From 173077a46cc13e91a6ddd3016746f7b9a6df44ef Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 11 Mar 2026 20:20:59 -0700
Subject: [PATCH 01/52] first try

---
 auto_sim/.vscode/settings.json |   3 +
 auto_sim/Pipfile               |  14 ++
 auto_sim/Pipfile.lock          | 235 +++++++++++++++++++++++++++++++++
 auto_sim/fsae.png              | Bin 0 -> 71750 bytes
 auto_sim/main.py               |  44 ++++++
 auto_sim/render.py             |  72 ++++++++++
 6 files changed, 368 insertions(+)
 create mode 100644 auto_sim/.vscode/settings.json
 create mode 100644 auto_sim/Pipfile
 create mode 100644 auto_sim/Pipfile.lock
 create mode 100644 auto_sim/fsae.png
 create mode 100644 auto_sim/main.py
 create mode 100644 auto_sim/render.py

diff --git a/auto_sim/.vscode/settings.json b/auto_sim/.vscode/settings.json
new file mode 100644
index 0000000..3212c3c
--- /dev/null
+++ b/auto_sim/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+	"python-envs.defaultEnvManager": "ms-python.python:pipenv"
+}
\ No newline at end of file
diff --git a/auto_sim/Pipfile b/auto_sim/Pipfile
new file mode 100644
index 0000000..51fcdf3
--- /dev/null
+++ b/auto_sim/Pipfile
@@ -0,0 +1,14 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+pygame = "*"
+numpy = "*"
+scipy = "*"
+
+[dev-packages]
+
+[requires]
+python_version = "3.13"
diff --git a/auto_sim/Pipfile.lock b/auto_sim/Pipfile.lock
new file mode 100644
index 0000000..b14c311
--- /dev/null
+++ b/auto_sim/Pipfile.lock
@@ -0,0 +1,235 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "df9bfc6c1f8bccd923516feffa8df94caa648ecd292de15ed90937b733ef8ed8"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.13"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "numpy": {
+            "hashes": [
+                "sha256:0200b25c687033316fb39f0ff4e3e690e8957a2c3c8d22499891ec58c37a3eb5",
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+                "sha256:0a195f4216be9305a73c0e91c9b026a35f2161237cf1c6de9b681637772ea657",
+                "sha256:0a60e17a14d640f49146cb38e3f105f571318db7826d9b6fef7e4dce758faecd",
+                "sha256:120df8c0a81ebbf5b9020c91439fccd85f5e018a927a39f624845be194a2be02",
+                "sha256:148d59127ac95979d6f07e4d460f934ebdd6eed641db9c0db6c73026f2b2101a",
+                "sha256:1ec84fd7c8e652b0f4aaaf2e6e9cc8eaa9b1b80a537e06b2e3a2fb176eedcb26",
+                "sha256:22654fe6be0e5206f553a9250762c653d3698e46686eee53b399ab90da59bd92",
+                "sha256:22c31dc07025123aedf7f2db9e91783df13f1776dc52c6b22c620870dc0fab22",
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+}
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HcmV?d00001

diff --git a/auto_sim/main.py b/auto_sim/main.py
new file mode 100644
index 0000000..fb0eec8
--- /dev/null
+++ b/auto_sim/main.py
@@ -0,0 +1,44 @@
+# Example file showing a basic pygame "game loop"
+import pygame
+from render import handle_key, init, render_world, sim_step
+import ctypes
+import platform
+
+def set_dpi_awareness():
+    if platform.system() == "Windows":
+        try:
+            # Set DPI Awareness (Windows 10/8)
+            ctypes.windll.shcore.SetProcessDpiAwareness(2)
+        except AttributeError:
+            # Windows 7/Vista
+            ctypes.windll.user32.SetProcessDPIAware()
+set_dpi_awareness()
+
+# pygame setup
+pygame.init()
+screen = pygame.display.set_mode((1900, 1200), pygame.RESIZABLE)
+pygame.display.set_caption('Autonomous Sim')
+clock = pygame.time.Clock()
+running = True
+time: float = 0.0
+init()
+
+while running:
+    # handle events
+    # pygame.QUIT event means the user clicked X to close your window
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            running = False
+        elif event.type == pygame.KEYDOWN:
+            handle_key(event.key)
+
+    # fill the screen with a color to wipe away anything from last frame
+    screen.fill("black")
+    sim_step(clock.get_time())
+    render_world(screen)
+
+    # flip() the display to put your work on screen
+    pygame.display.flip()
+    clock.tick(60)  # limits FPS to 60
+
+pygame.quit()
\ No newline at end of file
diff --git a/auto_sim/render.py b/auto_sim/render.py
new file mode 100644
index 0000000..2ab7d15
--- /dev/null
+++ b/auto_sim/render.py
@@ -0,0 +1,72 @@
+# global state
+from dataclasses import dataclass
+from enum import Enum
+
+import numpy as np
+import pygame
+from scipy.spatial.transform import Rotation as R
+
+class ConeColor(Enum):
+	BLUE = "blue"
+	YELLOW = "yellow"
+
+@dataclass
+class Cone:
+	x: int
+	y: int
+	color: ConeColor
+
+CONE_POSITIONS: list[Cone] = [
+	Cone(10, 10, ConeColor.BLUE),
+	Cone(-10, 10, ConeColor.YELLOW),
+] # TODO figure out where the cones need to be
+(VEHICLE_X_M, VEHICLE_Y_M) = 0.0, 0.0 # position
+(VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS) = 0.0, 0.0 # velocity
+(VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC) = 0.0, 0.0 # orientation and angular velocity
+PIXELS_PER_M = 80.0
+w: int
+h: int
+
+car: pygame.Surface
+
+def init():
+	global car
+	car = pygame.image.load('fsae.png').convert_alpha()
+
+def handle_key(key: int):
+	pass
+
+def sim_step(dt: int):
+	global VEHICLE_X_M, VEHICLE_Y_M, VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS, VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC
+	VEHICLE_X_M += VEHICLE_V_X_MPS * dt
+	VEHICLE_Y_M += VEHICLE_V_Y_MPS * dt
+	VEHICLE_THETA_RAD += (VEHICLE_OMEGA_RAD_PER_SEC * dt) % (2 * np.pi)
+
+def transform(x: float, y: float) -> tuple[int, int]:
+	global w, h, VEHICLE_X_M, VEHICLE_Y_M, VEHICLE_THETA_RAD
+	r = R.from_euler('z', -VEHICLE_THETA_RAD, degrees=False)
+	rel_x, rel_y = x - VEHICLE_X_M, y - VEHICLE_Y_M
+	rotated_x, rotated_y,_ = r.apply([rel_x, rel_y, 0])
+	screen_x = int(w / 2 + rotated_x * PIXELS_PER_M)
+	screen_y = int((h * 0.67) - rotated_y * PIXELS_PER_M)
+	# Simple transformation - replace with actual coordinate transformation logic
+	return (screen_x, screen_y)
+
+def render_world(screen: pygame.Surface):
+	global w, h
+	w, h = screen.get_width(), screen.get_height()
+
+	# draw the car at 1/10th scale
+	car_rotated = pygame.transform.rotate(car, -90)
+	scale_factor = 1.2 / car_rotated.get_width() * PIXELS_PER_M
+	car_scaled = pygame.transform.scale(car_rotated, (
+		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
+	))
+	car_rect = car_scaled.get_rect(center=transform(VEHICLE_X_M, VEHICLE_Y_M))
+	screen.blit(car_scaled, car_rect)
+
+	for cone in CONE_POSITIONS:
+		pygame.draw.circle(
+			screen, cone.color.value,
+			transform(cone.x, cone.y), 10
+		)
\ No newline at end of file

From ad874e96c42342c37c558fd44914a2bd5c00c751 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 11 Mar 2026 20:27:33 -0700
Subject: [PATCH 02/52] move state around

---
 auto_sim/controller.py |  0
 auto_sim/main.py       |  9 ++++++---
 auto_sim/render.py     | 26 +++++++++-----------------
 auto_sim/sim.py        | 20 ++++++++++++++++++++
 4 files changed, 35 insertions(+), 20 deletions(-)
 create mode 100644 auto_sim/controller.py
 create mode 100644 auto_sim/sim.py

diff --git a/auto_sim/controller.py b/auto_sim/controller.py
new file mode 100644
index 0000000..e69de29
diff --git a/auto_sim/main.py b/auto_sim/main.py
index fb0eec8..3b28cca 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,6 +1,7 @@
 # Example file showing a basic pygame "game loop"
 import pygame
-from render import handle_key, init, render_world, sim_step
+from render import handle_key, init, render_world
+from sim import VehicleState, sim_step
 import ctypes
 import platform
 
@@ -23,6 +24,8 @@ def set_dpi_awareness():
 time: float = 0.0
 init()
 
+vehicle_state: VehicleState = VehicleState(0, 0, 0, 0, 0, 0)
+
 while running:
     # handle events
     # pygame.QUIT event means the user clicked X to close your window
@@ -34,8 +37,8 @@ def set_dpi_awareness():
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    sim_step(clock.get_time())
-    render_world(screen)
+    sim_step(vehicle_state, clock.get_time())
+    render_world(vehicle_state, screen)
 
     # flip() the display to put your work on screen
     pygame.display.flip()
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 2ab7d15..1317858 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -2,9 +2,9 @@
 from dataclasses import dataclass
 from enum import Enum
 
-import numpy as np
 import pygame
 from scipy.spatial.transform import Rotation as R
+from sim import VehicleState
 
 class ConeColor(Enum):
 	BLUE = "blue"
@@ -20,9 +20,7 @@ class Cone:
 	Cone(10, 10, ConeColor.BLUE),
 	Cone(-10, 10, ConeColor.YELLOW),
 ] # TODO figure out where the cones need to be
-(VEHICLE_X_M, VEHICLE_Y_M) = 0.0, 0.0 # position
-(VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS) = 0.0, 0.0 # velocity
-(VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC) = 0.0, 0.0 # orientation and angular velocity
+
 PIXELS_PER_M = 80.0
 w: int
 h: int
@@ -36,23 +34,17 @@ def init():
 def handle_key(key: int):
 	pass
 
-def sim_step(dt: int):
-	global VEHICLE_X_M, VEHICLE_Y_M, VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS, VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC
-	VEHICLE_X_M += VEHICLE_V_X_MPS * dt
-	VEHICLE_Y_M += VEHICLE_V_Y_MPS * dt
-	VEHICLE_THETA_RAD += (VEHICLE_OMEGA_RAD_PER_SEC * dt) % (2 * np.pi)
-
-def transform(x: float, y: float) -> tuple[int, int]:
-	global w, h, VEHICLE_X_M, VEHICLE_Y_M, VEHICLE_THETA_RAD
-	r = R.from_euler('z', -VEHICLE_THETA_RAD, degrees=False)
-	rel_x, rel_y = x - VEHICLE_X_M, y - VEHICLE_Y_M
+def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
+	global w, h
+	r = R.from_euler('z', -vehicle_state.theta, degrees=False)
+	rel_x, rel_y = x - vehicle_state.x, y - vehicle_state.y
 	rotated_x, rotated_y,_ = r.apply([rel_x, rel_y, 0])
 	screen_x = int(w / 2 + rotated_x * PIXELS_PER_M)
 	screen_y = int((h * 0.67) - rotated_y * PIXELS_PER_M)
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
-def render_world(screen: pygame.Surface):
+def render_world(vehicle_state: VehicleState, screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
 
@@ -62,11 +54,11 @@ def render_world(screen: pygame.Surface):
 	car_scaled = pygame.transform.scale(car_rotated, (
 		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
 	))
-	car_rect = car_scaled.get_rect(center=transform(VEHICLE_X_M, VEHICLE_Y_M))
+	car_rect = car_scaled.get_rect(center=transform(vehicle_state.x, vehicle_state.y, vehicle_state))
 	screen.blit(car_scaled, car_rect)
 
 	for cone in CONE_POSITIONS:
 		pygame.draw.circle(
 			screen, cone.color.value,
-			transform(cone.x, cone.y), 10
+			transform(cone.x, cone.y, vehicle_state), 10
 		)
\ No newline at end of file
diff --git a/auto_sim/sim.py b/auto_sim/sim.py
new file mode 100644
index 0000000..f0ab060
--- /dev/null
+++ b/auto_sim/sim.py
@@ -0,0 +1,20 @@
+from dataclasses import dataclass
+import numpy as np
+
+@dataclass
+class VehicleState:
+	x: float
+	y: float
+	v_x: float
+	v_y: float
+	theta: float
+	omega: float
+
+# (VEHICLE_X_M, VEHICLE_Y_M) = 0.0, 0.0 # position
+# (VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS) = 0.0, 0.0 # velocity
+# (VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC) = 0.0, 0.0 # orientation and angular velocity
+
+def sim_step(state: VehicleState, dt: int):
+	state.x += state.v_x * dt
+	state.y += state.v_y * dt
+	state.theta += (state.omega * dt) % (2 * np.pi)
\ No newline at end of file

From 3e5acae0236c302fb1eaab436b78ae0974e9e14b Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 11 Mar 2026 20:32:15 -0700
Subject: [PATCH 03/52] sim

---
 auto_sim/controller.py | 12 ++++++++++++
 auto_sim/main.py       |  4 +++-
 auto_sim/sim.py        | 10 +++++-----
 3 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/auto_sim/controller.py b/auto_sim/controller.py
index e69de29..c1ed2c3 100644
--- a/auto_sim/controller.py
+++ b/auto_sim/controller.py
@@ -0,0 +1,12 @@
+from dataclasses import dataclass
+from sim import VehicleState
+
+@dataclass
+class ControllerOutput:
+	a_x: float
+	a_y: float
+	omega_dot: float
+
+def controller(state: VehicleState) -> ControllerOutput:
+	# TODO implement controller logic
+	return ControllerOutput(0, 0, 0)
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index 3b28cca..1f7703f 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,5 +1,6 @@
 # Example file showing a basic pygame "game loop"
 import pygame
+from controller import controller
 from render import handle_key, init, render_world
 from sim import VehicleState, sim_step
 import ctypes
@@ -37,7 +38,8 @@ def set_dpi_awareness():
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    sim_step(vehicle_state, clock.get_time())
+    controls = controller(vehicle_state)
+    sim_step(vehicle_state, controls, clock.get_time())
     render_world(vehicle_state, screen)
 
     # flip() the display to put your work on screen
diff --git a/auto_sim/sim.py b/auto_sim/sim.py
index f0ab060..dc50faa 100644
--- a/auto_sim/sim.py
+++ b/auto_sim/sim.py
@@ -1,6 +1,8 @@
 from dataclasses import dataclass
 import numpy as np
 
+from controller import ControllerOutput
+
 @dataclass
 class VehicleState:
 	x: float
@@ -10,11 +12,9 @@ class VehicleState:
 	theta: float
 	omega: float
 
-# (VEHICLE_X_M, VEHICLE_Y_M) = 0.0, 0.0 # position
-# (VEHICLE_V_X_MPS, VEHICLE_V_Y_MPS) = 0.0, 0.0 # velocity
-# (VEHICLE_THETA_RAD, VEHICLE_OMEGA_RAD_PER_SEC) = 0.0, 0.0 # orientation and angular velocity
-
-def sim_step(state: VehicleState, dt: int):
+def sim_step(state: VehicleState, control: ControllerOutput, dt: int):
+	state.v_x += control.a_x * dt
+	state.v_y += control.a_y * dt
 	state.x += state.v_x * dt
 	state.y += state.v_y * dt
 	state.theta += (state.omega * dt) % (2 * np.pi)
\ No newline at end of file

From b64f49ca749349845e3ead601fc56498a98ecd03 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 11 Mar 2026 20:38:48 -0700
Subject: [PATCH 04/52] more files

---
 auto_sim/controller.py    |  2 +-
 auto_sim/render.py        | 10 ++++++++++
 auto_sim/sim.py           | 11 +----------
 auto_sim/vehicle_state.py | 10 ++++++++++
 4 files changed, 22 insertions(+), 11 deletions(-)
 create mode 100644 auto_sim/vehicle_state.py

diff --git a/auto_sim/controller.py b/auto_sim/controller.py
index c1ed2c3..9afb581 100644
--- a/auto_sim/controller.py
+++ b/auto_sim/controller.py
@@ -1,5 +1,5 @@
 from dataclasses import dataclass
-from sim import VehicleState
+from vehicle_state import VehicleState
 
