Documentation
¶
Index ¶
- Constants
- type EngineSpec
- type L1Config
- type L3Common
- type L3Config
- type L3EmaBaselineV1
- type L3EmaTrackAssistV2
- type L4Common
- type L4Config
- type L4DbscanXyV1
- type L4HdbscanAdaptiveV1
- type L4TwoStageMahalanobisV2
- type L5Common
- type L5Config
- type L5CvKfV1
- type L5ImmCvCaRtsEvalV2
- type L5ImmCvCaV2
- type PipelineConfig
- type TuningConfig
- func (c *TuningConfig) GetBackgroundDriftRatioThreshold() float64
- func (c *TuningConfig) GetBackgroundDriftThresholdMetres() float64
- func (c *TuningConfig) GetBackgroundFlush() bool
- func (c *TuningConfig) GetBackgroundUpdateFraction() float64
- func (c *TuningConfig) GetBufferTimeout() time.Duration
- func (c *TuningConfig) GetChangeThresholdSnapshot() int
- func (c *TuningConfig) GetClosenessMultiplier() float64
- func (c *TuningConfig) GetDataSource() string
- func (c *TuningConfig) GetDeletedTrackGracePeriod() time.Duration
- func (c *TuningConfig) GetEnableDiagnostics() bool
- func (c *TuningConfig) GetFlushInterval() time.Duration
- func (c *TuningConfig) GetForegroundDBSCANEps() float64
- func (c *TuningConfig) GetForegroundMaxInputPoints() int
- func (c *TuningConfig) GetForegroundMinClusterPoints() int
- func (c *TuningConfig) GetFreezeDuration() time.Duration
- func (c *TuningConfig) GetFreezeThresholdMultiplier() float64
- func (c *TuningConfig) GetGatingDistanceSquared() float64
- func (c *TuningConfig) GetHeightBandCeiling() float64
- func (c *TuningConfig) GetHeightBandFloor() float64
- func (c *TuningConfig) GetHitsToConfirm() int
- func (c *TuningConfig) GetLockedBaselineMultiplier() float64
- func (c *TuningConfig) GetLockedBaselineThreshold() int
- func (c *TuningConfig) GetMaxClusterAspectRatio() float64
- func (c *TuningConfig) GetMaxClusterDiameter() float64
- func (c *TuningConfig) GetMaxCovarianceDiag() float64
- func (c *TuningConfig) GetMaxMisses() int
- func (c *TuningConfig) GetMaxMissesConfirmed() int
- func (c *TuningConfig) GetMaxPositionJumpMetres() float64
- func (c *TuningConfig) GetMaxPredictDt() float64
- func (c *TuningConfig) GetMaxReasonableSpeedMps() float64
- func (c *TuningConfig) GetMaxSpeedHistoryLength() int
- func (c *TuningConfig) GetMaxTrackHistoryLength() int
- func (c *TuningConfig) GetMaxTracks() int
- func (c *TuningConfig) GetMeasurementNoise() float64
- func (c *TuningConfig) GetMergeSizeRatio() float64
- func (c *TuningConfig) GetMinClusterDiameter() float64
- func (c *TuningConfig) GetMinConfidenceFloor() int
- func (c *TuningConfig) GetMinFramePoints() int
- func (c *TuningConfig) GetMinObservationsForClassification() int
- func (c *TuningConfig) GetMinPointsForPCA() int
- func (c *TuningConfig) GetNeighbourConfirmationCount() int
- func (c *TuningConfig) GetNoiseRelative() float64
- func (c *TuningConfig) GetOBBAspectRatioLockThreshold() float64
- func (c *TuningConfig) GetOBBHeadingSmoothingAlpha() float64
- func (c *TuningConfig) GetOcclusionCovInflation() float64
- func (c *TuningConfig) GetPostSettleUpdateFraction() float64
- func (c *TuningConfig) GetProcessNoisePos() float64
- func (c *TuningConfig) GetProcessNoiseVel() float64
- func (c *TuningConfig) GetReacquisitionBoostMultiplier() float64
- func (c *TuningConfig) GetRemoveGround() bool
- func (c *TuningConfig) GetSafetyMarginMetres() float64
- func (c *TuningConfig) GetSeedFromFirst() bool
- func (c *TuningConfig) GetSensor() string
- func (c *TuningConfig) GetSensorMovementForegroundThreshold() float64
- func (c *TuningConfig) GetSettlingMaxSpreadDelta() float64
- func (c *TuningConfig) GetSettlingMinConfidence() float64
- func (c *TuningConfig) GetSettlingMinCoverage() float64
- func (c *TuningConfig) GetSettlingMinRegionStability() float64
- func (c *TuningConfig) GetSettlingPeriod() time.Duration
- func (c *TuningConfig) GetSnapshotInterval() time.Duration
- func (c *TuningConfig) GetSplitSizeRatio() float64
- func (c *TuningConfig) GetWarmupDurationNanos() int64
- func (c *TuningConfig) GetWarmupMinFrames() int
- func (c *TuningConfig) Validate() error
- func (c *TuningConfig) ValidateComplete() error
Constants ¶
const CurrentConfigVersion = 2
CurrentConfigVersion is the only config schema version accepted by the binary.
