Architecture
A terminal interface, an experiment runtime, a controller boundary and a record you can replay.
Interface
rvdlabTextual TUI for project status, environment checks and experiment management.
Applications
rail_main / rail_replayEntry points for simulation and controller replay.
Runtime
rvd_runtimeConfiguration, controller adapters, supervision, simulation and records.
Controller
pfcr_core / IControllerPFCR mathematics and the interface for connecting other controllers.
Records
Experiment directoryConfiguration, provenance, high-precision inputs, telemetry and checksums.
Connect a controller
Implement IController and declare the observations, units and update period your algorithm needs.
Initialize
Load the policy or algorithm artifacts.
Reset
Restore internal state at the start of a run.
Observe and act
Process Observation and produce a control output.
Report
Expose status and diagnostics, with a minimal configuration and replayable record.
Observation can include state estimates and typed camera, point-cloud and pose samples. The PFCR adapter requires a Hill-frame state.
Read the development guideFrames and configuration
INI files are applied in order. Command-line arguments override configuration values. Each experiment stores the fully resolved configuration.
rail[axis[j]] = target[axis[j]]
+ sign[j] * scale[j] * hill[j]| Frame | Convention |
|---|---|
| Hill | x radial, y along-track, z normal |
| Rail | Physical Cartesian coordinates in metres |
| Pose | Position in metres; quaternion order w, x, y, z |
| Sensors | Separate labels for camera, LiDAR, motion capture and target |
Ground testbed
The laboratory platform combines three-axis rails, two LiDARs, a camera, motion capture and a six-degree-of-freedom target platform.
Hardware integration covers device protocols, coordinate transforms, calibration and timestamps. The documented software build and v0.4.1 interface demo operate in simulation-only mode.
| Capability | Status in the documented snapshot |
|---|---|
| Simulation, configuration and records | Implemented |
| Textual TUI | Implemented; v0.4.1 interface shown |
| Ideal / bounded simulation | Configurable |
| Hardware execution and sensor drivers | Integration in progress |