 @dataclass
 class ControllerOutput:
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 1317858..2251ff7 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -44,10 +44,20 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
+def drawGrid(screen: pygame.Surface, color=(20, 20, 20)):
+	global h, w
+	blockSize = 20 #Set the size of the grid block
+	for x in range(0, w, blockSize):
+		for y in range(0, h, blockSize):
+			rect = pygame.Rect(x, y, blockSize, blockSize)
+			pygame.draw.rect(screen, color, rect, 1)
+
 def render_world(vehicle_state: VehicleState, screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
 
+	drawGrid(screen)
+
 	# draw the car at 1/10th scale
 	car_rotated = pygame.transform.rotate(car, -90)
 	scale_factor = 1.2 / car_rotated.get_width() * PIXELS_PER_M
diff --git a/auto_sim/sim.py b/auto_sim/sim.py
index dc50faa..0c7f5d4 100644
--- a/auto_sim/sim.py
+++ b/auto_sim/sim.py
@@ -1,16 +1,7 @@
-from dataclasses import dataclass
 import numpy as np
 
 from controller import ControllerOutput
-
-@dataclass
-class VehicleState:
-	x: float
-	y: float
-	v_x: float
-	v_y: float
-	theta: float
-	omega: float
+from vehicle_state import VehicleState
 
 def sim_step(state: VehicleState, control: ControllerOutput, dt: int):
 	state.v_x += control.a_x * dt
diff --git a/auto_sim/vehicle_state.py b/auto_sim/vehicle_state.py
new file mode 100644
index 0000000..fb2586d
--- /dev/null
+++ b/auto_sim/vehicle_state.py
@@ -0,0 +1,10 @@
+from dataclasses import dataclass
+
+@dataclass
+class VehicleState:
+	x: float
+	y: float
+	v_x: float
+	v_y: float
+	theta: float
+	omega: float
\ No newline at end of file

From 5ad71250929a6e451e7bac175bdf8b5069d74430 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 11 Mar 2026 20:42:40 -0700
Subject: [PATCH 05/52] more

---
 auto_sim/cone.py       | 12 ++++++++++++
 auto_sim/controller.py |  3 ++-
 auto_sim/main.py       | 11 ++++++++---
 auto_sim/render.py     | 20 +++-----------------
 4 files changed, 25 insertions(+), 21 deletions(-)
 create mode 100644 auto_sim/cone.py

diff --git a/auto_sim/cone.py b/auto_sim/cone.py
new file mode 100644
index 0000000..87e1eb0
--- /dev/null
+++ b/auto_sim/cone.py
@@ -0,0 +1,12 @@
+from enum import Enum
+from dataclasses import dataclass
+
+class ConeColor(Enum):
+	BLUE = "blue"
+	YELLOW = "yellow"
+
+@dataclass
+class Cone:
+     x: int
+     y: int
+     color: ConeColor
\ No newline at end of file
diff --git a/auto_sim/controller.py b/auto_sim/controller.py
index 9afb581..75bb60e 100644
--- a/auto_sim/controller.py
+++ b/auto_sim/controller.py
@@ -1,4 +1,5 @@
 from dataclasses import dataclass
+from cone import Cone
 from vehicle_state import VehicleState
 
 @dataclass
@@ -7,6 +8,6 @@ class ControllerOutput:
 	a_y: float
 	omega_dot: float
 
-def controller(state: VehicleState) -> ControllerOutput:
+def controller(state: VehicleState, cones: list[Cone]) -> ControllerOutput:
 	# TODO implement controller logic
 	return ControllerOutput(0, 0, 0)
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index 1f7703f..1f2554a 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,5 +1,5 @@
-# Example file showing a basic pygame "game loop"
 import pygame
+from cone import Cone, ConeColor
 from controller import controller
 from render import handle_key, init, render_world
 from sim import VehicleState, sim_step
@@ -16,6 +16,11 @@ def set_dpi_awareness():
             ctypes.windll.user32.SetProcessDPIAware()
 set_dpi_awareness()
 
+CONE_POSITIONS: list[Cone] = [
+	Cone(10, 10, ConeColor.BLUE),
+	Cone(-10, 10, ConeColor.YELLOW),
+] # TODO figure out where the cones need to be
+
 # pygame setup
 pygame.init()
 screen = pygame.display.set_mode((1900, 1200), pygame.RESIZABLE)
@@ -38,9 +43,9 @@ def set_dpi_awareness():
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    controls = controller(vehicle_state)
+    controls = controller(vehicle_state, CONE_POSITIONS)
     sim_step(vehicle_state, controls, clock.get_time())
-    render_world(vehicle_state, screen)
+    render_world(vehicle_state, CONE_POSITIONS, screen)
 
     # flip() the display to put your work on screen
     pygame.display.flip()
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 2251ff7..a56a3e5 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -4,23 +4,9 @@
 
 import pygame
 from scipy.spatial.transform import Rotation as R
+from cone import Cone
 from sim import VehicleState
 
-class ConeColor(Enum):
-	BLUE = "blue"
-	YELLOW = "yellow"
-
-@dataclass
-class Cone:
-	x: int
-	y: int
-	color: ConeColor
-
-CONE_POSITIONS: list[Cone] = [
-	Cone(10, 10, ConeColor.BLUE),
-	Cone(-10, 10, ConeColor.YELLOW),
-] # TODO figure out where the cones need to be
-
 PIXELS_PER_M = 80.0
 w: int
 h: int
@@ -52,7 +38,7 @@ def drawGrid(screen: pygame.Surface, color=(20, 20, 20)):
 			rect = pygame.Rect(x, y, blockSize, blockSize)
 			pygame.draw.rect(screen, color, rect, 1)
 
-def render_world(vehicle_state: VehicleState, screen: pygame.Surface):
+def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
 
@@ -67,7 +53,7 @@ def render_world(vehicle_state: VehicleState, screen: pygame.Surface):
 	car_rect = car_scaled.get_rect(center=transform(vehicle_state.x, vehicle_state.y, vehicle_state))
 	screen.blit(car_scaled, car_rect)
 
-	for cone in CONE_POSITIONS:
+	for cone in cones:
 		pygame.draw.circle(
 			screen, cone.color.value,
 			transform(cone.x, cone.y, vehicle_state), 10

From c256c4e63f256f38e08ede13fa2afc1e00f62323 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 01:00:33 -0700
Subject: [PATCH 06/52] add grid

---
 auto_sim/main.py   |  2 +-
 auto_sim/render.py | 43 ++++++++++++++++++++++++++++++-------------
 2 files changed, 31 insertions(+), 14 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 1f2554a..ca85960 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -39,7 +39,7 @@ def set_dpi_awareness():
         if event.type == pygame.QUIT:
             running = False
         elif event.type == pygame.KEYDOWN:
-            handle_key(event.key)
+            handle_key(event.key, vehicle_state)
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
diff --git a/auto_sim/render.py b/auto_sim/render.py
index a56a3e5..63559cf 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,11 +1,9 @@
-# global state
-from dataclasses import dataclass
-from enum import Enum
-
 import pygame
 from scipy.spatial.transform import Rotation as R
 from cone import Cone
 from sim import VehicleState
+from math import ceil, degrees
+import numpy as np
 
 PIXELS_PER_M = 80.0
 w: int
@@ -17,8 +15,16 @@ def init():
 	global car
 	car = pygame.image.load('fsae.png').convert_alpha()
 
-def handle_key(key: int):
-	pass
+def handle_key(key: int, state: VehicleState):
+	match key:
+		case pygame.K_d:
+			state.theta += 0.1
+		case pygame.K_a:
+			state.theta -= 0.1
+		case pygame.K_w:
+			state.x += 0.1
+		case pygame.K_s:
+			state.x -= 0.1
 
 def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
 	global w, h
@@ -30,19 +36,30 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
-def drawGrid(screen: pygame.Surface, color=(20, 20, 20)):
+def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing=50):
 	global h, w
-	blockSize = 20 #Set the size of the grid block
-	for x in range(0, w, blockSize):
-		for y in range(0, h, blockSize):
-			rect = pygame.Rect(x, y, blockSize, blockSize)
-			pygame.draw.rect(screen, color, rect, 1)
+	l: int = ceil(np.hypot(w/2, h/2))
+	l = l // spacing * spacing
+
+	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
+
+	offset_x = (state.x * PIXELS_PER_M) % spacing
+	offset_y = (state.y * PIXELS_PER_M) % spacing
+	for x in range(0, 2*l, spacing):
+		pygame.draw.line(grid_surf, color, (x - offset_x, 0), (x - offset_x, 2*l))
+	for y in range(0, 2*l, spacing):
+		pygame.draw.line(grid_surf, color, (0, y - offset_y), (2*l, y - offset_y))
+	rotated_surf = pygame.transform.rotate(grid_surf, -degrees(state.theta))
+	rect = rotated_surf.get_rect(center=(w/2, h/2))
+	screen.blit(rotated_surf, rect.topleft)
 
 def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
 
-	drawGrid(screen)
+	# grid for context
+	drawGrid(screen, vehicle_state)
+	pygame.draw.circle(screen, "white", transform(0, 0, vehicle_state), 5)
 
 	# draw the car at 1/10th scale
 	car_rotated = pygame.transform.rotate(car, -90)

From f288621c841bb56f90a5bcb64b7b07f2a8b83339 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 01:11:02 -0700
Subject: [PATCH 07/52] a bit more

---
 auto_sim/constants.py  |  1 +
 auto_sim/controller.py |  9 +++++++--
 auto_sim/main.py       | 19 ++++++++-----------
 auto_sim/render.py     |  4 ++--
 4 files changed, 18 insertions(+), 15 deletions(-)
 create mode 100644 auto_sim/constants.py

diff --git a/auto_sim/constants.py b/auto_sim/constants.py
new file mode 100644
index 0000000..06c3380
--- /dev/null
+++ b/auto_sim/constants.py
@@ -0,0 +1 @@
+VEHICLE_WIDTH_M = 1.2
\ No newline at end of file
diff --git a/auto_sim/controller.py b/auto_sim/controller.py
index 75bb60e..c9cc941 100644
--- a/auto_sim/controller.py
+++ b/auto_sim/controller.py
@@ -1,6 +1,7 @@
 from dataclasses import dataclass
 from cone import Cone
 from vehicle_state import VehicleState
+import pygame
 
 @dataclass
 class ControllerOutput:
@@ -9,5 +10,9 @@ class ControllerOutput:
 	omega_dot: float
 
 def controller(state: VehicleState, cones: list[Cone]) -> ControllerOutput:
-	# TODO implement controller logic
-	return ControllerOutput(0, 0, 0)
\ No newline at end of file
+	keys = pygame.key.get_pressed()
+	return ControllerOutput(
+		keys[pygame.K_w] * 0.0001 - keys[pygame.K_s] * 0.0001,
+		keys[pygame.K_d] * 0.0001 - keys[pygame.K_a] * 0.0001,
+		0
+	)
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index ca85960..07e76d1 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -6,15 +6,14 @@
 import ctypes
 import platform
 
-def set_dpi_awareness():
-    if platform.system() == "Windows":
-        try:
-            # Set DPI Awareness (Windows 10/8)
-            ctypes.windll.shcore.SetProcessDpiAwareness(2)
-        except AttributeError:
-            # Windows 7/Vista
-            ctypes.windll.user32.SetProcessDPIAware()
-set_dpi_awareness()
+# dpi awareness for windows - prevents blurry rendering on high dpi displays
+if platform.system() == "Windows":
+    try:
+        # Set DPI Awareness (Windows 10/8)
+        ctypes.windll.shcore.SetProcessDpiAwareness(2)
+    except AttributeError:
+        # Windows 7/Vista
+        ctypes.windll.user32.SetProcessDPIAware()
 
 CONE_POSITIONS: list[Cone] = [
 	Cone(10, 10, ConeColor.BLUE),
@@ -38,8 +37,6 @@ def set_dpi_awareness():
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
             running = False
-        elif event.type == pygame.KEYDOWN:
-            handle_key(event.key, vehicle_state)
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 63559cf..baa34c7 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,6 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from cone import Cone
+from constants import VEHICLE_WIDTH_M
 from sim import VehicleState
 from math import ceil, degrees
 import numpy as np
@@ -61,9 +62,8 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	drawGrid(screen, vehicle_state)
 	pygame.draw.circle(screen, "white", transform(0, 0, vehicle_state), 5)
 
-	# draw the car at 1/10th scale
 	car_rotated = pygame.transform.rotate(car, -90)
-	scale_factor = 1.2 / car_rotated.get_width() * PIXELS_PER_M
+	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
 	car_scaled = pygame.transform.scale(car_rotated, (
 		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
 	))

From 247364f63ad62a96b38269c8b0db6216247bb786 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 02:05:42 -0700
Subject: [PATCH 08/52] controller sub

---
 auto_sim/.gitignore                       |  3 +
 auto_sim/Pipfile                          |  2 +
 auto_sim/Pipfile.lock                     | 20 ++++++-
 auto_sim/cone.py                          | 12 ----
 auto_sim/controller.py                    |  3 +-
 auto_sim/main.py                          | 11 ++--
 auto_sim/render.py                        |  4 +-
 auto_sim/sim.py                           |  6 +-
 auto_sim/test_controller_2/main.cpp       | 68 +++++++++++++++++++++++
 auto_sim/test_controller_2/pyproject.toml | 18 ++++++
 auto_sim/test_controller_2/setup.py       | 29 ++++++++++
 auto_sim/vehicle_state.py                 | 10 ----
 12 files changed, 150 insertions(+), 36 deletions(-)
 create mode 100644 auto_sim/.gitignore
 delete mode 100644 auto_sim/cone.py
 create mode 100644 auto_sim/test_controller_2/main.cpp
 create mode 100644 auto_sim/test_controller_2/pyproject.toml
 create mode 100644 auto_sim/test_controller_2/setup.py
 delete mode 100644 auto_sim/vehicle_state.py

diff --git a/auto_sim/.gitignore b/auto_sim/.gitignore
new file mode 100644
index 0000000..8d19a12
--- /dev/null
+++ b/auto_sim/.gitignore
@@ -0,0 +1,3 @@
+__pycache__
+build
+*.egg-info
\ No newline at end of file
diff --git a/auto_sim/Pipfile b/auto_sim/Pipfile
index 51fcdf3..fdb120a 100644
--- a/auto_sim/Pipfile
+++ b/auto_sim/Pipfile
@@ -7,6 +7,8 @@ name = "pypi"
 pygame = "*"
 numpy = "*"
 scipy = "*"
+setuptools = "*"
+pybind11 = "*"
 
 [dev-packages]
 
diff --git a/auto_sim/Pipfile.lock b/auto_sim/Pipfile.lock
index b14c311..52b1eea 100644
--- a/auto_sim/Pipfile.lock
+++ b/auto_sim/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "df9bfc6c1f8bccd923516feffa8df94caa648ecd292de15ed90937b733ef8ed8"
+            "sha256": "63ddba2de7dab27b129c0ff4adb1a6d5b6dc3b9212d0fc8202ab757e40506fcb"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -95,6 +95,15 @@
             "markers": "python_version >= '3.11'",
             "version": "==2.4.3"
         },
+        "pybind11": {
+            "hashes": [
+                "sha256:432f01aeb68e361a3a7fc7575c2c7f497595bf640f747acd909ff238dd766e06",
+                "sha256:f8a6500548919cc33bcd220d5f984688326f574fa97f1107f2f4fdb4c6fb019f"
+            ],
+            "index": "pypi",
+            "markers": "python_version >= '3.8'",
+            "version": "==3.0.2"
+        },
         "pygame": {
             "hashes": [
                 "sha256:00827aba089355925902d533f9c41e79a799641f03746c50a374dc5c3362e43d",
@@ -229,6 +238,15 @@
             "index": "pypi",
             "markers": "python_version >= '3.11'",
             "version": "==1.17.1"
+        },
+        "setuptools": {
+            "hashes": [
+                "sha256:7d872682c5d01cfde07da7bccc7b65469d3dca203318515ada1de5eda35efbf9",
+                "sha256:a59e362652f08dcd477c78bb6e7bd9d80a7995bc73ce773050228a348ce2e5bb"
+            ],
+            "index": "pypi",
+            "markers": "python_version >= '3.9'",
+            "version": "==82.0.1"
         }
     },
     "develop": {}
diff --git a/auto_sim/cone.py b/auto_sim/cone.py
deleted file mode 100644
index 87e1eb0..0000000
--- a/auto_sim/cone.py
+++ /dev/null
@@ -1,12 +0,0 @@
-from enum import Enum
-from dataclasses import dataclass
-
-class ConeColor(Enum):
-	BLUE = "blue"
-	YELLOW = "yellow"
-
-@dataclass
-class Cone:
-     x: int
-     y: int
-     color: ConeColor
\ No newline at end of file
diff --git a/auto_sim/controller.py b/auto_sim/controller.py
index c9cc941..c222515 100644
--- a/auto_sim/controller.py
+++ b/auto_sim/controller.py
@@ -1,6 +1,5 @@
 from dataclasses import dataclass
-from cone import Cone
-from vehicle_state import VehicleState
+from Controller import Cone, VehicleState
 import pygame
 