const DefaultConfigPath = "config/tuning.defaults.json"
DefaultConfigPath is the path to the canonical tuning defaults file.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type EngineSpec ¶
type EngineSpec struct {
Layer string
NewConfig func() interface{}
}
EngineSpec describes one selectable engine variant.
type L3Common ¶
type L3Common struct {
BackgroundUpdateFraction float64 `json:"background_update_fraction"`
ClosenessMultiplier float64 `json:"closeness_multiplier"`
SafetyMarginMetres float64 `json:"safety_margin_metres"`
NoiseRelative float64 `json:"noise_relative"`
NeighbourConfirmationCount int `json:"neighbour_confirmation_count"`
SeedFromFirst bool `json:"seed_from_first"`
WarmupDurationNanos int64 `json:"warmup_duration_nanos"`
WarmupMinFrames int `json:"warmup_min_frames"`
PostSettleUpdateFraction float64 `json:"post_settle_update_fraction"`
EnableDiagnostics bool `json:"enable_diagnostics"`
FreezeDuration string `json:"freeze_duration"`
FreezeThresholdMultiplier float64 `json:"freeze_threshold_multiplier"`
SettlingPeriod string `json:"settling_period"`
SnapshotInterval string `json:"snapshot_interval"`
ChangeThresholdSnapshot int `json:"change_threshold_snapshot"`
ReacquisitionBoostMultiplier float64 `json:"reacquisition_boost_multiplier"`
MinConfidenceFloor int `json:"min_confidence_floor"`
LockedBaselineThreshold int `json:"locked_baseline_threshold"`
LockedBaselineMultiplier float64 `json:"locked_baseline_multiplier"`
SensorMovementForegroundThreshold float64 `json:"sensor_movement_foreground_threshold"`
BackgroundDriftThresholdMetres float64 `json:"background_drift_threshold_metres"`
BackgroundDriftRatioThreshold float64 `json:"background_drift_ratio_threshold"`
SettlingMinCoverage float64 `json:"settling_min_coverage"`
SettlingMaxSpreadDelta float64 `json:"settling_max_spread_delta"`
SettlingMinRegionStability float64 `json:"settling_min_region_stability"`
SettlingMinConfidence float64 `json:"settling_min_confidence"`
}
L3Common contains fields shared by all L3 engines.
type L3Config ¶
type L3Config struct {
Engine string `json:"engine"`
EmaBaselineV1 *L3EmaBaselineV1 `json:"ema_baseline_v1,omitempty"`
EmaTrackAssistV2 *L3EmaTrackAssistV2 `json:"ema_track_assist_v2,omitempty"`
}
L3Config selects the active L3 engine.
func (*L3Config) ActiveCommon ¶
ActiveCommon returns the selected L3 common block.
func (*L3Config) ActiveConfig ¶
func (c *L3Config) ActiveConfig() interface{}
ActiveConfig returns the selected L3 engine block.
func (*L3Config) UnmarshalJSON ¶
UnmarshalJSON enforces strict engine-block validation for L3.
type L3EmaBaselineV1 ¶
type L3EmaBaselineV1 struct {
L3Common
}
L3EmaBaselineV1 is the current production L3 engine.
func (*L3EmaBaselineV1) Validate ¶
func (c *L3EmaBaselineV1) Validate() error
Validate validates the production L3 engine.
