large updates to interfaces, added analysis suite, improved tests

[nickwitten]

No description provided.

[Copilot]

Pull request overview

This PR significantly expands the controls library’s public interfaces (Rust + C FFI), introduces a Kalman-filter-backed RobotModel, and adds an analysis toolchain (Rust CLIs + Python visualization/telemetry tooling) alongside updated C++ tests to exercise the new API surface.

Changes:

• Reworks the C API to use an opaque RobotModel_t* with setters/getters, transform accessors, and KF predict/update entry points.
• Refactors bang-bang trajectory generation APIs (pose/twist targets, params struct) and adds extensive C++ test coverage.
• Adds a new analysis suite (Rust binaries + Python ctypes bindings + visualization + ROS bag → NPZ tooling) for offline simulation and parameter tuning.

Reviewed changes

Copilot reviewed 26 out of 32 changed files in this pull request and generated 12 comments.

Show a summary per file

File	Description
cpp_tests/test_robot_model.cpp	Replaces legacy transform/model tests with lifecycle/KF/transform/currents tests for the new opaque RobotModel_t* API.
cpp_tests/test_bangbang.cpp	Updates tests to the new TrajectoryParams_t and ateam_controls_traj_* APIs; adds theta wrap/bounds coverage.
ateam-controls/src/trajectory_params.rs	Splits trajectory params into linear/angular errors/limits with new constants.
ateam-controls/src/robot_physical_params.rs	Removes old physical parameter constants module.
ateam-controls/src/robot_model.rs	Introduces KF state/params/physical params structs and new transforms + KF predict/update methods.
ateam-controls/src/physical_params.rs	Adds physical constants (mass/inertia/wheel geometry/motor constants).
ateam-controls/src/lib.rs	Adds wrap_angle, new matrix/vector aliases, and exposes new modules.
ateam-controls/src/kalman_params.rs	Adds default KF noise constants.
ateam-controls/src/ctypes.rs	Expands FFI types (Vector6C/Vector8C) and keeps matrix column-major conversions.
ateam-controls/src/bangbang_trajectory.rs	Refactors trajectory params into a struct + adds pose/twist trajectory constructors and new eval helpers.
ateam-controls/Cargo.toml	Adds optional serde feature for parameter deserialization.
ateam-controls-c/src/lib.rs	Replaces old by-value model structs with opaque-pointer RobotModel API + new trajectory FFI functions.
ateam-controls-c/include/ateam_controls/ateam_controls.h	Updates C header types and function signatures for the new opaque model + trajectory APIs.
ateam-controls-c/Cargo.toml	Builds both staticlib and cdylib for ctypes-based tooling.
analysis/src/bin/trajectory_sim.rs	Updates sim to new model/trajectory APIs and adds KF loop in simulation.
analysis/src/bin/compute_trajectory.rs	New CLI to compute and emit trajectory CSV, with optional JSON param loading.
analysis/src/bin/compute_state_measurement.rs	New CLI for mapping sensor readings into state-space measurements using the model transforms.
analysis/scripts/wheel_visualize.py	New wheel current/velocity plotting helper.
analysis/scripts/trajectory_visualize.py	New trajectory plotting script using the Python FFI interface.
analysis/scripts/trajectory_sim_visualize.py	Updates sim visualizer column names to match new CSV output fields.
analysis/scripts/trajectory_overlay.py	Adds interactive trajectory overlay for KF plots.
analysis/scripts/telem_visualize.py	New interactive telemetry visualizer.
analysis/scripts/telem_bag2np.py	New ROS2 bag-to-NPZ conversion script for ExtendedTelemetry.
analysis/scripts/rust_interface.py	New Python ctypes binding layer for trajectory + state measurement helpers.
analysis/scripts/record_and_visualize.sh	Script to record bag, convert to NPZ, and launch visualizers.
analysis/scripts/param_tuning_loop.py	New iterative parameter upload/record/convert/visualize tuning workflow.
analysis/scripts/kalman_visualize.py	New KF visualization, including measurement reconstruction and overlay hook.
analysis/Cargo.toml	Adds dependencies and binaries for the analysis crate.
Cargo.lock	Updates lockfile for new dependencies (clap/serde/serde_json/etc.).
COLCON_IGNORE	Present (no diff shown) to control colcon behavior.
.vscode/launch.json	Adds debug configurations for Rust/Python analysis tools.
.gitignore	Ignores python artifacts and local analysis data/.

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[Copilot]

Pull request overview

Copilot reviewed 32 out of 38 changed files in this pull request and generated 8 comments.

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[Copilot]

Pull request overview

Copilot reviewed 32 out of 38 changed files in this pull request and generated 7 comments.

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