 @dataclass
diff --git a/auto_sim/main.py b/auto_sim/main.py
index 07e76d1..ff7dad3 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,8 +1,7 @@
 import pygame
-from cone import Cone, ConeColor
-from controller import controller
-from render import handle_key, init, render_world
-from sim import VehicleState, sim_step
+from Controller import compute, Cone, ConeColor, VehicleState
+from render import init, render_world
+from sim import sim_step
 import ctypes
 import platform
 
@@ -29,7 +28,7 @@
 time: float = 0.0
 init()
 
-vehicle_state: VehicleState = VehicleState(0, 0, 0, 0, 0, 0)
+vehicle_state: VehicleState = VehicleState()
 
 while running:
     # handle events
@@ -40,7 +39,7 @@
 
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    controls = controller(vehicle_state, CONE_POSITIONS)
+    controls = compute(vehicle_state, CONE_POSITIONS)
     sim_step(vehicle_state, controls, clock.get_time())
     render_world(vehicle_state, CONE_POSITIONS, screen)
 
diff --git a/auto_sim/render.py b/auto_sim/render.py
index baa34c7..9770d0b 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,10 +1,10 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
-from cone import Cone
 from constants import VEHICLE_WIDTH_M
 from sim import VehicleState
 from math import ceil, degrees
 import numpy as np
+from Controller import Cone
 
 PIXELS_PER_M = 80.0
 w: int
@@ -72,6 +72,6 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 
 	for cone in cones:
 		pygame.draw.circle(
-			screen, cone.color.value,
+			screen, cone.c.value,
 			transform(cone.x, cone.y, vehicle_state), 10
 		)
\ No newline at end of file
diff --git a/auto_sim/sim.py b/auto_sim/sim.py
index 0c7f5d4..0b93bf4 100644
--- a/auto_sim/sim.py
+++ b/auto_sim/sim.py
@@ -1,11 +1,11 @@
 import numpy as np
 
 from controller import ControllerOutput
-from vehicle_state import VehicleState
+from Controller import VehicleState
 
 def sim_step(state: VehicleState, control: ControllerOutput, dt: int):
-	state.v_x += control.a_x * dt
-	state.v_y += control.a_y * dt
+	state.v_x += control.ax * dt
+	state.v_y += control.ay * dt
 	state.x += state.v_x * dt
 	state.y += state.v_y * dt
 	state.theta += (state.omega * dt) % (2 * np.pi)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
new file mode 100644
index 0000000..e40d54d
--- /dev/null
+++ b/auto_sim/test_controller_2/main.cpp
@@ -0,0 +1,68 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <vector>
+
+struct ControlOutput {
+	double ax;
+	double ay;
+    double omega_dot;
+    ControlOutput(double _ax, double _ay, double _omega_dot) : ax(_ax), ay(_ay), omega_dot(_omega_dot) {}
+};
+struct VehicleState {
+    double x;
+    double y;
+    double theta;
+    double v_x;
+    double v_y;
+    double omega;
+    VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
+};
+enum class ConeColor {
+    BLUE,
+    YELLOW
+};
+struct Cone {
+    double x;
+    double y;
+    ConeColor c;
+    Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
+};
+
+ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
+    // Implementation for compute function
+    return {0,0,0};
+}
+
+namespace py = pybind11;
+
+PYBIND11_MODULE(Controller, m) {
+    py::class_<ControlOutput>(m, "ControlOutput")
+        .def(py::init<double, double, double>())
+        .def_readwrite("ax", &ControlOutput::ax)
+        .def_readwrite("ay", &ControlOutput::ay)
+        .def_readwrite("omega_dot", &ControlOutput::omega_dot);
+    
+    py::class_<VehicleState>(m, "VehicleState")
+        .def(py::init<>())
+        .def_readwrite("x", &VehicleState::x)
+        .def_readwrite("y", &VehicleState::y)
+        .def_readwrite("theta", &VehicleState::theta)
+        .def_readwrite("v_x", &VehicleState::v_x)
+        .def_readwrite("v_y", &VehicleState::v_y)
+        .def_readwrite("omega", &VehicleState::omega);
+    
+    py::class_<Cone>(m, "Cone")
+        .def(py::init<double, double, ConeColor>())
+        .def_readwrite("x", &Cone::x)
+        .def_readwrite("y", &Cone::y)
+        .def_readwrite("c", &Cone::c);
+    
+    py::enum_<ConeColor>(m, "ConeColor")
+        .value("BLUE", ConeColor::BLUE)
+        .value("YELLOW", ConeColor::YELLOW)
+        .export_values();
+
+    m.def("compute", &compute, R"pbdoc(
+        Compute control output
+    )pbdoc");
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pyproject.toml b/auto_sim/test_controller_2/pyproject.toml
new file mode 100644
index 0000000..355770c
--- /dev/null
+++ b/auto_sim/test_controller_2/pyproject.toml
@@ -0,0 +1,18 @@
+[build-system]
+requires = [
+    "setuptools>=42",
+    "pybind11>=2.10.0",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.ruff]
+target-version = "py313"
+
+[tool.ruff.lint]
+extend-select = [
+  "B",   # flake8-bugbear
+  "I",   # isort
+  "PGH", # pygrep-hooks
+  "RUF", # Ruff-specific
+  "UP",  # pyupgrade
+]
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
new file mode 100644
index 0000000..6fc00b1
--- /dev/null
+++ b/auto_sim/test_controller_2/setup.py
@@ -0,0 +1,29 @@
+# Available at setup time due to pyproject.toml
+from pybind11.setup_helpers import Pybind11Extension, build_ext
+from setuptools import setup
+
+__version__ = "0.0.1"
+
+ext_modules = [
+    Pybind11Extension(
+        "Controller",
+        ["main.cpp"],
+    ),
+]
+
+setup(
+    name="Controller",
+    version=__version__,
+    author="Edwin Zheng",
+    author_email="ezheng09@student.ubc.ca",
+    url="https://github.com/UBCFormulaElectric/sim",
+    description="A simple controller for testing",
+    long_description="",
+    ext_modules=ext_modules,
+    extras_require={"test": "pytest"},
+    # Currently, build_ext only provides an optional "highest supported C++
+    # level" feature, but in the future it may provide more features.
+    cmdclass={"build_ext": build_ext},
+    zip_safe=False,
+    python_requires=">=3.9",
+)
\ No newline at end of file
diff --git a/auto_sim/vehicle_state.py b/auto_sim/vehicle_state.py
deleted file mode 100644
index fb2586d..0000000
--- a/auto_sim/vehicle_state.py
+++ /dev/null
@@ -1,10 +0,0 @@
-from dataclasses import dataclass
-
-@dataclass
-class VehicleState:
-	x: float
-	y: float
-	v_x: float
-	v_y: float
-	theta: float
-	omega: float
\ No newline at end of file

From 75bd2c03803531860ca934fa1c196a24ab8727f6 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 02:10:01 -0700
Subject: [PATCH 09/52] oops wrong color

---
 auto_sim/render.py | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 9770d0b..0021d37 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -4,7 +4,7 @@
 from sim import VehicleState
 from math import ceil, degrees
 import numpy as np
-from Controller import Cone
+from Controller import Cone, ConeColor
 
 PIXELS_PER_M = 80.0
 w: int
@@ -54,6 +54,15 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), sp
 	rect = rotated_surf.get_rect(center=(w/2, h/2))
 	screen.blit(rotated_surf, rect.topleft)
 
+def int_to_color(value: ConeColor) -> str:
+	match value:
+		case ConeColor.BLUE:
+			return "blue"
+		case ConeColor.YELLOW:
+			return "yellow"
+		case _:
+			return "white"
+
 def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
@@ -72,6 +81,6 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 
 	for cone in cones:
 		pygame.draw.circle(
-			screen, cone.c.value,
+			screen, int_to_color(cone.c),
 			transform(cone.x, cone.y, vehicle_state), 10
 		)
\ No newline at end of file

From e13c1a88e57cffefd3cf2ef2666318fefd8087d7 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 10:43:20 -0700
Subject: [PATCH 10/52] move sim to C++

---
 auto_sim/controller.py              | 17 -----------------
 auto_sim/main.py                    |  3 +--
 auto_sim/sim.py                     | 11 -----------
 auto_sim/test_controller_2/main.cpp | 16 +++++++++++++++-
 4 files changed, 16 insertions(+), 31 deletions(-)
 delete mode 100644 auto_sim/controller.py
 delete mode 100644 auto_sim/sim.py

diff --git a/auto_sim/controller.py b/auto_sim/controller.py
deleted file mode 100644
index c222515..0000000
--- a/auto_sim/controller.py
+++ /dev/null
@@ -1,17 +0,0 @@
-from dataclasses import dataclass
-from Controller import Cone, VehicleState
-import pygame
-
-@dataclass
-class ControllerOutput:
-	a_x: float
-	a_y: float
-	omega_dot: float
-
-def controller(state: VehicleState, cones: list[Cone]) -> ControllerOutput:
-	keys = pygame.key.get_pressed()
-	return ControllerOutput(
-		keys[pygame.K_w] * 0.0001 - keys[pygame.K_s] * 0.0001,
-		keys[pygame.K_d] * 0.0001 - keys[pygame.K_a] * 0.0001,
-		0
-	)
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index ff7dad3..fb6355a 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,7 +1,6 @@
 import pygame
-from Controller import compute, Cone, ConeColor, VehicleState
+from Controller import compute, sim_step, Cone, ConeColor, VehicleState
 from render import init, render_world
-from sim import sim_step
 import ctypes
 import platform
 
diff --git a/auto_sim/sim.py b/auto_sim/sim.py
deleted file mode 100644
index 0b93bf4..0000000
--- a/auto_sim/sim.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import numpy as np
-
-from controller import ControllerOutput
-from Controller import VehicleState
-
-def sim_step(state: VehicleState, control: ControllerOutput, dt: int):
-	state.v_x += control.ax * dt
-	state.v_y += control.ay * dt
-	state.x += state.v_x * dt
-	state.y += state.v_y * dt
-	state.theta += (state.omega * dt) % (2 * np.pi)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
index e40d54d..86853bd 100644
--- a/auto_sim/test_controller_2/main.cpp
+++ b/auto_sim/test_controller_2/main.cpp
@@ -1,6 +1,8 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 #include <vector>
+#include <numbers>
+#include <cassert>
 
 struct ControlOutput {
 	double ax;
@@ -28,6 +30,14 @@ struct Cone {
     Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
 };
 
+void sim_step(VehicleState& state, const ControlOutput& control, const int dt) {
+    state.v_x += control.ax * dt;
+	state.v_y += control.ay * dt;
+	state.x += state.v_x * dt;
+	state.y += state.v_y * dt;
+	state.theta += std::fmod(state.omega * dt, 2 * std::numbers::pi);
+}
+
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
     // Implementation for compute function
     return {0,0,0};
@@ -35,7 +45,7 @@ ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
 
 namespace py = pybind11;
 
-PYBIND11_MODULE(Controller, m) {
+PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     py::class_<ControlOutput>(m, "ControlOutput")
         .def(py::init<double, double, double>())
         .def_readwrite("ax", &ControlOutput::ax)
@@ -65,4 +75,8 @@ PYBIND11_MODULE(Controller, m) {
     m.def("compute", &compute, R"pbdoc(
         Compute control output
     )pbdoc");
+
+    m.def("sim_step", &sim_step, R"pbdoc(
+        Simulate one step of the vehicle dynamics
+    )pbdoc");
 }
\ No newline at end of file

From 5aaaa4b281e7f7053ee952ebb817343ab82f7995 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 10:48:48 -0700
Subject: [PATCH 11/52] runnable

---
 auto_sim/render.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 0021d37..5cea5be 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from sim import VehicleState
+from Controller import VehicleState
 from math import ceil, degrees
 import numpy as np
 from Controller import Cone, ConeColor

From e7820f38e52f760ae84c887817d0274b1133997d Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 10:50:37 -0700
Subject: [PATCH 12/52] specify frame

---
 auto_sim/test_controller_2/main.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
index 86853bd..fa12b46 100644
--- a/auto_sim/test_controller_2/main.cpp
+++ b/auto_sim/test_controller_2/main.cpp
@@ -5,17 +5,22 @@
 #include <cassert>
 
 struct ControlOutput {
+    // in local frame
 	double ax;
 	double ay;
+    // no frame
     double omega_dot;
     ControlOutput(double _ax, double _ay, double _omega_dot) : ax(_ax), ay(_ay), omega_dot(_omega_dot) {}
 };
 struct VehicleState {
+    // in global frame
     double x;
     double y;
     double theta;
+    // in local frame
     double v_x;
     double v_y;
+    // no frame
     double omega;
     VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
 };

From 97c3b475db6285c4d2213a885e6eee769fe45d71 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 14:07:48 -0700
Subject: [PATCH 13/52] cones

---
 auto_sim/.gitignore |  3 ++-
 auto_sim/README.md  |  5 +++++
 auto_sim/main.py    | 14 ++++++++++----
 auto_sim/render.py  |  4 ++--
 4 files changed, 19 insertions(+), 7 deletions(-)
 create mode 100644 auto_sim/README.md

diff --git a/auto_sim/.gitignore b/auto_sim/.gitignore
index 8d19a12..eb50f59 100644
--- a/auto_sim/.gitignore
+++ b/auto_sim/.gitignore
@@ -1,3 +1,4 @@
 __pycache__
 build
-*.egg-info
\ No newline at end of file
+*.egg-info
+labels
\ No newline at end of file
diff --git a/auto_sim/README.md b/auto_sim/README.md
new file mode 100644
index 0000000..8addb73
--- /dev/null
+++ b/auto_sim/README.md
@@ -0,0 +1,5 @@
+# TODO
+- simulation loop
+- basic boundary checking
+- basic controller?
+- full MPC
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index fb6355a..b8a36ee 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,3 +1,5 @@
+import math
+
 import pygame
 from Controller import compute, sim_step, Cone, ConeColor, VehicleState
 from render import init, render_world
@@ -13,10 +15,13 @@
         # Windows 7/Vista
         ctypes.windll.user32.SetProcessDPIAware()
 
-CONE_POSITIONS: list[Cone] = [
-	Cone(10, 10, ConeColor.BLUE),
-	Cone(-10, 10, ConeColor.YELLOW),
-] # TODO figure out where the cones need to be
+CONE_POSITIONS: list[Cone] = []
+with open("labels/0000001.txt", "r") as f:
+    lines = f.readlines()
+    for line in lines:
+        x, y, _, _, _, _, _, color = line.strip().split()
+        cone_color = ConeColor.YELLOW if color == "Cone_Yellow" else ConeColor.BLUE
+        CONE_POSITIONS.append(Cone(float(x), float(y), cone_color))
 
 # pygame setup
 pygame.init()
@@ -28,6 +33,7 @@
 init()
 
 vehicle_state: VehicleState = VehicleState()
+vehicle_state.theta = math.pi/2
 
 while running:
     # handle events
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 5cea5be..e69191e 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -6,7 +6,7 @@
 import numpy as np
 from Controller import Cone, ConeColor
 
-PIXELS_PER_M = 80.0
+PIXELS_PER_M = 	30.0
 w: int
 h: int
 
@@ -82,5 +82,5 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	for cone in cones:
 		pygame.draw.circle(
 			screen, int_to_color(cone.c),
-			transform(cone.x, cone.y, vehicle_state), 10
+			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
 		)
\ No newline at end of file

From a7c7b54af53991d4fa1d28d7c6f5860aafe541ba Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 15:06:42 -0700
Subject: [PATCH 14/52] fix rendering