type L3EmaTrackAssistV2 ¶
type L3EmaTrackAssistV2 struct {
L3Common
PromotionNearGateLow float64 `json:"promotion_near_gate_low"`
PromotionNearGateHigh float64 `json:"promotion_near_gate_high"`
PromotionThreshold float64 `json:"promotion_threshold"`
}
L3EmaTrackAssistV2 is the track-assisted L3 variant.
func (*L3EmaTrackAssistV2) Validate ¶
func (c *L3EmaTrackAssistV2) Validate() error
Validate validates the track-assist L3 engine.
type L4Common ¶
type L4Common struct {
ForegroundDBSCANEps float64 `json:"foreground_dbscan_eps"`
ForegroundMinClusterPoints int `json:"foreground_min_cluster_points"`
ForegroundMaxInputPoints int `json:"foreground_max_input_points"`
HeightBandFloor float64 `json:"height_band_floor"`
HeightBandCeiling float64 `json:"height_band_ceiling"`
RemoveGround bool `json:"remove_ground"`
MaxClusterDiameter float64 `json:"max_cluster_diameter"`
MinClusterDiameter float64 `json:"min_cluster_diameter"`
MaxClusterAspectRatio float64 `json:"max_cluster_aspect_ratio"`
}
L4Common contains fields shared by all L4 engines.
type L4Config ¶
type L4Config struct {
Engine string `json:"engine"`
DbscanXyV1 *L4DbscanXyV1 `json:"dbscan_xy_v1,omitempty"`
TwoStageMahalanobisV2 *L4TwoStageMahalanobisV2 `json:"two_stage_mahalanobis_v2,omitempty"`
HdbscanAdaptiveV1 *L4HdbscanAdaptiveV1 `json:"hdbscan_adaptive_v1,omitempty"`
}
L4Config selects the active L4 engine.
func (*L4Config) ActiveCommon ¶
ActiveCommon returns the selected L4 common block.
func (*L4Config) ActiveConfig ¶
func (c *L4Config) ActiveConfig() interface{}
ActiveConfig returns the selected L4 engine block.
func (*L4Config) UnmarshalJSON ¶
UnmarshalJSON enforces strict engine-block validation for L4.
type L4DbscanXyV1 ¶
type L4DbscanXyV1 struct {
L4Common
}
L4DbscanXyV1 is the current production L4 engine.
func (*L4DbscanXyV1) Validate ¶
func (c *L4DbscanXyV1) Validate() error
Validate validates the production L4 engine.
type L4HdbscanAdaptiveV1 ¶
type L4HdbscanAdaptiveV1 struct {
L4Common
MinClusterSize int `json:"min_cluster_size"`
MinSamples int `json:"min_samples"`
}
L4HdbscanAdaptiveV1 is the future adaptive HDBSCAN L4 variant.
func (*L4HdbscanAdaptiveV1) Validate ¶
func (c *L4HdbscanAdaptiveV1) Validate() error
Validate validates the HDBSCAN L4 engine.
type L4TwoStageMahalanobisV2 ¶
type L4TwoStageMahalanobisV2 struct {
L4Common
VelocityCoherenceGate float64 `json:"velocity_coherence_gate"`
MinVelocityConfidence float64 `json:"min_velocity_confidence"`
}
L4TwoStageMahalanobisV2 is the future velocity-coherent L4 variant.
func (*L4TwoStageMahalanobisV2) Validate ¶
func (c *L4TwoStageMahalanobisV2) Validate() error
Validate validates the two-stage Mahalanobis L4 engine.
