"""Shared utilities (E-CC-HELPERS / AZ-264).

Each helper has its own task (AZ-276..AZ-283). This package exposes the
ones that have landed so consumers can depend on a stable public surface
without reaching into the helper modules directly.
"""

from gps_denied_onboard.helpers.descriptor_normaliser import (
    ALLOWED_DTYPES,
    DescriptorNormaliser,
    DescriptorNormaliserError,
)
from gps_denied_onboard.helpers.engine_filename_schema import (
    ALLOWED_PRECISIONS,
    ENGINE_SUFFIX,
    EngineFilenameSchema,
    EngineFilenameSchemaError,
)
from gps_denied_onboard.helpers.accuracy_report import (
    AC3_GATE_PCT,
    AC3_GATE_THRESHOLD_M,
    ReportContext,
    format_failure_message,
    render_report,
    verdict_passes_ac3,
)
from gps_denied_onboard.helpers.gps_compare import (
    GroundTruthRow,
    HorizontalErrorDistribution,
    horizontal_error_distribution,
    l2_horizontal_m,
    match_percentage,
    percentile_sorted,
)
from gps_denied_onboard.helpers.imu_preintegrator import (
    CombinedImuFactor,
    ImuPreintegrationError,
    ImuPreintegrator,
    make_imu_preintegrator,
)
from gps_denied_onboard.helpers.iso_timestamps import (
    iso_ts_from_clock,
    iso_ts_now,
)
from gps_denied_onboard.helpers.lightglue_runtime import (
    LightGlueConcurrentAccessError,
    LightGlueRuntime,
    LightGlueRuntimeError,
)
from gps_denied_onboard.helpers.ransac_filter import (
    RansacFilter,
    RansacFilterError,
    RansacResult,
)
from gps_denied_onboard.helpers.se3_utils import (
    SE3,
    Se3InvalidMatrixError,
    adjoint,
    exp_map,
    is_valid_rotation,
    log_map,
    matrix_to_se3,
    se3_to_matrix,
)
from gps_denied_onboard.helpers.sha256_sidecar import (
    SIDECAR_SUFFIX,
    Sha256Sidecar,
    Sha256SidecarError,
)
from gps_denied_onboard.helpers.wgs_converter import (
    MAX_ZOOM,
    WEB_MERCATOR_MAX_LAT_DEG,
    WgsConversionError,
    WgsConverter,
)

__all__ = [
    "AC3_GATE_PCT",
    "AC3_GATE_THRESHOLD_M",
    "ALLOWED_DTYPES",
    "ALLOWED_PRECISIONS",
    "ENGINE_SUFFIX",
    "MAX_ZOOM",
    "ReportContext",
    "SE3",
    "SIDECAR_SUFFIX",
    "WEB_MERCATOR_MAX_LAT_DEG",
    "CombinedImuFactor",
    "DescriptorNormaliser",
    "DescriptorNormaliserError",
    "EngineFilenameSchema",
    "EngineFilenameSchemaError",
    "GroundTruthRow",
    "HorizontalErrorDistribution",
    "ImuPreintegrationError",
    "ImuPreintegrator",
    "LightGlueConcurrentAccessError",
    "LightGlueRuntime",
    "LightGlueRuntimeError",
    "RansacFilter",
    "RansacFilterError",
    "RansacResult",
    "Se3InvalidMatrixError",
    "Sha256Sidecar",
    "Sha256SidecarError",
    "WgsConversionError",
    "WgsConverter",
    "adjoint",
    "exp_map",
    "format_failure_message",
    "horizontal_error_distribution",
    "is_valid_rotation",
    "iso_ts_from_clock",
    "iso_ts_now",
    "l2_horizontal_m",
    "log_map",
    "match_percentage",
    "make_imu_preintegrator",
    "matrix_to_se3",
    "percentile_sorted",
    "render_report",
    "se3_to_matrix",
    "verdict_passes_ac3",
]