---
 auto_sim/main.py                    |  4 +++-
 auto_sim/render.py                  | 19 ++++++++++---------
 auto_sim/test_controller_2/main.cpp | 14 +++++++++-----
 3 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index b8a36ee..5f0f354 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -33,7 +33,9 @@
 init()
 
 vehicle_state: VehicleState = VehicleState()
-vehicle_state.theta = math.pi/2
+vehicle_state.theta = 0
+vehicle_state.v_x = 1.0
+# vehicle_state.omega = 0.5
 
 while running:
     # handle events
diff --git a/auto_sim/render.py b/auto_sim/render.py
index e69191e..d287f61 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -29,7 +29,7 @@ def handle_key(key: int, state: VehicleState):
 
 def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
 	global w, h
-	r = R.from_euler('z', -vehicle_state.theta, degrees=False)
+	r = R.from_euler('z', vehicle_state.theta + np.pi/2, degrees=False)
 	rel_x, rel_y = x - vehicle_state.x, y - vehicle_state.y
 	rotated_x, rotated_y,_ = r.apply([rel_x, rel_y, 0])
 	screen_x = int(w / 2 + rotated_x * PIXELS_PER_M)
@@ -39,19 +39,18 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 
 def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing=50):
 	global h, w
-	l: int = ceil(np.hypot(w/2, h/2))
-	l = l // spacing * spacing
+	l: int= ceil(np.hypot(w/2, h/2) / spacing) * spacing
 
 	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
 
 	offset_x = (state.x * PIXELS_PER_M) % spacing
 	offset_y = (state.y * PIXELS_PER_M) % spacing
 	for x in range(0, 2*l, spacing):
-		pygame.draw.line(grid_surf, color, (x - offset_x, 0), (x - offset_x, 2*l))
+		pygame.draw.line(grid_surf, color, (x + offset_x, 0), (x + offset_x, 2*l))
 	for y in range(0, 2*l, spacing):
-		pygame.draw.line(grid_surf, color, (0, y - offset_y), (2*l, y - offset_y))
-	rotated_surf = pygame.transform.rotate(grid_surf, -degrees(state.theta))
-	rect = rotated_surf.get_rect(center=(w/2, h/2))
+		pygame.draw.line(grid_surf, color, (0, y + offset_y), (2*l, y + offset_y))
+	rotated_surf = pygame.transform.rotate(grid_surf, degrees(state.theta - np.pi/2))
+	rect = rotated_surf.get_rect(center=(w/2, (h * 0.67)))
 	screen.blit(rotated_surf, rect.topleft)
 
 def int_to_color(value: ConeColor) -> str:
@@ -69,9 +68,11 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 
 	# grid for context
 	drawGrid(screen, vehicle_state)
-	pygame.draw.circle(screen, "white", transform(0, 0, vehicle_state), 5)
 
-	car_rotated = pygame.transform.rotate(car, -90)
+	p = transform(0, 0, vehicle_state)
+	pygame.draw.circle(screen, "white",p , 5)
+
+	car_rotated = pygame.transform.rotate(car,- 90)
 	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
 	car_scaled = pygame.transform.scale(car_rotated, (
 		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
index fa12b46..a6110a1 100644
--- a/auto_sim/test_controller_2/main.cpp
+++ b/auto_sim/test_controller_2/main.cpp
@@ -36,11 +36,15 @@ struct Cone {
 };
 
 void sim_step(VehicleState& state, const ControlOutput& control, const int dt) {
-    state.v_x += control.ax * dt;
-	state.v_y += control.ay * dt;
-	state.x += state.v_x * dt;
-	state.y += state.v_y * dt;
-	state.theta += std::fmod(state.omega * dt, 2 * std::numbers::pi);
+    const double dt_s = dt / 1000.0;
+    state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
+	state.v_y += (control.ay - state.omega * state.v_x) * dt_s;
+
+	state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
+    const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
+    const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
+	state.x += v_x_world * dt_s;
+	state.y += v_y_world * dt_s;
 }
 
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {

From e72b9c3d009d8498ffa2bc85327518fd9499e9e9 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 15:16:33 -0700
Subject: [PATCH 15/52] fixed coordinates

---
 auto_sim/main.py   | 4 ++--
 auto_sim/render.py | 9 ++++++---
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 5f0f354..9992e13 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -33,9 +33,9 @@
 init()
 
 vehicle_state: VehicleState = VehicleState()
-vehicle_state.theta = 0
+# vehicle_state.theta = math.radians(90)
 vehicle_state.v_x = 1.0
-# vehicle_state.omega = 0.5
+vehicle_state.omega = 0.5
 
 while running:
     # handle events
diff --git a/auto_sim/render.py b/auto_sim/render.py
index d287f61..0f3eb06 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -28,8 +28,11 @@ def handle_key(key: int, state: VehicleState):
 			state.x -= 0.1
 
 def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
+	"""
+	Transforms from global coordinates to screen space coordinates
+	"""
 	global w, h
-	r = R.from_euler('z', vehicle_state.theta + np.pi/2, degrees=False)
+	r = R.from_euler('z', -vehicle_state.theta + np.pi/2, degrees=False)
 	rel_x, rel_y = x - vehicle_state.x, y - vehicle_state.y
 	rotated_x, rotated_y,_ = r.apply([rel_x, rel_y, 0])
 	screen_x = int(w / 2 + rotated_x * PIXELS_PER_M)
@@ -49,7 +52,7 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), sp
 		pygame.draw.line(grid_surf, color, (x + offset_x, 0), (x + offset_x, 2*l))
 	for y in range(0, 2*l, spacing):
 		pygame.draw.line(grid_surf, color, (0, y + offset_y), (2*l, y + offset_y))
-	rotated_surf = pygame.transform.rotate(grid_surf, degrees(state.theta - np.pi/2))
+	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
 	rect = rotated_surf.get_rect(center=(w/2, (h * 0.67)))
 	screen.blit(rotated_surf, rect.topleft)
 
@@ -72,7 +75,7 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	p = transform(0, 0, vehicle_state)
 	pygame.draw.circle(screen, "white",p , 5)
 
-	car_rotated = pygame.transform.rotate(car,- 90)
+	car_rotated = pygame.transform.rotate(car,-90)
 	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
 	car_scaled = pygame.transform.scale(car_rotated, (
 		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor

From 0fa1683aabf1f52bedcb93dcb3e8972f844401e0 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 15:34:42 -0700
Subject: [PATCH 16/52] fix grid rerenders

---
 auto_sim/main.py   |  2 +-
 auto_sim/render.py | 29 ++++++++++++++++++++---------
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 9992e13..aaaab19 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -35,7 +35,7 @@
 vehicle_state: VehicleState = VehicleState()
 # vehicle_state.theta = math.radians(90)
 vehicle_state.v_x = 1.0
-vehicle_state.omega = 0.5
+# vehicle_state.omega = 0.5
 
 while running:
     # handle events
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 0f3eb06..824c8c6 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -40,20 +40,31 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
+def create_surface(l: int, spacing: int, color: str) -> pygame.Surface:
+	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
+	for x in range(0, 2*l, spacing):
+		pygame.draw.line(grid_surf, color, (x, 0), (x, 2*l))
+	for y in range(0, 2*l, spacing):
+		pygame.draw.line(grid_surf, color, (0, y), (2*l, y))
+	return grid_surf
+
+old_spacing, old_color, old_l = 0, (20, 20, 20), 0
+old_grid_surf = None
 def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing=50):
-	global h, w
+	global h, w, old_spacing, old_color, old_l, old_grid_surf
 	l: int= ceil(np.hypot(w/2, h/2) / spacing) * spacing
-
-	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
+	if spacing != old_spacing or color != old_color or l != old_l or old_grid_surf is None:
+		print("RERENDERING GRID")
+		old_spacing = spacing
+		old_color = color
+		old_l = l
+		old_grid_surf = create_surface(2000, spacing, color)
+	grid_surf = old_grid_surf
 
 	offset_x = (state.x * PIXELS_PER_M) % spacing
-	offset_y = (state.y * PIXELS_PER_M) % spacing
-	for x in range(0, 2*l, spacing):
-		pygame.draw.line(grid_surf, color, (x + offset_x, 0), (x + offset_x, 2*l))
-	for y in range(0, 2*l, spacing):
-		pygame.draw.line(grid_surf, color, (0, y + offset_y), (2*l, y + offset_y))
+	offset_y = (state.y * PIXELS_PER_M) % spacing	
 	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
-	rect = rotated_surf.get_rect(center=(w/2, (h * 0.67)))
+	rect = rotated_surf.get_rect(center=(w/2 + offset_y, (h * 0.67) + offset_x))
 	screen.blit(rotated_surf, rect.topleft)
 
 def int_to_color(value: ConeColor) -> str:

From d93f05b010d5cb43859e1133ccf333776c68cc76 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 15:37:42 -0700
Subject: [PATCH 17/52] hehe data structure

---
 auto_sim/render.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 824c8c6..7b1b496 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -48,16 +48,14 @@ def create_surface(l: int, spacing: int, color: str) -> pygame.Surface:
 		pygame.draw.line(grid_surf, color, (0, y), (2*l, y))
 	return grid_surf
 
-old_spacing, old_color, old_l = 0, (20, 20, 20), 0
+old_state = None, None, None
 old_grid_surf = None
 def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing=50):
-	global h, w, old_spacing, old_color, old_l, old_grid_surf
+	global h, w, old_state, old_grid_surf
 	l: int= ceil(np.hypot(w/2, h/2) / spacing) * spacing
-	if spacing != old_spacing or color != old_color or l != old_l or old_grid_surf is None:
+	if (spacing, color, l) != old_state or old_grid_surf is None:
 		print("RERENDERING GRID")
-		old_spacing = spacing
-		old_color = color
-		old_l = l
+		old_state = (spacing, color, l)
 		old_grid_surf = create_surface(2000, spacing, color)
 	grid_surf = old_grid_surf
 

From 70661c0161326211290ee1efd00c3c54b1c93863 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 15:40:54 -0700
Subject: [PATCH 18/52] fixed render to m

---
 auto_sim/render.py | 37 +++++++++++++++++++------------------
 1 file changed, 19 insertions(+), 18 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 7b1b496..f4715e5 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -6,7 +6,7 @@
 import numpy as np
 from Controller import Cone, ConeColor
 
-PIXELS_PER_M = 	30.0
+PIXELS_PER_M = 	50.0
 w: int
 h: int
 
@@ -40,27 +40,28 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
-def create_surface(l: int, spacing: int, color: str) -> pygame.Surface:
+def create_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
 	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
-	for x in range(0, 2*l, spacing):
+	for x in range(0, 2*l, spacing_px):
 		pygame.draw.line(grid_surf, color, (x, 0), (x, 2*l))
-	for y in range(0, 2*l, spacing):
+	for y in range(0, 2*l, spacing_px):
 		pygame.draw.line(grid_surf, color, (0, y), (2*l, y))
 	return grid_surf
 
 old_state = None, None, None
 old_grid_surf = None
-def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing=50):
+def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing_m=1):
 	global h, w, old_state, old_grid_surf
-	l: int= ceil(np.hypot(w/2, h/2) / spacing) * spacing
-	if (spacing, color, l) != old_state or old_grid_surf is None:
+	spacing_px =  int(spacing_m * PIXELS_PER_M)
+	l: int= ceil(np.hypot(w/2, h/2) / spacing_m) * spacing_m
+	if (spacing_m, color, l) != old_state or old_grid_surf is None:
 		print("RERENDERING GRID")
-		old_state = (spacing, color, l)
-		old_grid_surf = create_surface(2000, spacing, color)
+		old_state = (spacing_m, color, l)
+		old_grid_surf = create_surface(2000, spacing_px, color)
 	grid_surf = old_grid_surf
 
-	offset_x = (state.x * PIXELS_PER_M) % spacing
-	offset_y = (state.y * PIXELS_PER_M) % spacing	
+	offset_x = (state.x * PIXELS_PER_M) % spacing_px
+	offset_y = (state.y * PIXELS_PER_M) % spacing_px	
 	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
 	rect = rotated_surf.get_rect(center=(w/2 + offset_y, (h * 0.67) + offset_x))
 	screen.blit(rotated_surf, rect.topleft)
@@ -84,16 +85,16 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	p = transform(0, 0, vehicle_state)
 	pygame.draw.circle(screen, "white",p , 5)
 
+	for cone in cones:
+		pygame.draw.circle(
+			screen, int_to_color(cone.c),
+			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
+		)
+	
 	car_rotated = pygame.transform.rotate(car,-90)
 	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
 	car_scaled = pygame.transform.scale(car_rotated, (
 		car_rotated.get_width() * scale_factor, car_rotated.get_height() * scale_factor
 	))
 	car_rect = car_scaled.get_rect(center=transform(vehicle_state.x, vehicle_state.y, vehicle_state))
-	screen.blit(car_scaled, car_rect)
-
-	for cone in cones:
-		pygame.draw.circle(
-			screen, int_to_color(cone.c),
-			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
-		)
\ No newline at end of file
+	screen.blit(car_scaled, car_rect)
\ No newline at end of file

From 55688b7c0172bb0811835db1b7f4233bd4a468fa Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 17:29:58 -0700
Subject: [PATCH 19/52] im retarded apparently

---
 auto_sim/main.py                    |  6 +++---
 auto_sim/render.py                  | 12 ++++++++----
 auto_sim/test_controller_2/main.cpp | 13 +++++++------
 3 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index aaaab19..746a526 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -33,9 +33,9 @@
 init()
 
 vehicle_state: VehicleState = VehicleState()
-# vehicle_state.theta = math.radians(90)
-vehicle_state.v_x = 1.0
-# vehicle_state.omega = 0.5
+vehicle_state.v_x = 2.0
+# vehicle_state.theta = math.radians(23.54)
+vehicle_state.omega = -0.2
 
 while running:
     # handle events
diff --git a/auto_sim/render.py b/auto_sim/render.py
index f4715e5..befd9b0 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -50,7 +50,7 @@ def create_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
 
 old_state = None, None, None
 old_grid_surf = None
-def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), spacing_m=1):
+def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), spacing_m=1):
 	global h, w, old_state, old_grid_surf
 	spacing_px =  int(spacing_m * PIXELS_PER_M)
 	l: int= ceil(np.hypot(w/2, h/2) / spacing_m) * spacing_m
@@ -60,10 +60,14 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(20, 20, 20), sp
 		old_grid_surf = create_surface(2000, spacing_px, color)
 	grid_surf = old_grid_surf
 
-	offset_x = (state.x * PIXELS_PER_M) % spacing_px
-	offset_y = (state.y * PIXELS_PER_M) % spacing_px	
+	# Calculate grid offset to align with world coordinates
+	r = R.from_euler('z', -state.theta + np.pi/2, degrees=False)
+	x, y = r.apply([state.x % spacing_m, state.y % spacing_m, 0])[:2]
 	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
-	rect = rotated_surf.get_rect(center=(w/2 + offset_y, (h * 0.67) + offset_x))
+	rect = rotated_surf.get_rect(center=(
+		w/2 - x * PIXELS_PER_M,
+		0.67 * h + y * PIXELS_PER_M
+	))
 	screen.blit(rotated_surf, rect.topleft)
 
 def int_to_color(value: ConeColor) -> str:
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
index a6110a1..08874f1 100644
--- a/auto_sim/test_controller_2/main.cpp
+++ b/auto_sim/test_controller_2/main.cpp
@@ -7,10 +7,9 @@
 struct ControlOutput {
     // in local frame
 	double ax;
-	double ay;
     // no frame
     double omega_dot;
-    ControlOutput(double _ax, double _ay, double _omega_dot) : ax(_ax), ay(_ay), omega_dot(_omega_dot) {}
+    ControlOutput(const double _ax, const double _omega_dot) : ax(_ax), omega_dot(_omega_dot) {}
 };
 struct VehicleState {
     // in global frame
@@ -38,7 +37,10 @@ struct Cone {
 void sim_step(VehicleState& state, const ControlOutput& control, const int dt) {
     const double dt_s = dt / 1000.0;
     state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
-	state.v_y += (control.ay - state.omega * state.v_x) * dt_s;
+
+    const double beta = std::atan2(state.v_y, state.v_x);
+    const double tire_ay = -1 * beta; // simple tire model for lateral forces
+	state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
 
 	state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
     const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
@@ -49,16 +51,15 @@ void sim_step(VehicleState& state, const ControlOutput& control, const int dt) {
 
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
     // Implementation for compute function
-    return {0,0,0};
+    return {0,0};
 }
 
 namespace py = pybind11;
 
 PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     py::class_<ControlOutput>(m, "ControlOutput")
-        .def(py::init<double, double, double>())
+        .def(py::init<double, double>())
         .def_readwrite("ax", &ControlOutput::ax)
-        .def_readwrite("ay", &ControlOutput::ay)
         .def_readwrite("omega_dot", &ControlOutput::omega_dot);
     
     py::class_<VehicleState>(m, "VehicleState")

From 475cff939345d5513721840b5bbc100296ff7056 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 17:31:51 -0700
Subject: [PATCH 20/52] oops hardcode