type L5Common ¶
type L5Common struct {
GatingDistanceSquared float64 `json:"gating_distance_squared"`
ProcessNoisePos float64 `json:"process_noise_pos"`
ProcessNoiseVel float64 `json:"process_noise_vel"`
MeasurementNoise float64 `json:"measurement_noise"`
OcclusionCovInflation float64 `json:"occlusion_cov_inflation"`
HitsToConfirm int `json:"hits_to_confirm"`
MaxMisses int `json:"max_misses"`
MaxMissesConfirmed int `json:"max_misses_confirmed"`
MaxTracks int `json:"max_tracks"`
MaxReasonableSpeedMps float64 `json:"max_reasonable_speed_mps"`
MaxPositionJumpMetres float64 `json:"max_position_jump_metres"`
MaxPredictDt float64 `json:"max_predict_dt"`
MaxCovarianceDiag float64 `json:"max_covariance_diag"`
MinPointsForPCA int `json:"min_points_for_pca"`
OBBHeadingSmoothingAlpha float64 `json:"obb_heading_smoothing_alpha"`
OBBAspectRatioLockThreshold float64 `json:"obb_aspect_ratio_lock_threshold"`
MaxTrackHistoryLength int `json:"max_track_history_length"`
MaxSpeedHistoryLength int `json:"max_speed_history_length"`
MergeSizeRatio float64 `json:"merge_size_ratio"`
SplitSizeRatio float64 `json:"split_size_ratio"`
DeletedTrackGracePeriod string `json:"deleted_track_grace_period"`
MinObservationsForClassification int `json:"min_observations_for_classification"`
}
L5Common contains fields shared by all L5 engines.
type L5Config ¶
type L5Config struct {
Engine string `json:"engine"`
CvKfV1 *L5CvKfV1 `json:"cv_kf_v1,omitempty"`
ImmCvCaV2 *L5ImmCvCaV2 `json:"imm_cv_ca_v2,omitempty"`
ImmCvCaRtsEvalV2 *L5ImmCvCaRtsEvalV2 `json:"imm_cv_ca_rts_eval_v2,omitempty"`
}
L5Config selects the active L5 engine.
func (*L5Config) ActiveCommon ¶
ActiveCommon returns the selected L5 common block.
func (*L5Config) ActiveConfig ¶
func (c *L5Config) ActiveConfig() interface{}
ActiveConfig returns the selected L5 engine block.
func (*L5Config) UnmarshalJSON ¶
UnmarshalJSON enforces strict engine-block validation for L5.
type L5ImmCvCaRtsEvalV2 ¶
type L5ImmCvCaRtsEvalV2 struct {
L5ImmCvCaV2
RTSSmoothingWindow int `json:"rts_smoothing_window"`
}
L5ImmCvCaRtsEvalV2 is the future IMM + RTS evaluation variant.
func (*L5ImmCvCaRtsEvalV2) Validate ¶
func (c *L5ImmCvCaRtsEvalV2) Validate() error
Validate validates the IMM + RTS L5 engine.
type L5ImmCvCaV2 ¶
type L5ImmCvCaV2 struct {
L5Common
TransitionCVToCA float64 `json:"transition_cv_to_ca"`
TransitionCAToCV float64 `json:"transition_ca_to_cv"`
CAProcessNoiseAcc float64 `json:"ca_process_noise_acc"`
LowSpeedHeadingFreezeMps float64 `json:"low_speed_heading_freeze_mps"`
}
L5ImmCvCaV2 is the future IMM CV/CA tracking variant.
func (*L5ImmCvCaV2) Validate ¶
func (c *L5ImmCvCaV2) Validate() error
Validate validates the IMM L5 engine.
type PipelineConfig ¶
type PipelineConfig struct {
BufferTimeout string `json:"buffer_timeout"`
MinFramePoints int `json:"min_frame_points"`
FlushInterval string `json:"flush_interval"`
BackgroundFlush bool `json:"background_flush"`
}
PipelineConfig holds cross-cutting runtime settings already exposed pre-restructure.
func (*PipelineConfig) Validate ¶
func (c *PipelineConfig) Validate() error
Validate validates pipeline values.
type TuningConfig ¶
type TuningConfig struct {
Version int `json:"version"`
L1 L1Config `json:"l1"`
L3 L3Config `json:"l3"`
L4 L4Config `json:"l4"`
L5 L5Config `json:"l5"`
Pipeline PipelineConfig `json:"pipeline"`
}
TuningConfig is the Phase 1 + 2 layer-scoped tuning schema.
func LoadTuningConfig ¶
func LoadTuningConfig(path string) (*TuningConfig, error)
LoadTuningConfig loads a versioned tuning config from a JSON file.
func MustLoadDefaultConfig ¶
func MustLoadDefaultConfig() *TuningConfig
MustLoadDefaultConfig loads the canonical defaults file or panics.
func (*TuningConfig) GetBackgroundDriftRatioThreshold ¶
func (c *TuningConfig) GetBackgroundDriftRatioThreshold() float64
GetBackgroundDriftRatioThreshold returns the active L3 drift ratio threshold.
