mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 16:21:12 +00:00
Oleksandr Bezdieniezhnykh
b12db61444
Implements the AZ-263 / E-BOOT initial structure task:
- Python src/-layout package `gps_denied_onboard/` with per-component
interface stubs (14 components), type-only DTOs under `_types/`,
shared helpers under `helpers/` (R14 LightGlue ownership), structured
JSON logging, runtime composition root with env-var fail-fast gate,
healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
with the BUILD_* per-binary flags (ADR-002) and pinned external git
refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
mirroring satellite-provider tiles + flights + sector_classifications
+ manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
per-component smoke tests, structured logging JSON output check,
env-var gate check, healthcheck import check. Two CI-gated tests
(cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.
Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>
30 lines
818 B
Python
30 lines
818 B
Python
"""SE(3) utility helpers — STUB.
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Concrete implementation is owned by AZ-277. Contract:
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`_docs/02_document/common-helpers/02_helper_se3_utils.md`.
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"""
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from __future__ import annotations
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from typing import Any
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def compose(a_se3: Any, b_se3: Any) -> Any:
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"""Compose two SE(3) transforms."""
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raise NotImplementedError("se3_utils concrete impl is AZ-277")
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def inverse(t_se3: Any) -> Any:
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"""Invert an SE(3) transform."""
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raise NotImplementedError("se3_utils concrete impl is AZ-277")
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def log_map(t_se3: Any) -> Any:
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"""SE(3) → se(3) log map (returns a 6-vector)."""
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raise NotImplementedError("se3_utils concrete impl is AZ-277")
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def exp_map(xi_6: Any) -> Any:
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"""se(3) → SE(3) exp map (consumes a 6-vector)."""
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raise NotImplementedError("se3_utils concrete impl is AZ-277")
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