[transfix]

This follow-up to #142 brings docs/vehicle-ph-plant.tex and its PDF up to date with libcvc master and the plant reel.

What changed

• §11.1, Recordings. The paragraph saying videos would follow now links the plant reel and summarizes its clips: 3 successes and 5 failures.

  • It gives the 24-route arrival counts from docs/PLANTS.md: 3/24 on the surrogate, 3/24 on the kinematic bicycle, 0/24 on the live plant and 0/24 on the rigid-body vehicle.
  • It credits OpenStreetMap (ODbL) for the buildings.
  • It says the failures are the policy's and the navigator's plan, not the plants'.

• §5, the live plant: ground, world and driver (libcvc #869, #873). docs(vehicle-ph-plant): the four-wheel pH form, merged commits, review gaps #142 said the live plant is flat and has no world to collide with. That was true at #852's commit, where its rows were measured, but not on master. The section now covers three changes:

  • the ground height and its grade line;
  • the rigid-body world. The chassis box hands the world's pose and twist back to the model, and the energy that changes is booked as contact, outside the pH form. With Jolt in the build, plant_host builds this world for "dynamic";
  • the driver, which is on by default.

  The books equation gains its contact line. dyn_4w_plant is named as the four-wheel live plant.

• New Table 4, the tests of those changes. Measured on libcvc master at 6cc8cfdc, where physics_dyn_bike_plant_test's 8 tests pass. Its physics sources and tests are identical to master at 09dcfa76.

  Test	Measured
  ClimbsTheGround	2.864 m/s lost against 2.938; grade −1.986e4 J against m·g·Δz −1.992e4 J
  TheDriverHoldsAndClimbs	held −0.033 m (raw command −15.3 m); 5.87 m/s against 6.0
  CollidesWithTheWorld	nose at 30.000 m, contact −1.39e5 J; 146.0 m without the world
  SlidesAlongAWall	26.7 m at chassis friction 0.3, 4.4 m at 1

  The caption gives master's TheBooksClose residuals: 1.68e-4 for the full-size preset and 6.45e-4 for the 1/10-scale car. That resolves the open item from docs(vehicle-ph-plant): the four-wheel pH form, merged commits, review gaps #142's review notes.

• §11.1, Collisions. docs(vehicle-ph-plant): the four-wheel pH form, merged commits, review gaps #142 said "the dynamic plants have no contact". The item now says neither pH form has contact, and that the live plants collide by handing over the world's state. The work under way still puts contact into H and R.

• Python access. pycvc.dyn_bike_plant (libcvc #979, 781b9a2f, in no release yet) reads the live plant's books, and GRL-SNAM's capture shows them. pycvc binds neither dyn_4w_plant nor plant_host. The equation-to-code map is updated to match.

• Versions. Adds #869 (3.7.2), #873 (3.7.3) and #979 (unreleased), plus the appendix's where-measured entries for the new rows.

Checks

• pdflatex, three passes: no warnings, 35 pages.
• Scope grep over the .tex: no program, engagement, radio or vehicle-preset terms, no city name, and no session names.

Not in this PR

libcvc #978, #981, #982, #983 and #987 are still open. Their paragraphs on the discrete-gradient step, the semi-implicit default, wheel spin, compliant contact and the full (q, p) form will come in a later PR, after they merge.