func (*TuningConfig) GetBackgroundDriftThresholdMetres ¶
func (c *TuningConfig) GetBackgroundDriftThresholdMetres() float64
GetBackgroundDriftThresholdMetres returns the active L3 drift distance threshold.
func (*TuningConfig) GetBackgroundFlush ¶
func (c *TuningConfig) GetBackgroundFlush() bool
GetBackgroundFlush returns the pipeline background_flush value.
func (*TuningConfig) GetBackgroundUpdateFraction ¶
func (c *TuningConfig) GetBackgroundUpdateFraction() float64
GetBackgroundUpdateFraction returns the active L3 update alpha.
func (*TuningConfig) GetBufferTimeout ¶
func (c *TuningConfig) GetBufferTimeout() time.Duration
GetBufferTimeout parses and returns the frame buffer timeout.
func (*TuningConfig) GetChangeThresholdSnapshot ¶
func (c *TuningConfig) GetChangeThresholdSnapshot() int
GetChangeThresholdSnapshot returns the active L3 snapshot change threshold.
func (*TuningConfig) GetClosenessMultiplier ¶
func (c *TuningConfig) GetClosenessMultiplier() float64
GetClosenessMultiplier returns the active L3 closeness_multiplier value.
func (*TuningConfig) GetDataSource ¶
func (c *TuningConfig) GetDataSource() string
GetDataSource returns the configured initial data source.
func (*TuningConfig) GetDeletedTrackGracePeriod ¶
func (c *TuningConfig) GetDeletedTrackGracePeriod() time.Duration
GetDeletedTrackGracePeriod returns the active L5 deleted-track grace period.
func (*TuningConfig) GetEnableDiagnostics ¶
func (c *TuningConfig) GetEnableDiagnostics() bool
GetEnableDiagnostics returns the active L3 diagnostics switch.
func (*TuningConfig) GetFlushInterval ¶
func (c *TuningConfig) GetFlushInterval() time.Duration
GetFlushInterval parses and returns the flush interval.
func (*TuningConfig) GetForegroundDBSCANEps ¶
func (c *TuningConfig) GetForegroundDBSCANEps() float64
GetForegroundDBSCANEps returns the active L4 DBSCAN epsilon.
func (*TuningConfig) GetForegroundMaxInputPoints ¶
func (c *TuningConfig) GetForegroundMaxInputPoints() int
GetForegroundMaxInputPoints returns the active L4 point cap.
func (*TuningConfig) GetForegroundMinClusterPoints ¶
func (c *TuningConfig) GetForegroundMinClusterPoints() int
GetForegroundMinClusterPoints returns the active L4 minimum cluster size.
func (*TuningConfig) GetFreezeDuration ¶
func (c *TuningConfig) GetFreezeDuration() time.Duration
GetFreezeDuration returns the active L3 freeze duration.
func (*TuningConfig) GetFreezeThresholdMultiplier ¶
func (c *TuningConfig) GetFreezeThresholdMultiplier() float64
GetFreezeThresholdMultiplier returns the active L3 freeze threshold multiplier.
func (*TuningConfig) GetGatingDistanceSquared ¶
func (c *TuningConfig) GetGatingDistanceSquared() float64
GetGatingDistanceSquared returns the active L5 gating threshold.
func (*TuningConfig) GetHeightBandCeiling ¶
func (c *TuningConfig) GetHeightBandCeiling() float64
GetHeightBandCeiling returns the active L4 upper height-band bound.
func (*TuningConfig) GetHeightBandFloor ¶
func (c *TuningConfig) GetHeightBandFloor() float64
GetHeightBandFloor returns the active L4 lower height-band bound.
func (*TuningConfig) GetHitsToConfirm ¶
func (c *TuningConfig) GetHitsToConfirm() int
GetHitsToConfirm returns the active L5 confirmation threshold.
func (*TuningConfig) GetLockedBaselineMultiplier ¶
func (c *TuningConfig) GetLockedBaselineMultiplier() float64
GetLockedBaselineMultiplier returns the active L3 locked-baseline multiplier.
func (*TuningConfig) GetLockedBaselineThreshold ¶
func (c *TuningConfig) GetLockedBaselineThreshold() int
GetLockedBaselineThreshold returns the active L3 locked-baseline threshold.