---
 auto_sim/render.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index befd9b0..b5b677a 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -57,7 +57,7 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), sp
 	if (spacing_m, color, l) != old_state or old_grid_surf is None:
 		print("RERENDERING GRID")
 		old_state = (spacing_m, color, l)
-		old_grid_surf = create_surface(2000, spacing_px, color)
+		old_grid_surf = create_surface(2*l, spacing_px, color)
 	grid_surf = old_grid_surf
 
 	# Calculate grid offset to align with world coordinates

From 32fd94d0faa95c78f19c21d114cd25e444e2a729 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 12 Mar 2026 18:02:19 -0700
Subject: [PATCH 21/52] better lines

---
 auto_sim/render.py    |  27 +++++++++++++++++----------
 auto_sim/vignette.png | Bin 0 -> 51741 bytes
 2 files changed, 17 insertions(+), 10 deletions(-)
 create mode 100644 auto_sim/vignette.png

diff --git a/auto_sim/render.py b/auto_sim/render.py
index b5b677a..c7b49ff 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -11,10 +11,17 @@
 h: int
 
 car: pygame.Surface
+vignette: pygame.Surface
 
 def init():
-	global car
+	global car, vignette
 	car = pygame.image.load('fsae.png').convert_alpha()
+	vignette_image = pygame.image.load('vignette.png').convert_alpha()
+	vignette_image = pygame.transform.scale(vignette_image, (1800,1800))
+
+	vignette = pygame.surface.Surface((3000, 3000), pygame.SRCALPHA)
+	vignette.fill((0,0,0,0))
+	vignette.blit(vignette_image, vignette_image.get_rect(center=(1500, 1500)), special_flags=pygame.BLEND_RGBA_ADD)
 
 def handle_key(key: int, state: VehicleState):
 	match key:
@@ -40,35 +47,35 @@ def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int
 	# Simple transformation - replace with actual coordinate transformation logic
 	return (screen_x, screen_y)
 
-def create_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
+def create_grid_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
 	grid_surf = pygame.Surface((2*l,2*l), pygame.SRCALPHA)
 	for x in range(0, 2*l, spacing_px):
-		pygame.draw.line(grid_surf, color, (x, 0), (x, 2*l))
+		pygame.draw.line(grid_surf, color, (x, 0), (x, 2*l), 2)
 	for y in range(0, 2*l, spacing_px):
-		pygame.draw.line(grid_surf, color, (0, y), (2*l, y))
+		pygame.draw.line(grid_surf, color, (0, y), (2*l, y), 2)
 	return grid_surf
 
 old_state = None, None, None
 old_grid_surf = None
 def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), spacing_m=1):
-	global h, w, old_state, old_grid_surf
+	global h, w, old_state, old_grid_surf, vignette
 	spacing_px =  int(spacing_m * PIXELS_PER_M)
-	l: int= ceil(np.hypot(w/2, h/2) / spacing_m) * spacing_m
+	l: int= ceil(np.hypot(w/2, h/2) * 0.4 / spacing_m) * spacing_m
 	if (spacing_m, color, l) != old_state or old_grid_surf is None:
 		print("RERENDERING GRID")
 		old_state = (spacing_m, color, l)
-		old_grid_surf = create_surface(2*l, spacing_px, color)
+		old_grid_surf = create_grid_surface(2*l, spacing_px, color)
 	grid_surf = old_grid_surf
 
 	# Calculate grid offset to align with world coordinates
 	r = R.from_euler('z', -state.theta + np.pi/2, degrees=False)
 	x, y = r.apply([state.x % spacing_m, state.y % spacing_m, 0])[:2]
 	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
-	rect = rotated_surf.get_rect(center=(
+	screen.blit(rotated_surf, rotated_surf.get_rect(center=(
 		w/2 - x * PIXELS_PER_M,
 		0.67 * h + y * PIXELS_PER_M
-	))
-	screen.blit(rotated_surf, rect.topleft)
+	)).topleft)
+	screen.blit(vignette, vignette.get_rect(center=(w/2, 0.67*h)), special_flags=pygame.BLEND_RGBA_MULT)
 
 def int_to_color(value: ConeColor) -> str:
 	match value:
diff --git a/auto_sim/vignette.png b/auto_sim/vignette.png
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0ed04e01c12ab933cf9e4851929d1ae21765a
GIT binary patch
literal 51741
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zM2m>->+}2lai06!dCr`f`?_=I%$b=Rr>CP%PRc|I0077}P)Gv+fB^Ep0V24k?AM)H
z++Xl~4Ac>Liz9;J_ctUjQRY4X02$5y1|A@<fZ={RKu_D~@&9Jx;o;-s6A%y(5)uM|
zKq4X{Vq#(t2t-0cLP|<XMn?AF!2@z~ataCxN=iyF7)(V)MNLgjLqkJLOG`&bM^8`x
z@Zm!S1_nk(MkXdEW@cs<78X`kRyH;^c6N3M1OkOZVK5j62L~r7Cl?nNH#avA4-YRd
zFCQNtKR>^KfPkQ&ppcM|u&}U*h={1DsF;|TxVZSEM~@^VBqSvzrKF^!rKM$LWMpM!
z<>ch#<>eI=6ciN|m6Vi}m6hRexQdDj0)bFfRYf9^j~_o)Q&Uq{S4W{x8X6j!nwnZ#
zTH4y$Po6x{(b3V>)z#C})7RHGFfcGQG&C|YGB!3gF)=YUH8nFcGdDN4u&{Xg^r@w#
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literal 0
HcmV?d00001


From 11516dacb3ffcbef50be2fd6da9f9329c728f047 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 14 Mar 2026 00:46:06 -0700
Subject: [PATCH 22/52] yoosh

---
 auto_sim/.vscode/settings.json            |   3 +-
 auto_sim/README.md                        |   9 +-
 auto_sim/main.py                          |  14 ++-
 auto_sim/render.py                        |  34 +++--
 auto_sim/test_controller_2/CMakeLists.txt |   5 +
 auto_sim/test_controller_2/main.cpp       | 145 ++++++++++++----------
 6 files changed, 119 insertions(+), 91 deletions(-)
 create mode 100644 auto_sim/test_controller_2/CMakeLists.txt

diff --git a/auto_sim/.vscode/settings.json b/auto_sim/.vscode/settings.json
index 3212c3c..5535099 100644
--- a/auto_sim/.vscode/settings.json
+++ b/auto_sim/.vscode/settings.json
@@ -1,3 +1,4 @@
 {
-	"python-envs.defaultEnvManager": "ms-python.python:pipenv"
+	"python-envs.defaultEnvManager": "ms-python.python:pipenv",
+	"cmake.sourceDirectory": "C:/Users/jessi/Documents/School/fsae/sim/auto_sim/test_controller_2"
 }
\ No newline at end of file
diff --git a/auto_sim/README.md b/auto_sim/README.md
index 8addb73..4397b68 100644
--- a/auto_sim/README.md
+++ b/auto_sim/README.md
@@ -1,5 +1,6 @@
 # TODO
-- simulation loop
-- basic boundary checking
-- basic controller?
-- full MPC
\ No newline at end of file
+
+* basic boundary checking， triangulation
+* basic controller?
+* full MPC
+
diff --git a/auto_sim/main.py b/auto_sim/main.py
index 746a526..ed6c4ea 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -37,6 +37,17 @@
 # vehicle_state.theta = math.radians(23.54)
 vehicle_state.omega = -0.2
 
+def handle_key(key: int, state: VehicleState):
+	match key:
+		case pygame.K_d:
+			state.theta += 0.1
+		case pygame.K_a:
+			state.theta -= 0.1
+		case pygame.K_w:
+			state.x += 0.1
+		case pygame.K_s:
+			state.x -= 0.1
+
 while running:
     # handle events
     # pygame.QUIT event means the user clicked X to close your window
@@ -44,10 +55,11 @@
         if event.type == pygame.QUIT:
             running = False
 
+    dt = clock.get_time()
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
     controls = compute(vehicle_state, CONE_POSITIONS)
-    sim_step(vehicle_state, controls, clock.get_time())
+    sim_step(vehicle_state, controls, dt)
     render_world(vehicle_state, CONE_POSITIONS, screen)
 
     # flip() the display to put your work on screen
diff --git a/auto_sim/render.py b/auto_sim/render.py
index c7b49ff..4400bca 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,10 +1,9 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState
+from Controller import VehicleState, Cone, ConeColor
 from math import ceil, degrees
 import numpy as np
-from Controller import Cone, ConeColor
 
 PIXELS_PER_M = 	50.0
 w: int
@@ -18,21 +17,8 @@ def init():
 	car = pygame.image.load('fsae.png').convert_alpha()
 	vignette_image = pygame.image.load('vignette.png').convert_alpha()
 	vignette_image = pygame.transform.scale(vignette_image, (1800,1800))
-
-	vignette = pygame.surface.Surface((3000, 3000), pygame.SRCALPHA)
-	vignette.fill((0,0,0,0))
-	vignette.blit(vignette_image, vignette_image.get_rect(center=(1500, 1500)), special_flags=pygame.BLEND_RGBA_ADD)
-
-def handle_key(key: int, state: VehicleState):
-	match key:
-		case pygame.K_d:
-			state.theta += 0.1
-		case pygame.K_a:
-			state.theta -= 0.1
-		case pygame.K_w:
-			state.x += 0.1
-		case pygame.K_s:
-			state.x -= 0.1
+	vignette = pygame.Surface((3000,3000), pygame.SRCALPHA)
+	vignette.blit(vignette_image, vignette_image.get_rect(center=(1500,1500)))
 
 def transform(x: float, y: float, vehicle_state: VehicleState) -> tuple[int, int]:
 	"""
@@ -59,6 +45,7 @@ def create_grid_surface(l: int, spacing_px: int, color: str) -> pygame.Surface:
 old_grid_surf = None
 def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), spacing_m=1):
 	global h, w, old_state, old_grid_surf, vignette
+	# create grid, cached
 	spacing_px =  int(spacing_m * PIXELS_PER_M)
 	l: int= ceil(np.hypot(w/2, h/2) * 0.4 / spacing_m) * spacing_m
 	if (spacing_m, color, l) != old_state or old_grid_surf is None:
@@ -67,15 +54,22 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), sp
 		old_grid_surf = create_grid_surface(2*l, spacing_px, color)
 	grid_surf = old_grid_surf
 
+	# grid
+	screen_grid = pygame.surface.Surface((w, h), pygame.SRCALPHA)
+
 	# Calculate grid offset to align with world coordinates
 	r = R.from_euler('z', -state.theta + np.pi/2, degrees=False)
 	x, y = r.apply([state.x % spacing_m, state.y % spacing_m, 0])[:2]
-	rotated_surf = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
-	screen.blit(rotated_surf, rotated_surf.get_rect(center=(
+	rotated_surf: pygame.Surface = pygame.transform.rotate(grid_surf, degrees(-state.theta - np.pi/2))
+	screen_grid.blit(rotated_surf, rotated_surf.get_rect(center=(
 		w/2 - x * PIXELS_PER_M,
 		0.67 * h + y * PIXELS_PER_M
 	)).topleft)
-	screen.blit(vignette, vignette.get_rect(center=(w/2, 0.67*h)), special_flags=pygame.BLEND_RGBA_MULT)
+
+	# vignette
+	screen_grid.blit(vignette, vignette.get_rect(center=(w/2, 0.67*h)), special_flags=pygame.BLEND_RGBA_MULT)
+
+	screen.blit(screen_grid, (0, 0))
 
 def int_to_color(value: ConeColor) -> str:
 	match value:
diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
new file mode 100644
index 0000000..d260db5
--- /dev/null
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.10)
+set(CMAKE_CXX_STANDARD 20)
+project(controller_intellisense)
+
+add_executable(controller_intellisense main.cpp)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
index 08874f1..86daf5e 100644
--- a/auto_sim/test_controller_2/main.cpp
+++ b/auto_sim/test_controller_2/main.cpp
@@ -1,92 +1,107 @@
+#include <cassert>
+#include <numbers>
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
+#include <unordered_map>
 #include <vector>
-#include <numbers>
-#include <cassert>
 
 struct ControlOutput {
-    // in local frame
-	double ax;
-    // no frame
-    double omega_dot;
-    ControlOutput(const double _ax, const double _omega_dot) : ax(_ax), omega_dot(_omega_dot) {}
+  // in local frame
+  double ax;
+  // no frame
+  double omega_dot;
+  ControlOutput(const double _ax, const double _omega_dot)
+      : ax(_ax), omega_dot(_omega_dot) {}
 };
 struct VehicleState {
-    // in global frame
-    double x;
-    double y;
-    double theta;
-    // in local frame
-    double v_x;
-    double v_y;
-    // no frame
-    double omega;
-    VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
-};
-enum class ConeColor {
-    BLUE,
-    YELLOW
+  // in global frame
+  double x;
+  double y;
+  double theta;
+  // in local frame
+  double v_x;
+  double v_y;
+  // no frame
+  double omega;
+  VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
 };
+enum class ConeColor { BLUE, YELLOW };
 struct Cone {
-    double x;
-    double y;
-    ConeColor c;
-    Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
+  double x;
+  double y;
+  ConeColor c;
+  Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
 };
 
-void sim_step(VehicleState& state, const ControlOutput& control, const int dt) {
-    const double dt_s = dt / 1000.0;
-    state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
+void sim_step(VehicleState &state, const ControlOutput &control, const int dt) {
+  const double dt_s = dt / 1000.0;
+  state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
 
-    const double beta = std::atan2(state.v_y, state.v_x);
-    const double tire_ay = -1 * beta; // simple tire model for lateral forces
-	state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
+  const double beta = std::atan2(state.v_y, state.v_x);
+  const double tire_ay = -1 * beta; // simple tire model for lateral forces
+  state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
 
-	state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
-    const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
-    const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
-	state.x += v_x_world * dt_s;
-	state.y += v_y_world * dt_s;
+  state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
+  const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
+  const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
+  state.x += v_x_world * dt_s;
+  state.y += v_y_world * dt_s;
 }
 
-ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
-    // Implementation for compute function
-    return {0,0};
+static std::unordered_map<int, std::vector<int>> adj{};
+/**
+ * Triangulates the cones.
+ * @param cones The vector of cones to triangulate.
+ * @note This function assumes that the input vector of cones is an add-only
+ * array whose order is preserved.
+ */
+void triangulate(const std::vector<Cone> &cones) {
+  static size_t last_seen_cone = 0;
+  for (; last_seen_cone < cones.size(); ++last_seen_cone) {
+    const Cone &cone = cones[last_seen_cone];
+    // process the new cone
+  }
+}
+
+ControlOutput compute(const VehicleState &ve, const std::vector<Cone> &cones) {
+  // Implementation for compute function
+  triangulate(cones);
+  return {0, 0};
 }
 
 namespace py = pybind11;
 
 PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
-    py::class_<ControlOutput>(m, "ControlOutput")
-        .def(py::init<double, double>())
-        .def_readwrite("ax", &ControlOutput::ax)
-        .def_readwrite("omega_dot", &ControlOutput::omega_dot);
-    
-    py::class_<VehicleState>(m, "VehicleState")
-        .def(py::init<>())
-        .def_readwrite("x", &VehicleState::x)
-        .def_readwrite("y", &VehicleState::y)
-        .def_readwrite("theta", &VehicleState::theta)
-        .def_readwrite("v_x", &VehicleState::v_x)
-        .def_readwrite("v_y", &VehicleState::v_y)
-        .def_readwrite("omega", &VehicleState::omega);
-    
-    py::class_<Cone>(m, "Cone")
-        .def(py::init<double, double, ConeColor>())
-        .def_readwrite("x", &Cone::x)
-        .def_readwrite("y", &Cone::y)
-        .def_readwrite("c", &Cone::c);
-    
-    py::enum_<ConeColor>(m, "ConeColor")
-        .value("BLUE", ConeColor::BLUE)
-        .value("YELLOW", ConeColor::YELLOW)
-        .export_values();
+  py::class_<ControlOutput>(m, "ControlOutput")
+      .def(py::init<double, double>())
+      .def_readwrite("ax", &ControlOutput::ax)
+      .def_readwrite("omega_dot", &ControlOutput::omega_dot);
+
+  py::class_<VehicleState>(m, "VehicleState")
+      .def(py::init<>())
+      .def_readwrite("x", &VehicleState::x)
+      .def_readwrite("y", &VehicleState::y)
+      .def_readwrite("theta", &VehicleState::theta)
+      .def_readwrite("v_x", &VehicleState::v_x)
+      .def_readwrite("v_y", &VehicleState::v_y)
+      .def_readwrite("omega", &VehicleState::omega);
+
+  py::class_<Cone>(m, "Cone")
+      .def(py::init<double, double, ConeColor>())
+      .def_readwrite("x", &Cone::x)
+      .def_readwrite("y", &Cone::y)
+      .def_readwrite("c", &Cone::c);
+
+  py::enum_<ConeColor>(m, "ConeColor")
+      .value("BLUE", ConeColor::BLUE)
+      .value("YELLOW", ConeColor::YELLOW)
+      .export_values();
 
