inside window), AC-3 (recovery to satellite_anchored
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≤ 10 s after window end), AC-4 (no centre jump > 200 m at recovery);
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`evaluate` aggregates over all blackout windows; constants
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`MAX_RECOVERY_LAG_MS = 10_000` and `MAX_JUMP_M = 200.0` expose the
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thresholds.
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* **`tests/positive/test_ft_p_08_multi_segment_reloc.py`** — drives
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`multi-segment-derkachi` injector fixture, replays via stub-gated
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helpers, evaluates per window.
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* **16 unit tests** in `test_multi_segment_evaluator.py`.
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### AZ-418 — FT-P-10 GTSAM smoothing-loop look-back accuracy (3pt)
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* **`runner/helpers/smoothing_evaluator.py`** — `pair_records` groups
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FDR `keyframe_pose` records by `keyframe_id` and rejects duplicate
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`pose_kind` values (raw + smoothed must be exactly one each per
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keyframe per AC-1); `resolve_gt_at` picks the nearest-in-time
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Derkachi GLOBAL_POSITION_INT pose (10 Hz cadence → ≤50 ms slop
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acceptable for the metre-scale improvement deltas this AC
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measures); `evaluate` produces per-keyframe + aggregate report with
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`improvement_rate` (AC-2 threshold = 0.80) and `mean_improvement_m`
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(AC-3 threshold = 5 m). The module docstring explicitly preserves
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Mode B Fact #107 — this is an INTERNAL improvement metric, NOT
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FC-side retroactive correction.
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* **`tests/positive/test_ft_p_10_smoothing_lookback.py`** — pairs +
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evaluates + asserts AC-2 + AC-3 per (fc_adapter, vio_strategy).
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* **15 unit tests** in `test_smoothing_evaluator.py`.
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## Tests
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* **Full e2e unit suite**: 393 passed in 126.64 s (was 325 at end of
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batch 70 → +68 net new tests this batch).
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* **Pre-existing**: macOS-only `/e2e-results` plugin issue in scenario
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invocation outside Docker. Unit suite unaffected. Tracked under
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runner reporting — out of batch scope.
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## Files Touched
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**New helpers:**
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* `e2e/runner/helpers/sharp_turn_detector.py`
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* `e2e/runner/helpers/smoothing_evaluator.py`
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* `e2e/runner/helpers/multi_segment_evaluator.py`
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**New unit tests:**
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* `e2e/_unit_tests/helpers/test_sharp_turn_detector.py` (30 tests)
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* `e2e/_unit_tests/helpers/test_smoothing_evaluator.py` (15 tests)
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* `e2e/_unit_tests/helpers/test_multi_segment_evaluator.py` (16 tests)
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**New scenarios:**
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* `e2e/tests/positive/test_ft_p_07_sharp_turn_recovery.py`
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* `e2e/tests/positive/test_ft_p_08_multi_segment_reloc.py`
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* `e2e/tests/positive/test_ft_p_10_smoothing_lookback.py`
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* `e2e/tests/negative/test_ft_n_02_sharp_turn_failure.py`
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**Updated:**
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* `e2e/_unit_tests/test_directory_layout.py` — added 7 new paths.
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**Archived:**
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* `_docs/02_tasks/todo/AZ-414_*.md` → `done/`
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* `_docs/02_tasks/todo/AZ-415_*.md` → `done/`
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* `_docs/02_tasks/todo/AZ-418_*.md` → `done/`
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## Cumulative Review Trigger
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K=3. Last cumulative covered batches 67-69. Since then: 70 + 71 = 2
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batches. **Cumulative does NOT fire this batch.** Next cumulative
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trigger: end of batch 72.
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