func (*TuningConfig) GetMaxClusterAspectRatio ¶
func (c *TuningConfig) GetMaxClusterAspectRatio() float64
GetMaxClusterAspectRatio returns the active L4 max cluster aspect ratio.
func (*TuningConfig) GetMaxClusterDiameter ¶
func (c *TuningConfig) GetMaxClusterDiameter() float64
GetMaxClusterDiameter returns the active L4 max cluster diameter.
func (*TuningConfig) GetMaxCovarianceDiag ¶
func (c *TuningConfig) GetMaxCovarianceDiag() float64
GetMaxCovarianceDiag returns the active L5 covariance clamp.
func (*TuningConfig) GetMaxMisses ¶
func (c *TuningConfig) GetMaxMisses() int
GetMaxMisses returns the active L5 tentative miss threshold.
func (*TuningConfig) GetMaxMissesConfirmed ¶
func (c *TuningConfig) GetMaxMissesConfirmed() int
GetMaxMissesConfirmed returns the active L5 confirmed miss threshold.
func (*TuningConfig) GetMaxPositionJumpMetres ¶
func (c *TuningConfig) GetMaxPositionJumpMetres() float64
GetMaxPositionJumpMetres returns the active L5 max position jump.
func (*TuningConfig) GetMaxPredictDt ¶
func (c *TuningConfig) GetMaxPredictDt() float64
GetMaxPredictDt returns the active L5 max predict dt.
func (*TuningConfig) GetMaxReasonableSpeedMps ¶
func (c *TuningConfig) GetMaxReasonableSpeedMps() float64
GetMaxReasonableSpeedMps returns the active L5 max speed limit.
func (*TuningConfig) GetMaxSpeedHistoryLength ¶
func (c *TuningConfig) GetMaxSpeedHistoryLength() int
GetMaxSpeedHistoryLength returns the active L5 speed history cap.
func (*TuningConfig) GetMaxTrackHistoryLength ¶
func (c *TuningConfig) GetMaxTrackHistoryLength() int
GetMaxTrackHistoryLength returns the active L5 trail history cap.
func (*TuningConfig) GetMaxTracks ¶
func (c *TuningConfig) GetMaxTracks() int
GetMaxTracks returns the active L5 max_tracks value.
func (*TuningConfig) GetMeasurementNoise ¶
func (c *TuningConfig) GetMeasurementNoise() float64
GetMeasurementNoise returns the active L5 measurement noise.
func (*TuningConfig) GetMergeSizeRatio ¶
func (c *TuningConfig) GetMergeSizeRatio() float64
GetMergeSizeRatio returns the active L5 merge ratio.
func (*TuningConfig) GetMinClusterDiameter ¶
func (c *TuningConfig) GetMinClusterDiameter() float64
GetMinClusterDiameter returns the active L4 min cluster diameter.
func (*TuningConfig) GetMinConfidenceFloor ¶
func (c *TuningConfig) GetMinConfidenceFloor() int
GetMinConfidenceFloor returns the active L3 minimum confidence floor.
func (*TuningConfig) GetMinFramePoints ¶
func (c *TuningConfig) GetMinFramePoints() int
GetMinFramePoints returns the pipeline min_frame_points value.
func (*TuningConfig) GetMinObservationsForClassification ¶
func (c *TuningConfig) GetMinObservationsForClassification() int
GetMinObservationsForClassification returns the active L5 classification threshold.
func (*TuningConfig) GetMinPointsForPCA ¶
func (c *TuningConfig) GetMinPointsForPCA() int
GetMinPointsForPCA returns the active L5 PCA minimum.
func (*TuningConfig) GetNeighbourConfirmationCount ¶
func (c *TuningConfig) GetNeighbourConfirmationCount() int
GetNeighbourConfirmationCount returns the active L3 neighbour confirmation count.
func (*TuningConfig) GetNoiseRelative ¶
func (c *TuningConfig) GetNoiseRelative() float64
GetNoiseRelative returns the active L3 noise_relative value.
func (*TuningConfig) GetOBBAspectRatioLockThreshold ¶
func (c *TuningConfig) GetOBBAspectRatioLockThreshold() float64
GetOBBAspectRatioLockThreshold returns the active L5 OBB aspect-ratio lock threshold.