-    m.def("compute", &compute, R"pbdoc(
+  m.def("compute", &compute, R"pbdoc(
         Compute control output
     )pbdoc");
 
-    m.def("sim_step", &sim_step, R"pbdoc(
+  m.def("sim_step", &sim_step, R"pbdoc(
         Simulate one step of the vehicle dynamics
     )pbdoc");
 }
\ No newline at end of file

From 31ef4828bef50fb5ee43aa621da23595c5458945 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 14 Mar 2026 00:48:52 -0700
Subject: [PATCH 23/52] remove math

---
 auto_sim/main.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index ed6c4ea..2115c68 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,5 +1,3 @@
-import math
-
 import pygame
 from Controller import compute, sim_step, Cone, ConeColor, VehicleState
 from render import init, render_world

From 10cdb2c4797750153bf87cc1f761b262b77e36af Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sun, 15 Mar 2026 13:27:34 -0700
Subject: [PATCH 24/52] poof

---
 auto_sim/.vscode/settings.json               |   3 +-
 auto_sim/main.py                             |   4 +-
 auto_sim/test_controller_2/controller.cpp    |   9 ++
 auto_sim/test_controller_2/controller.hpp    |   5 +
 auto_sim/test_controller_2/main.cpp          | 107 -----------------
 auto_sim/test_controller_2/pybind.cpp        |  44 +++++++
 auto_sim/test_controller_2/setup.py          |   2 +-
 auto_sim/test_controller_2/sim.cpp           |  19 +++
 auto_sim/test_controller_2/sim.hpp           |   4 +
 auto_sim/test_controller_2/triangulation.cpp | 117 +++++++++++++++++++
 auto_sim/test_controller_2/triangulation.hpp |  65 +++++++++++
 auto_sim/test_controller_2/types.hpp         |  31 +++++
 12 files changed, 299 insertions(+), 111 deletions(-)
 create mode 100644 auto_sim/test_controller_2/controller.cpp
 create mode 100644 auto_sim/test_controller_2/controller.hpp
 delete mode 100644 auto_sim/test_controller_2/main.cpp
 create mode 100644 auto_sim/test_controller_2/pybind.cpp
 create mode 100644 auto_sim/test_controller_2/sim.cpp
 create mode 100644 auto_sim/test_controller_2/sim.hpp
 create mode 100644 auto_sim/test_controller_2/triangulation.cpp
 create mode 100644 auto_sim/test_controller_2/triangulation.hpp
 create mode 100644 auto_sim/test_controller_2/types.hpp

diff --git a/auto_sim/.vscode/settings.json b/auto_sim/.vscode/settings.json
index 5535099..82b6a2f 100644
--- a/auto_sim/.vscode/settings.json
+++ b/auto_sim/.vscode/settings.json
@@ -1,4 +1,5 @@
 {
 	"python-envs.defaultEnvManager": "ms-python.python:pipenv",
-	"cmake.sourceDirectory": "C:/Users/jessi/Documents/School/fsae/sim/auto_sim/test_controller_2"
+	"cmake.sourceDirectory": "C:/Users/jessi/Documents/School/fsae/sim/auto_sim/test_controller_2",
+	"editor.defaultFormatter": null
 }
\ No newline at end of file
diff --git a/auto_sim/main.py b/auto_sim/main.py
index 2115c68..8457ec8 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -31,9 +31,9 @@
 init()
 
 vehicle_state: VehicleState = VehicleState()
-vehicle_state.v_x = 2.0
+# vehicle_state.v_y = 2.0
 # vehicle_state.theta = math.radians(23.54)
-vehicle_state.omega = -0.2
+# vehicle_state.omega = -0.2
 
 def handle_key(key: int, state: VehicleState):
 	match key:
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
new file mode 100644
index 0000000..84180b3
--- /dev/null
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -0,0 +1,9 @@
+#include "controller.hpp"
+#include "triangulation.hpp"
+
+ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones)
+{
+    // Implementation for compute function
+    triangulate(cones);
+    return { 0, 0 };
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
new file mode 100644
index 0000000..d805669
--- /dev/null
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -0,0 +1,5 @@
+#pragma once
+#include "types.hpp"
+#include <vector>
+
+ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/main.cpp b/auto_sim/test_controller_2/main.cpp
deleted file mode 100644
index 86daf5e..0000000
--- a/auto_sim/test_controller_2/main.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-#include <cassert>
-#include <numbers>
-#include <pybind11/pybind11.h>
-#include <pybind11/stl.h>
-#include <unordered_map>
-#include <vector>
-
-struct ControlOutput {
-  // in local frame
-  double ax;
-  // no frame
-  double omega_dot;
-  ControlOutput(const double _ax, const double _omega_dot)
-      : ax(_ax), omega_dot(_omega_dot) {}
-};
-struct VehicleState {
-  // in global frame
-  double x;
-  double y;
-  double theta;
-  // in local frame
-  double v_x;
-  double v_y;
-  // no frame
-  double omega;
-  VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
-};
-enum class ConeColor { BLUE, YELLOW };
-struct Cone {
-  double x;
-  double y;
-  ConeColor c;
-  Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
-};
-
-void sim_step(VehicleState &state, const ControlOutput &control, const int dt) {
-  const double dt_s = dt / 1000.0;
-  state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
-
-  const double beta = std::atan2(state.v_y, state.v_x);
-  const double tire_ay = -1 * beta; // simple tire model for lateral forces
-  state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
-
-  state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
-  const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
-  const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
-  state.x += v_x_world * dt_s;
-  state.y += v_y_world * dt_s;
-}
-
-static std::unordered_map<int, std::vector<int>> adj{};
-/**
- * Triangulates the cones.
- * @param cones The vector of cones to triangulate.
- * @note This function assumes that the input vector of cones is an add-only
- * array whose order is preserved.
- */
-void triangulate(const std::vector<Cone> &cones) {
-  static size_t last_seen_cone = 0;
-  for (; last_seen_cone < cones.size(); ++last_seen_cone) {
-    const Cone &cone = cones[last_seen_cone];
-    // process the new cone
-  }
-}
-
-ControlOutput compute(const VehicleState &ve, const std::vector<Cone> &cones) {
-  // Implementation for compute function
-  triangulate(cones);
-  return {0, 0};
-}
-
-namespace py = pybind11;
-
-PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
-  py::class_<ControlOutput>(m, "ControlOutput")
-      .def(py::init<double, double>())
-      .def_readwrite("ax", &ControlOutput::ax)
-      .def_readwrite("omega_dot", &ControlOutput::omega_dot);
-
-  py::class_<VehicleState>(m, "VehicleState")
-      .def(py::init<>())
-      .def_readwrite("x", &VehicleState::x)
-      .def_readwrite("y", &VehicleState::y)
-      .def_readwrite("theta", &VehicleState::theta)
-      .def_readwrite("v_x", &VehicleState::v_x)
-      .def_readwrite("v_y", &VehicleState::v_y)
-      .def_readwrite("omega", &VehicleState::omega);
-
-  py::class_<Cone>(m, "Cone")
-      .def(py::init<double, double, ConeColor>())
-      .def_readwrite("x", &Cone::x)
-      .def_readwrite("y", &Cone::y)
-      .def_readwrite("c", &Cone::c);
-
-  py::enum_<ConeColor>(m, "ConeColor")
-      .value("BLUE", ConeColor::BLUE)
-      .value("YELLOW", ConeColor::YELLOW)
-      .export_values();
-
-  m.def("compute", &compute, R"pbdoc(
-        Compute control output
-    )pbdoc");
-
-  m.def("sim_step", &sim_step, R"pbdoc(
-        Simulate one step of the vehicle dynamics
-    )pbdoc");
-}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
new file mode 100644
index 0000000..fc50e73
--- /dev/null
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -0,0 +1,44 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include "controller.hpp"
+#include "sim.hpp"
+#include "types.hpp"
+
+namespace py = pybind11;
+
+PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
+{
+    py::class_<ControlOutput>(m, "ControlOutput")
+        .def(py::init<double, double>())
+        .def_readwrite("ax", &ControlOutput::ax)
+        .def_readwrite("omega_dot", &ControlOutput::omega_dot);
+
+    py::class_<VehicleState>(m, "VehicleState")
+        .def(py::init<>())
+        .def_readwrite("x", &VehicleState::x)
+        .def_readwrite("y", &VehicleState::y)
+        .def_readwrite("theta", &VehicleState::theta)
+        .def_readwrite("v_x", &VehicleState::v_x)
+        .def_readwrite("v_y", &VehicleState::v_y)
+        .def_readwrite("omega", &VehicleState::omega);
+
+    py::class_<Cone>(m, "Cone")
+        .def(py::init<double, double, ConeColor>())
+        .def_readwrite("x", &Cone::x)
+        .def_readwrite("y", &Cone::y)
+        .def_readwrite("c", &Cone::c);
+
+    py::enum_<ConeColor>(m, "ConeColor")
+        .value("BLUE", ConeColor::BLUE)
+        .value("YELLOW", ConeColor::YELLOW)
+        .export_values();
+
+    m.def("compute", &compute, R"pbdoc(
+        Compute control output
+    )pbdoc");
+
+    m.def("sim_step", &sim_step, R"pbdoc(
+        Simulate one step of the vehicle dynamics
+    )pbdoc");
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index 6fc00b1..e258cc8 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -7,7 +7,7 @@
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["main.cpp"],
+        ["pybind.cpp", "triangulation.cpp", "sim.cpp"],
     ),
 ]
 
diff --git a/auto_sim/test_controller_2/sim.cpp b/auto_sim/test_controller_2/sim.cpp
new file mode 100644
index 0000000..6978b08
--- /dev/null
+++ b/auto_sim/test_controller_2/sim.cpp
@@ -0,0 +1,19 @@
+#include "sim.hpp"
+#include <cmath>
+#include <numbers>
+
+void sim_step(VehicleState& state, const ControlOutput& control, const int dt)
+{
+    const double dt_s = dt / 1000.0;
+    state.v_x += (control.ax + state.omega * state.v_y) * dt_s;
+
+    const double beta = std::atan2(state.v_y, state.v_x);
+    const double tire_ay = -1 * beta; // simple tire model for lateral forces
+    state.v_y += (tire_ay - state.omega * state.v_x) * dt_s;
+
+    state.theta += std::fmod(state.omega * dt_s, 2 * std::numbers::pi);
+    const double v_x_world = state.v_x * std::cos(state.theta) - state.v_y * std::sin(state.theta);
+    const double v_y_world = state.v_x * std::sin(state.theta) + state.v_y * std::cos(state.theta);
+    state.x += v_x_world * dt_s;
+    state.y += v_y_world * dt_s;
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/sim.hpp b/auto_sim/test_controller_2/sim.hpp
new file mode 100644
index 0000000..e64c29e
--- /dev/null
+++ b/auto_sim/test_controller_2/sim.hpp
@@ -0,0 +1,4 @@
+#pragma once
+#include "types.hpp"
+
+void sim_step(VehicleState& state, const ControlOutput& control, const int dt);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
new file mode 100644
index 0000000..808425a
--- /dev/null
+++ b/auto_sim/test_controller_2/triangulation.cpp
@@ -0,0 +1,117 @@
+#include "triangulation.hpp"
+
+#include <memory>
+#include <span>
+#include <unordered_map>
+
+class ConeList {
+    const std::span<const Cone> cones;
+
+public:
+    ConeList(const std::span<const Cone> _cones)
+        : cones(_cones)
+    {
+    }
+    const Cone& operator[](const size_t cone_id) const
+    {
+        switch (cone_id) {
+        case 0:
+            return Cone { -100, -100, ConeColor::BLUE };
+        case 1:
+            return Cone { 100, -100, ConeColor::YELLOW };
+        case 2:
+            return Cone { 0, 100, ConeColor::BLUE };
+        default:
+            return cones[cone_id - 3];
+        }
+    }
+};
+
+void legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b)
+{
+}
+
+bool on_edge(const Cone& cone,
+    const size_t a,
+    const size_t b,
+    const ConeList& existing_cones)
+{
+    // check if cone lies on the edge (a,b)
+    const Cone& cone_a = existing_cones[a];
+    const Cone& cone_b = existing_cones[b];
+    // check if cone is collinear with cone_a and cone_b
+    const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) - (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
+    if (std::abs(cross_product) > 1e-6) {
+        return false;
+    }
+    // check if cone is within the bounding box of cone_a and cone_b
+    const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
+    if (dot_product < 0) {
+        return false;
+    }
+    const double squared_length_ab = (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
+    if (dot_product > squared_length_ab) {
+        return false;
+    }
+    return true;
+}
+
+bool edge_detect(const Cone& cone,
+    size_t& a,
+    size_t& b,
+    size_t& c,
+    const ConeList& existing_cones)
+{
+    if (on_edge(cone, a, b, existing_cones)) {
+        return true;
+    } else if (on_edge(cone, b, c, existing_cones)) {
+        std::swap(a, c);
+        return true;
+    } else if (on_edge(cone, a, c, existing_cones)) {
+        std::swap(b, c);
+        return true;
+    }
+    return false;
+}
+
+void insert(const Cone& cone, const size_t cone_id, const ConeList existing_cones)
+{
+    std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone, existing_cones); // find smallest triangle which contains the cone
+    bool on_edge = edge_detect(cone, a, b, c, existing_cones); // check if cone lies on the edges of the triangle
+    if (on_edge) { // if on_edge, then cone is known to be on edge (a,b)
+                   // very annoying
+    } else { // split triangle a,b,c into three triangles a,b,cone_id;
+        // b,c,cone_id; a,c,cone_id
+        adj[cone_id] = { a, b, c };
+        adj[a].push_back(cone_id);
+        adj[b].push_back(cone_id);
+        adj[c].push_back(cone_id);
+        t.children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
+        t.children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
+        t.children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
+
+        // legalize the edges
+        legalize_edge(cone_id, a, b);
+        legalize_edge(cone_id, b, c);
+        legalize_edge(cone_id, a, c);
+    }
+}
+
+/**
+ * Triangulates the cones. Populates the adj with the edges of the
+ * triangulation.
+ * @param cones The vector of cones to triangulate.
+ * @note This function assumes that the input vector of cones is an add-only
+ * array whose order is preserved.
+ */
+void triangulate(const std::vector<Cone>& cones)
+{
+    static size_t last_seen_cone = 0;
+    for (; last_seen_cone < cones.size(); ++last_seen_cone) {
+        const Cone& cone = cones[last_seen_cone];
+        // process the new cone
+        const size_t cone_id = last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
+        const std::span<const Cone> s { cones };
+        insert(cone, cone_id, s.first(last_seen_cone - 1));
+    }
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
new file mode 100644
index 0000000..1df9f4a
--- /dev/null
+++ b/auto_sim/test_controller_2/triangulation.hpp
@@ -0,0 +1,65 @@
+#pragma once
+#include "types.hpp"
+#include <vector>
+
+class Triangulation {
+    struct Triangle {
+        size_t a, b, c; // indices of the cones that form the triangle
+        Triangle(size_t _a, size_t _b, size_t _c)
+            : a(_a)
+            , b(_b)
+            , c(_c)
+        {
+        }
+        bool contains(const Cone& cone, const ConeList& existing_cones) const
+        {
+            // check if cone is inside the triangle formed by cones a, b, c
+            const Cone& cone_a = existing_cones[a];
+            const Cone& cone_b = existing_cones[b];
+            const Cone& cone_c = existing_cones[c];
+            const double area_abc = 0.5 * std::abs(cone_a.x * (cone_b.y - cone_c.y) + cone_b.x * (cone_c.y - cone_a.y) + cone_c.x * (cone_a.y - cone_b.y));
+            const double area_abp = 0.5 * std::abs(cone_a.x * (cone_b.y - cone.y) + cone_b.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_b.y));
+            const double area_acp = 0.5 * std::abs(cone_a.x * (cone_c.y - cone.y) + cone_c.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_c.y));
+            const double area_bcp = 0.5 * std::abs(cone_b.x * (cone_c.y - cone.y) + cone_c.x * (cone.y - cone_b.y) + cone.x * (cone_b.y - cone_c.y));
+            return std::abs(area_abc - area_abp - area_acp - area_bcp) < 1e-6;
+        }
+    };
+
+    class TrianglePyramid {
+        std::vector<std::shared_ptr<TrianglePyramid>> children {};
+        Triangle t;
+
+    public:
+        bool is_intact() { return children.empty(); }
+        std::shared_ptr<TrianglePyramid>
+        find_triangle(const Cone& cone, const ConeList& existing_cones)
+        {
+            for (const auto& child : children) {
+                if (child->t.contains(cone, existing_cones)) {
+                    if (child->is_intact()) {
+                        return child;
+                    }
+                    return child->find_triangle(cone, existing_cones);
+                }
+            }
+            throw std::runtime_error("Cone is not contained in any triangle");
+        }
+        TrianglePyramid() = delete;
+        TrianglePyramid(const Triangle& _t)
+            : t(_t)
+        {
+        }
+        TrianglePyramid(size_t _a, size_t _b, size_t _c)
+            : t { _a, _b, _c }
+        {
+        }
+    };
+
+    TrianglePyramid root { 0, 1, 2 }; // super triangle that contains all cones
+
+    static std::unordered_map<size_t, std::vector<size_t>> adj {
+        { 0, { 1, 2 } }, { 1, { 0, 2 } }, { 2, { 0, 1 } }
+    }; // adj of the edges
+public:
+    void triangulate(const std::vector<Cone>& cones);
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/types.hpp b/auto_sim/test_controller_2/types.hpp
new file mode 100644
index 0000000..46aa263
--- /dev/null
+++ b/auto_sim/test_controller_2/types.hpp
@@ -0,0 +1,31 @@
+#pragma once
+
+struct ControlOutput {
+  // in local frame
+  double ax;
+  // no frame
+  double omega_dot;
+  ControlOutput(const double _ax, const double _omega_dot)
+      : ax(_ax), omega_dot(_omega_dot) {}
+};
+
+struct VehicleState {
+  // in global frame
+  double x;
+  double y;
+  double theta;
+  // in local frame
+  double v_x;
+  double v_y;
+  // no frame
+  double omega;
+  VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
+};
+
+enum class ConeColor { BLUE, YELLOW };
+struct Cone {
+  double x;
+  double y;
+  ConeColor c;
+  Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
+};
\ No newline at end of file

