ruvnet--RuView

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ruv 5b3e337c6d fix(ruvector): honest GDOP + canonical wrapped angular distance (ADR-156 §2.1, §2.3)

Two correctness/integrity fixes on the cross-viewpoint fusion geometry path,
each pinned by a regression test that fails on the old code.

- GDOP mislabel (§2.3): CramerRaoBound.gdop was `sqrt(crb_x+crb_y)` — identical
  to rmse_lower_bound (metres, noise-dependent), NOT a dimensionless GDOP. Now
  computes true GDOP = sqrt(trace(G^-1)) on the unit-variance bearing geometry,
  in both estimate() and estimate_regularised(); INFINITY (not NaN) for
  degenerate collinear geometry. Test gdop_is_dimensionless_and_noise_independent
  asserts GDOP is unchanged under 10x noise while RMSE scales 10x (old code
  failed: it scaled with noise, proving it was RMSE).

- Angular wrap (§2.1): GeometricBias::build_matrix used raw |delta-azimuth|
  (can exceed pi, mis-states the 0/2pi seam) instead of the wrapped distance.
  angular_distance made pub and reused as the single canonical helper. HONEST:
  under the current cos() kernel this is a NUMERIC NO-OP (cos is even/periodic,
  cos(raw)==cos(wrapped)); landed for contract correctness + single-source-of-
  truth + future non-even kernels, not as a behaviour change. Tests pin the
  contract (wrapped value in [0,pi], seam symmetry).

ruvector lib tests: 100 passed / 0 failed (+ new tests).

Co-Authored-By: claude-flow <ruv@ruv.net>

2026-06-11 20:22:59 -04:00

.cargo

fix(security): audit — fix RUSTSEC vulns, clippy warnings, dead code (#769 )

2026-05-23 05:36:13 -04:00

.claude-flow

chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427 )

2026-04-25 21:28:13 -04:00

crates

fix(ruvector): honest GDOP + canonical wrapped angular distance (ADR-156 §2.1, §2.3)

2026-06-11 20:22:59 -04:00

data

chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427 )