func (*TuningConfig) GetOBBHeadingSmoothingAlpha ¶
func (c *TuningConfig) GetOBBHeadingSmoothingAlpha() float64
GetOBBHeadingSmoothingAlpha returns the active L5 OBB smoothing factor.
func (*TuningConfig) GetOcclusionCovInflation ¶
func (c *TuningConfig) GetOcclusionCovInflation() float64
GetOcclusionCovInflation returns the active L5 occlusion covariance inflation.
func (*TuningConfig) GetPostSettleUpdateFraction ¶
func (c *TuningConfig) GetPostSettleUpdateFraction() float64
GetPostSettleUpdateFraction returns the active L3 post-settle alpha.
func (*TuningConfig) GetProcessNoisePos ¶
func (c *TuningConfig) GetProcessNoisePos() float64
GetProcessNoisePos returns the active L5 position process noise.
func (*TuningConfig) GetProcessNoiseVel ¶
func (c *TuningConfig) GetProcessNoiseVel() float64
GetProcessNoiseVel returns the active L5 velocity process noise.
func (*TuningConfig) GetReacquisitionBoostMultiplier ¶
func (c *TuningConfig) GetReacquisitionBoostMultiplier() float64
GetReacquisitionBoostMultiplier returns the active L3 reacquisition boost.
func (*TuningConfig) GetRemoveGround ¶
func (c *TuningConfig) GetRemoveGround() bool
GetRemoveGround returns the active L4 ground-removal switch.
func (*TuningConfig) GetSafetyMarginMetres ¶
func (c *TuningConfig) GetSafetyMarginMetres() float64
GetSafetyMarginMetres returns the active L3 safety margin in metres.
func (*TuningConfig) GetSeedFromFirst ¶
func (c *TuningConfig) GetSeedFromFirst() bool
GetSeedFromFirst returns the active L3 seed_from_first value.
func (*TuningConfig) GetSensor ¶
func (c *TuningConfig) GetSensor() string
GetSensor returns the configured sensor identifier.
func (*TuningConfig) GetSensorMovementForegroundThreshold ¶
func (c *TuningConfig) GetSensorMovementForegroundThreshold() float64
GetSensorMovementForegroundThreshold returns the active L3 movement threshold.
func (*TuningConfig) GetSettlingMaxSpreadDelta ¶
func (c *TuningConfig) GetSettlingMaxSpreadDelta() float64
GetSettlingMaxSpreadDelta returns the active L3 maximum settling spread delta.
func (*TuningConfig) GetSettlingMinConfidence ¶
func (c *TuningConfig) GetSettlingMinConfidence() float64
GetSettlingMinConfidence returns the active L3 minimum settling confidence.
func (*TuningConfig) GetSettlingMinCoverage ¶
func (c *TuningConfig) GetSettlingMinCoverage() float64
GetSettlingMinCoverage returns the active L3 minimum settling coverage.
func (*TuningConfig) GetSettlingMinRegionStability ¶
func (c *TuningConfig) GetSettlingMinRegionStability() float64
GetSettlingMinRegionStability returns the active L3 minimum region stability.
func (*TuningConfig) GetSettlingPeriod ¶
func (c *TuningConfig) GetSettlingPeriod() time.Duration
GetSettlingPeriod returns the active L3 settling period.
func (*TuningConfig) GetSnapshotInterval ¶
func (c *TuningConfig) GetSnapshotInterval() time.Duration
GetSnapshotInterval returns the active L3 snapshot interval.
func (*TuningConfig) GetSplitSizeRatio ¶
func (c *TuningConfig) GetSplitSizeRatio() float64
GetSplitSizeRatio returns the active L5 split ratio.
func (*TuningConfig) GetWarmupDurationNanos ¶
func (c *TuningConfig) GetWarmupDurationNanos() int64
GetWarmupDurationNanos returns the active L3 warmup duration.
func (*TuningConfig) GetWarmupMinFrames ¶
func (c *TuningConfig) GetWarmupMinFrames() int
GetWarmupMinFrames returns the active L3 warmup frame count.
func (*TuningConfig) Validate ¶
func (c *TuningConfig) Validate() error
Validate checks the loaded config for structural and value correctness.
func (*TuningConfig) ValidateComplete ¶
func (c *TuningConfig) ValidateComplete() error
ValidateComplete is kept as a compatibility entry point for callers and tooling.