From ad1cf785299e23a3b1da606c98c08714ade0b967 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sun, 15 Mar 2026 13:53:38 -0700
Subject: [PATCH 25/52] more connections

---
 auto_sim/test_controller_2/controller.cpp    | 11 +++-
 auto_sim/test_controller_2/controller.hpp    |  2 +
 auto_sim/test_controller_2/pybind.cpp        | 10 ++++
 auto_sim/test_controller_2/setup.py          |  4 +-
 auto_sim/test_controller_2/triangulation.cpp | 57 +++++---------------
 auto_sim/test_controller_2/triangulation.hpp | 52 ++++++++++++++++--
 6 files changed, 85 insertions(+), 51 deletions(-)

diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 84180b3..ff3c53f 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,9 +1,16 @@
 #include "controller.hpp"
-#include "triangulation.hpp"
+
+Triangulation t {};
+
+Triangulation& get_triangulation()
+{
+    return t;
+}
 
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones)
 {
     // Implementation for compute function
-    triangulate(cones);
+    t.triangulate(cones);
+    // t.adj will contain the adj list
     return { 0, 0 };
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
index d805669..f0a3e85 100644
--- a/auto_sim/test_controller_2/controller.hpp
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -1,5 +1,7 @@
 #pragma once
+#include "triangulation.hpp"
 #include "types.hpp"
 #include <vector>
 
+Triangulation& get_triangulation();
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index fc50e73..374d5e4 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -34,6 +34,16 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
         .value("YELLOW", ConeColor::YELLOW)
         .export_values();
 
+    // export object t (of type Triangulation) to python
+    py::class_<Triangulation>(m, "Triangulation")
+        .def(py::init<>())
+        .def("triangulate", &Triangulation::triangulate)
+        .def_readonly("adj", &Triangulation::adj);
+
+    m.def("get_triangulation", &get_triangulation, R"pbdoc(
+        Get the current triangulation object)
+    )pbdoc");
+
     m.def("compute", &compute, R"pbdoc(
         Compute control output
     )pbdoc");
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index e258cc8..886aa8c 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -7,7 +7,9 @@
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["pybind.cpp", "triangulation.cpp", "sim.cpp"],
+        ["pybind.cpp", "triangulation.cpp", "sim.cpp", "controller.cpp"],
+        include_dirs=["."],
+        language="c++",
     ),
 ]
 
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
index 808425a..a447f93 100644
--- a/auto_sim/test_controller_2/triangulation.cpp
+++ b/auto_sim/test_controller_2/triangulation.cpp
@@ -1,40 +1,10 @@
 #include "triangulation.hpp"
 
-#include <memory>
-#include <span>
-#include <unordered_map>
-
-class ConeList {
-    const std::span<const Cone> cones;
-
-public:
-    ConeList(const std::span<const Cone> _cones)
-        : cones(_cones)
-    {
-    }
-    const Cone& operator[](const size_t cone_id) const
-    {
-        switch (cone_id) {
-        case 0:
-            return Cone { -100, -100, ConeColor::BLUE };
-        case 1:
-            return Cone { 100, -100, ConeColor::YELLOW };
-        case 2:
-            return Cone { 0, 100, ConeColor::BLUE };
-        default:
-            return cones[cone_id - 3];
-        }
-    }
-};
-
-void legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b)
+void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b)
 {
 }
 
-bool on_edge(const Cone& cone,
-    const size_t a,
-    const size_t b,
-    const ConeList& existing_cones)
+bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b)
 {
     // check if cone lies on the edge (a,b)
     const Cone& cone_a = existing_cones[a];
@@ -56,28 +26,24 @@ bool on_edge(const Cone& cone,
     return true;
 }
 
-bool edge_detect(const Cone& cone,
-    size_t& a,
-    size_t& b,
-    size_t& c,
-    const ConeList& existing_cones)
+bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c)
 {
-    if (on_edge(cone, a, b, existing_cones)) {
+    if (on_edge(cone, a, b)) {
         return true;
-    } else if (on_edge(cone, b, c, existing_cones)) {
+    } else if (on_edge(cone, b, c)) {
         std::swap(a, c);
         return true;
-    } else if (on_edge(cone, a, c, existing_cones)) {
+    } else if (on_edge(cone, a, c)) {
         std::swap(b, c);
         return true;
     }
     return false;
 }
 
-void insert(const Cone& cone, const size_t cone_id, const ConeList existing_cones)
+void Triangulation::insert(const Cone& cone, const size_t cone_id)
 {
-    std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone, existing_cones); // find smallest triangle which contains the cone
-    bool on_edge = edge_detect(cone, a, b, c, existing_cones); // check if cone lies on the edges of the triangle
+    std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone); // find smallest triangle which contains the cone
+    bool on_edge = edge_detect(cone, a, b, c); // check if cone lies on the edges of the triangle
     if (on_edge) { // if on_edge, then cone is known to be on edge (a,b)
                    // very annoying
     } else { // split triangle a,b,c into three triangles a,b,cone_id;
@@ -104,7 +70,7 @@ void insert(const Cone& cone, const size_t cone_id, const ConeList existing_cone
  * @note This function assumes that the input vector of cones is an add-only
  * array whose order is preserved.
  */
-void triangulate(const std::vector<Cone>& cones)
+void Triangulation::triangulate(const std::vector<Cone>& cones)
 {
     static size_t last_seen_cone = 0;
     for (; last_seen_cone < cones.size(); ++last_seen_cone) {
@@ -112,6 +78,7 @@ void triangulate(const std::vector<Cone>& cones)
         // process the new cone
         const size_t cone_id = last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
         const std::span<const Cone> s { cones };
-        insert(cone, cone_id, s.first(last_seen_cone - 1));
+        existing_cones.set_cones(s.first(last_seen_cone));
+        insert(cone, cone_id);
     }
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
index 1df9f4a..2609c38 100644
--- a/auto_sim/test_controller_2/triangulation.hpp
+++ b/auto_sim/test_controller_2/triangulation.hpp
@@ -1,7 +1,14 @@
 #pragma once
 #include "types.hpp"
+#include <cmath>
+#include <memory>
+#include <optional>
+#include <span>
+#include <unordered_map>
 #include <vector>
 
+// inspired by https://youtu.be/1TUUevxkvp4
+
 class Triangulation {
     struct Triangle {
         size_t a, b, c; // indices of the cones that form the triangle
@@ -31,8 +38,8 @@ class Triangulation {
 
     public:
         bool is_intact() { return children.empty(); }
-        std::shared_ptr<TrianglePyramid>
-        find_triangle(const Cone& cone, const ConeList& existing_cones)
+
+        std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& existing_cones)
         {
             for (const auto& child : children) {
                 if (child->t.contains(cone, existing_cones)) {
@@ -55,11 +62,50 @@ class Triangulation {
         }
     };
 
+    class ConeList {
+        const std::optional<std::span<const Cone>> cones;
+
+    public:
+        ConeList()
+            : cones(std::nullopt)
+        {
+        }
+
+        void set_cones(std::span<const Cone> _cones)
+        {
+            cones.emplace(_cones);
+        }
+
+        const Cone& operator[](const size_t cone_id) const
+        {
+            switch (cone_id) {
+            case 0:
+                return Cone { -100, -100, ConeColor::BLUE };
+            case 1:
+                return Cone { 100, -100, ConeColor::YELLOW };
+            case 2:
+                return Cone { 0, 100, ConeColor::BLUE };
+            default:
+                return cones.value()[cone_id - 3];
+            }
+        }
+    };
+
     TrianglePyramid root { 0, 1, 2 }; // super triangle that contains all cones
+    ConeList existing_cones {};
+
+    /**
+     * helpers
+     */
+    bool on_edge(const Cone& cone, const size_t a, const size_t b);
+    bool edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c);
+    void insert(const Cone& cone, const size_t cone_id);
+    void legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b);
 
+public:
+    Triangulation() = default;
     static std::unordered_map<size_t, std::vector<size_t>> adj {
         { 0, { 1, 2 } }, { 1, { 0, 2 } }, { 2, { 0, 1 } }
     }; // adj of the edges
-public:
     void triangulate(const std::vector<Cone>& cones);
 }
\ No newline at end of file

From d08216d10c5b84a00516ebd81a7eb887316772b5 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 16:46:26 -0700
Subject: [PATCH 26/52] cleanup

---
 auto_sim/test_controller_2/CMakeLists.txt    | 23 ++++-
 auto_sim/test_controller_2/CMakePresets.json | 14 +++
 auto_sim/test_controller_2/controller.cpp    |  2 +-
 auto_sim/test_controller_2/triangulation.cpp | 61 +++++++-------
 auto_sim/test_controller_2/triangulation.hpp | 89 ++++++++++----------
 5 files changed, 113 insertions(+), 76 deletions(-)
 create mode 100644 auto_sim/test_controller_2/CMakePresets.json

diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index d260db5..ae6b49c 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -1,5 +1,22 @@
 cmake_minimum_required(VERSION 3.10)
-set(CMAKE_CXX_STANDARD 20)
-project(controller_intellisense)
+set(CMAKE_CXX_STANDARD 23)
+project(high_level_controller)
 
-add_executable(controller_intellisense main.cpp)
\ No newline at end of file
+file(
+  DOWNLOAD
+  https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
+  ${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake
+  EXPECTED_HASH SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791
+)
+include(${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake)
+
+CPMAddPackage(
+  NAME pybind11
+  GIT_REPOSITORY https://github.com/pybind/pybind11.git
+  VERSION 3.0.2
+  DOWNLOAD_ONLY TRUE
+)
+add_subdirectory(${pybind11_SOURCE_DIR})
+
+file(GLOB SOURCES *.cpp)
+pybind11_add_module(controller ${SOURCES})
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/CMakePresets.json b/auto_sim/test_controller_2/CMakePresets.json
new file mode 100644
index 0000000..7d04dd9
--- /dev/null
+++ b/auto_sim/test_controller_2/CMakePresets.json
@@ -0,0 +1,14 @@
+{
+  "version": 10,
+  "configurePresets": [
+    {
+      "name": "default",
+      "displayName": "",
+      "description": "",
+      "generator": "Visual Studio 17 2022",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index ff3c53f..714d9e9 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -10,7 +10,7 @@ Triangulation& get_triangulation()
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones)
 {
     // Implementation for compute function
-    t.triangulate(cones);
+    t.update(cones);
     // t.adj will contain the adj list
     return { 0, 0 };
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
index a447f93..867e2e1 100644
--- a/auto_sim/test_controller_2/triangulation.cpp
+++ b/auto_sim/test_controller_2/triangulation.cpp
@@ -4,14 +4,15 @@ void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a, co
 {
 }
 
-bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b)
-{
+bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b) const {
     // check if cone lies on the edge (a,b)
     const Cone& cone_a = existing_cones[a];
     const Cone& cone_b = existing_cones[b];
     // check if cone is collinear with cone_a and cone_b
-    const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) - (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
-    if (std::abs(cross_product) > 1e-6) {
+    if (const double cross_product =
+            (cone.y - cone_a.y) * (cone_b.x - cone_a.x) -
+            (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
+        std::abs(cross_product) > 1e-6) {
         return false;
     }
     // check if cone is within the bounding box of cone_a and cone_b
@@ -26,16 +27,17 @@ bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b)
     return true;
 }
 
-bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c)
-{
+bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const {
     if (on_edge(cone, a, b)) {
         return true;
-    } else if (on_edge(cone, b, c)) {
-        std::swap(a, c);
-        return true;
-    } else if (on_edge(cone, a, c)) {
-        std::swap(b, c);
-        return true;
+    }
+    if (on_edge(cone, b, c)) {
+      std::swap(a, c);
+      return true;
+    }
+    if (on_edge(cone, a, c)) {
+      std::swap(b, c);
+      return true;
     }
     return false;
 }
@@ -43,24 +45,25 @@ bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t&
 void Triangulation::insert(const Cone& cone, const size_t cone_id)
 {
     std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone); // find smallest triangle which contains the cone
-    bool on_edge = edge_detect(cone, a, b, c); // check if cone lies on the edges of the triangle
-    if (on_edge) { // if on_edge, then cone is known to be on edge (a,b)
+  if (bool on_edge = edge_detect(cone, a, b, c)) {
+        // if on_edge, then cone is known to be on edge (a,b)
                    // very annoying
-    } else { // split triangle a,b,c into three triangles a,b,cone_id;
-        // b,c,cone_id; a,c,cone_id
-        adj[cone_id] = { a, b, c };
-        adj[a].push_back(cone_id);
-        adj[b].push_back(cone_id);
-        adj[c].push_back(cone_id);
-        t.children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
-        t.children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
-        t.children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
-
-        // legalize the edges
-        legalize_edge(cone_id, a, b);
-        legalize_edge(cone_id, b, c);
-        legalize_edge(cone_id, a, c);
+        throw std::runtime_error("Edge splitting not implemented yet"); // inshallah we will never need to implement this
     }
+  // split triangle a,b,c into three triangles a,b,cone_id;
+  // b,c,cone_id; a,c,cone_id
+  adj[cone_id] = {a, b, c};
+  adj[a].push_back(cone_id);
+  adj[b].push_back(cone_id);
+  adj[c].push_back(cone_id);
+  t.children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
+  t.children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
+  t.children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
+
+  // legalize the edges
+  legalize_edge(cone_id, a, b);
+  legalize_edge(cone_id, b, c);
+  legalize_edge(cone_id, a, c);
 }
 
 /**
@@ -70,7 +73,7 @@ void Triangulation::insert(const Cone& cone, const size_t cone_id)
  * @note This function assumes that the input vector of cones is an add-only
  * array whose order is preserved.
  */
-void Triangulation::triangulate(const std::vector<Cone>& cones)
+void Triangulation::update(const std::vector<Cone>& cones)
 {
     static size_t last_seen_cone = 0;
     for (; last_seen_cone < cones.size(); ++last_seen_cone) {
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
index 2609c38..d45ca8d 100644
--- a/auto_sim/test_controller_2/triangulation.hpp
+++ b/auto_sim/test_controller_2/triangulation.hpp
@@ -1,24 +1,56 @@
 #pragma once
 #include "types.hpp"
-#include <cmath>
 #include <memory>
 #include <optional>
 #include <span>
+#include <stdexcept>
 #include <unordered_map>
 #include <vector>
 
