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Front boom: back on the line after a Go-around bend - #230
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…an follow Two faults with a front-mounted implement round a Go-around obstacle (a tester's field, simulator, 8 m front boom 4.5 m ahead of the pivot): 1. After each bend the steered line stayed 0.40 m beside the pass for about 100 m. FrontToolLine.Steered moves each point of the line by the bend measured around it, and an open pass has a single point at each end of a long straight stretch: the shift worked out at the end of the bend was carried by the long segment to the far end. Open passes now get points every metre near the ends of a stretch longer than the window (closed passes stay one for one, so PassUnfit still lines up). 2. The Go-around bend was built at the setting's radius (5 m), tighter than the pivot can follow while holding a front implement on it: the implement runs outside a bend of radius R by sqrt(R^2 + h^2) - R, so the boom left the bend by 1.35 m. With a front-fixed implement the radius is now never under sqrt(minR^2 + h^2) (6.46 m for this rig). Tests: FrontToolLineTests (a bend, then a 200 m stretch: back on the pass within a few metres; a closed pass keeps its points), GoAroundPassesTests (the radius floor for a front implement, none for a rear one). Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01VKEBDFmQpFVsahedjtN2AZ
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Requested by Renato · project thread
What changed
Two faults with a front-mounted implement round a Go around obstacle. On a tester's field (simulator, beta 2be8132, 14 Nov 10:36: an 8 m front boom 4.5 m ahead of the pivot, trees as Go around circles) the boom missed the inside of each bend and the tractor ran beside the line after it.
FrontToolLine.Steeredmoves each point of the steered line by the bend measured around it. An open pass has one point at each end of a long straight stretch, so the shift worked out at the end of the bend was carried along the long segment to its far end. Open passes now get a point every metre near the ends of a stretch longer than the window (WithPointsNearStretchEnds); the middle of the stretch keeps no extra points. Closed passes stay one for one, soPassUnfitstill lines up.hahead runs outside a bend of radius R by √(R² + h²) − R, so the boom left the bend by about 1.35 m. With a front-fixed implementGoAroundPasses.Radiusis now never under √(minR² + h²) (6.46 m for this rig: min turning radius 4.64 m, h 4.5 m). Rear and trailed implements are unchanged.Tests:
FrontToolLineTests: a bend, then one 200 m segment: the steered line is back on the pass within a few metres of the bend and exactly on it further on; a closed pass keeps its points one for one.GoAroundPassesTests: the radius floor for a front implement (setting 5 m → √(r² + 4.5²); setting 10 m → 10 m), none for a rear one.CLAUDE.md's "A front implement round a bend" and the Go around bullet say so. Fork only.
Related issue
From the same day's simulator reports as #228 and #229.
Pre-submit checklist
dotnet buildsucceeds with no errorsdotnet testpasses: the track, pipeline, U-turn, obstacle and Go around tests (2167 passed); the full suite runs in CIScreenshots
Not a UI change.
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