 // inspired by https://youtu.be/1TUUevxkvp4
 
 class Triangulation {
+    class ConeList {
+        std::optional<std::span<const Cone>> cones;
+
+    public:
+        ConeList()
+            : cones(std::nullopt)
+        {
+        }
+
+        void set_cones(std::span<const Cone> _cones)
+        {
+            cones.emplace(_cones);
+        }
+
+        const Cone& operator[](const size_t cone_id) const
+        {
+            static const Cone cone0{ -100, -100, ConeColor::BLUE },
+                cone1 = { 100, -100, ConeColor::YELLOW },
+                cone2 = { 0, 100, ConeColor::BLUE };
+            switch (cone_id) {
+            case 0:
+                return cone0;
+            case 1:
+                return cone1;
+            case 2:
+                return cone2;
+            default:
+                return cones.value()[cone_id - 3];
+            }
+        }
+    };
+
     struct Triangle {
         size_t a, b, c; // indices of the cones that form the triangle
-        Triangle(size_t _a, size_t _b, size_t _c)
+        Triangle(const size_t _a, const size_t _b, const size_t _c)
             : a(_a)
             , b(_b)
             , c(_c)
         {
         }
-        bool contains(const Cone& cone, const ConeList& existing_cones) const
+        [[nodiscard]] bool contains(const Cone& cone) const
         {
             // check if cone is inside the triangle formed by cones a, b, c
             const Cone& cone_a = existing_cones[a];
@@ -37,9 +69,9 @@ class Triangulation {
         Triangle t;
 
     public:
-        bool is_intact() { return children.empty(); }
+        bool is_intact() const { return children.empty(); }
 
-        std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& existing_cones)
+        std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone)
         {
             for (const auto& child : children) {
                 if (child->t.contains(cone, existing_cones)) {
@@ -52,60 +84,31 @@ class Triangulation {
             throw std::runtime_error("Cone is not contained in any triangle");
         }
         TrianglePyramid() = delete;
-        TrianglePyramid(const Triangle& _t)
+        explicit TrianglePyramid(const Triangle& _t)
             : t(_t)
         {
         }
-        TrianglePyramid(size_t _a, size_t _b, size_t _c)
+        TrianglePyramid(const size_t _a, const size_t _b, const size_t _c)
             : t { _a, _b, _c }
         {
         }
     };
 
-    class ConeList {
-        const std::optional<std::span<const Cone>> cones;
-
-    public:
-        ConeList()
-            : cones(std::nullopt)
-        {
-        }
-
-        void set_cones(std::span<const Cone> _cones)
-        {
-            cones.emplace(_cones);
-        }
-
-        const Cone& operator[](const size_t cone_id) const
-        {
-            switch (cone_id) {
-            case 0:
-                return Cone { -100, -100, ConeColor::BLUE };
-            case 1:
-                return Cone { 100, -100, ConeColor::YELLOW };
-            case 2:
-                return Cone { 0, 100, ConeColor::BLUE };
-            default:
-                return cones.value()[cone_id - 3];
-            }
-        }
-    };
-
     TrianglePyramid root { 0, 1, 2 }; // super triangle that contains all cones
     ConeList existing_cones {};
 
     /**
      * helpers
      */
-    bool on_edge(const Cone& cone, const size_t a, const size_t b);
-    bool edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c);
-    void insert(const Cone& cone, const size_t cone_id);
-    void legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b);
+    [[nodiscard]] bool on_edge(const Cone& cone, size_t a, size_t b) const;
+    bool edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const;
+    void insert(const Cone& cone, size_t cone_id);
+    void legalize_edge(size_t new_cone, size_t cone_a, size_t cone_b);
 
 public:
     Triangulation() = default;
-    static std::unordered_map<size_t, std::vector<size_t>> adj {
+    std::unordered_map<size_t, std::vector<size_t>> adj {
         { 0, { 1, 2 } }, { 1, { 0, 2 } }, { 2, { 0, 1 } }
     }; // adj of the edges
-    void triangulate(const std::vector<Cone>& cones);
-}
\ No newline at end of file
+    void update(const std::vector<Cone>& cones);
+};

From 597ccf66cdb3b1f96fe846e70813f4a70c7f6a59 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 16:55:05 -0700
Subject: [PATCH 27/52] builds now

---
 auto_sim/test_controller_2/CMakePresets.json |  11 +-
 auto_sim/test_controller_2/pybind.cpp        |  12 +-
 auto_sim/test_controller_2/triangulation.cpp | 123 ++++++++++---------
 auto_sim/test_controller_2/triangulation.hpp |  19 ++-
 auto_sim/test_controller_2/types.hpp         |   2 +-
 5 files changed, 89 insertions(+), 78 deletions(-)

diff --git a/auto_sim/test_controller_2/CMakePresets.json b/auto_sim/test_controller_2/CMakePresets.json
index 7d04dd9..3276da1 100644
--- a/auto_sim/test_controller_2/CMakePresets.json
+++ b/auto_sim/test_controller_2/CMakePresets.json
@@ -2,13 +2,18 @@
   "version": 10,
   "configurePresets": [
     {
-      "name": "default",
-      "displayName": "",
-      "description": "",
+      "name": "default_win",
       "generator": "Visual Studio 17 2022",
       "binaryDir": "${sourceDir}/build",
       "cacheVariables": {
       }
+    },
+    {
+      "name": "default_unix",
+      "generator": "Ninja",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+      }
     }
   ]
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index 374d5e4..b4a8e00 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -23,21 +23,21 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
         .def_readwrite("v_y", &VehicleState::v_y)
         .def_readwrite("omega", &VehicleState::omega);
 
+    py::enum_<ConeColor>(m, "ConeColor")
+        .value("BLUE", ConeColor::BLUE)
+        .value("YELLOW", ConeColor::YELLOW)
+        .export_values();
+
     py::class_<Cone>(m, "Cone")
         .def(py::init<double, double, ConeColor>())
         .def_readwrite("x", &Cone::x)
         .def_readwrite("y", &Cone::y)
         .def_readwrite("c", &Cone::c);
 
-    py::enum_<ConeColor>(m, "ConeColor")
-        .value("BLUE", ConeColor::BLUE)
-        .value("YELLOW", ConeColor::YELLOW)
-        .export_values();
-
     // export object t (of type Triangulation) to python
     py::class_<Triangulation>(m, "Triangulation")
         .def(py::init<>())
-        .def("triangulate", &Triangulation::triangulate)
+        .def("triangulate", &Triangulation::update)
         .def_readonly("adj", &Triangulation::adj);
 
     m.def("get_triangulation", &get_triangulation, R"pbdoc(
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
index 867e2e1..d68c126 100644
--- a/auto_sim/test_controller_2/triangulation.cpp
+++ b/auto_sim/test_controller_2/triangulation.cpp
@@ -1,64 +1,71 @@
 #include "triangulation.hpp"
 
-void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b)
-{
-}
+void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a,
+                                  const size_t cone_b) {}
 
-bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b) const {
-    // check if cone lies on the edge (a,b)
-    const Cone& cone_a = existing_cones[a];
-    const Cone& cone_b = existing_cones[b];
-    // check if cone is collinear with cone_a and cone_b
-    if (const double cross_product =
-            (cone.y - cone_a.y) * (cone_b.x - cone_a.x) -
-            (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
-        std::abs(cross_product) > 1e-6) {
-        return false;
-    }
-    // check if cone is within the bounding box of cone_a and cone_b
-    const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
-    if (dot_product < 0) {
-        return false;
-    }
-    const double squared_length_ab = (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
-    if (dot_product > squared_length_ab) {
-        return false;
-    }
-    return true;
+bool Triangulation::on_edge(const Cone &cone, const size_t a,
+                            const size_t b) const {
+  // check if cone lies on the edge (a,b)
+  const Cone &cone_a = existing_cones[a];
+  const Cone &cone_b = existing_cones[b];
+  // check if cone is collinear with cone_a and cone_b
+  if (const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) -
+                                   (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
+      std::abs(cross_product) > 1e-6) {
+    return false;
+  }
+  // check if cone is within the bounding box of cone_a and cone_b
+  const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) +
+                             (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
+  if (dot_product < 0) {
+    return false;
+  }
+  const double squared_length_ab =
+      (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) +
+      (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
+  if (dot_product > squared_length_ab) {
+    return false;
+  }
+  return true;
 }
 
-bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const {
-    if (on_edge(cone, a, b)) {
-        return true;
-    }
-    if (on_edge(cone, b, c)) {
-      std::swap(a, c);
-      return true;
-    }
-    if (on_edge(cone, a, c)) {
-      std::swap(b, c);
-      return true;
-    }
-    return false;
+bool Triangulation::edge_detect(const Cone &cone, size_t &a, size_t &b,
+                                size_t &c) const {
+  if (on_edge(cone, a, b)) {
+    return true;
+  }
+  if (on_edge(cone, b, c)) {
+    std::swap(a, c);
+    return true;
+  }
+  if (on_edge(cone, a, c)) {
+    std::swap(b, c);
+    return true;
+  }
+  return false;
 }
 
-void Triangulation::insert(const Cone& cone, const size_t cone_id)
-{
-    std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone); // find smallest triangle which contains the cone
+void Triangulation::insert(const Cone &cone, const size_t cone_id) {
+  // find smallest triangle which contains the cone
+  const std::shared_ptr<TrianglePyramid> t =
+      root.find_triangle(cone, existing_cones);
+  size_t a = t->t.a, b = t->t.b, c = t->t.c;
   if (bool on_edge = edge_detect(cone, a, b, c)) {
-        // if on_edge, then cone is known to be on edge (a,b)
-                   // very annoying
-        throw std::runtime_error("Edge splitting not implemented yet"); // inshallah we will never need to implement this
-    }
+    // if on_edge, then cone is known to be on edge (a,b)
+    // very annoying
+    throw std::runtime_error(
+        "Edge splitting not implemented yet"); // inshallah we will never need
+                                               // to implement this
+  }
   // split triangle a,b,c into three triangles a,b,cone_id;
   // b,c,cone_id; a,c,cone_id
   adj[cone_id] = {a, b, c};
   adj[a].push_back(cone_id);
   adj[b].push_back(cone_id);
   adj[c].push_back(cone_id);
-  t.children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
-  t.children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
-  t.children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
+  t->children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
+  t->children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
+  t->children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
 
   // legalize the edges
   legalize_edge(cone_id, a, b);
@@ -73,15 +80,15 @@ void Triangulation::insert(const Cone& cone, const size_t cone_id)
  * @note This function assumes that the input vector of cones is an add-only
  * array whose order is preserved.
  */
-void Triangulation::update(const std::vector<Cone>& cones)
-{
-    static size_t last_seen_cone = 0;
-    for (; last_seen_cone < cones.size(); ++last_seen_cone) {
-        const Cone& cone = cones[last_seen_cone];
-        // process the new cone
-        const size_t cone_id = last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
-        const std::span<const Cone> s { cones };
-        existing_cones.set_cones(s.first(last_seen_cone));
-        insert(cone, cone_id);
-    }
+void Triangulation::update(const std::vector<Cone> &cones) {
+  static size_t last_seen_cone = 0;
+  for (; last_seen_cone < cones.size(); ++last_seen_cone) {
+    const Cone &cone = cones[last_seen_cone];
+    // process the new cone
+    const size_t cone_id =
+        last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
+    const std::span<const Cone> s{cones};
+    existing_cones.set_cones(s.first(last_seen_cone));
+    insert(cone, cone_id);
+  }
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
index d45ca8d..370925e 100644
--- a/auto_sim/test_controller_2/triangulation.hpp
+++ b/auto_sim/test_controller_2/triangulation.hpp
@@ -50,12 +50,12 @@ class Triangulation {
             , c(_c)
         {
         }
-        [[nodiscard]] bool contains(const Cone& cone) const
+        [[nodiscard]] bool contains(const Cone& cone, const ConeList& cones) const
         {
             // check if cone is inside the triangle formed by cones a, b, c
-            const Cone& cone_a = existing_cones[a];
-            const Cone& cone_b = existing_cones[b];
-            const Cone& cone_c = existing_cones[c];
+            const Cone& cone_a = cones[a];
+            const Cone& cone_b = cones[b];
+            const Cone& cone_c = cones[c];
             const double area_abc = 0.5 * std::abs(cone_a.x * (cone_b.y - cone_c.y) + cone_b.x * (cone_c.y - cone_a.y) + cone_c.x * (cone_a.y - cone_b.y));
             const double area_abp = 0.5 * std::abs(cone_a.x * (cone_b.y - cone.y) + cone_b.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_b.y));
             const double area_acp = 0.5 * std::abs(cone_a.x * (cone_c.y - cone.y) + cone_c.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_c.y));
@@ -65,20 +65,19 @@ class Triangulation {
     };
 
     class TrianglePyramid {
+    public:
         std::vector<std::shared_ptr<TrianglePyramid>> children {};
         Triangle t;
+        [[nodiscard]] bool is_intact() const { return children.empty(); }
 
-    public:
-        bool is_intact() const { return children.empty(); }
-
-        std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone)
+        [[nodiscard]] std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& cones) const
         {
             for (const auto& child : children) {
-                if (child->t.contains(cone, existing_cones)) {
+                if (child->t.contains(cone, cones)) {
                     if (child->is_intact()) {
                         return child;
                     }
-                    return child->find_triangle(cone, existing_cones);
+                    return child->find_triangle(cone, cones);
                 }
             }
             throw std::runtime_error("Cone is not contained in any triangle");
diff --git a/auto_sim/test_controller_2/types.hpp b/auto_sim/test_controller_2/types.hpp
index 46aa263..d197a12 100644
--- a/auto_sim/test_controller_2/types.hpp
+++ b/auto_sim/test_controller_2/types.hpp
@@ -27,5 +27,5 @@ struct Cone {
   double x;
   double y;
   ConeColor c;
-  Cone(double _x, double _y, ConeColor _c) : x(_x), y(_y), c(_c) {}
+  Cone(const double _x, const double _y, const ConeColor _c) : x(_x), y(_y), c(_c) {}
 };
\ No newline at end of file

From 663584e83493e5b9c19dccdd27ebb77efc2201a1 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 16:56:29 -0700
Subject: [PATCH 28/52] tutorial

---
 auto_sim/test_controller_2/README.md | 9 +++++++++
 1 file changed, 9 insertions(+)
 create mode 100644 auto_sim/test_controller_2/README.md

diff --git a/auto_sim/test_controller_2/README.md b/auto_sim/test_controller_2/README.md
new file mode 100644
index 0000000..9a603c5
--- /dev/null
+++ b/auto_sim/test_controller_2/README.md
@@ -0,0 +1,9 @@
+# Development
+To develop, set up as per usual as a CMake project.
+
+# Installation
+```bash
+pip install ./test_controller_2
+```
+
+This will trigger setup.py which will automatically install the python package into the environment of your choosing
\ No newline at end of file

From 2d15059c9bdf10056a580ce8a68996a818eaea31 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 16:57:12 -0700
Subject: [PATCH 29/52] wow

---
 auto_sim/.gitignore                   | 3 ++-
 auto_sim/test_controller_2/pybind.cpp | 1 -
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/auto_sim/.gitignore b/auto_sim/.gitignore
index eb50f59..4c6891f 100644
--- a/auto_sim/.gitignore
+++ b/auto_sim/.gitignore
@@ -1,4 +1,5 @@
 __pycache__
 build
 *.egg-info
-labels
\ No newline at end of file
+labels
+.idea
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index b4a8e00..a3c0d81 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -37,7 +37,6 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
     // export object t (of type Triangulation) to python
     py::class_<Triangulation>(m, "Triangulation")
         .def(py::init<>())
-        .def("triangulate", &Triangulation::update)
         .def_readonly("adj", &Triangulation::adj);
 
     m.def("get_triangulation", &get_triangulation, R"pbdoc(

From 83fe47ed8760a0842ccdab0aae5bf79809808223 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 17:07:33 -0700
Subject: [PATCH 30/52] w formatting

---
 auto_sim/test_controller_2/.clang-format     |   2 +
 auto_sim/test_controller_2/triangulation.cpp | 146 +++++++++----------
 2 files changed, 71 insertions(+), 77 deletions(-)
 create mode 100644 auto_sim/test_controller_2/.clang-format

diff --git a/auto_sim/test_controller_2/.clang-format b/auto_sim/test_controller_2/.clang-format
new file mode 100644
index 0000000..d1078a7
--- /dev/null
+++ b/auto_sim/test_controller_2/.clang-format
@@ -0,0 +1,2 @@
+BasedOnStyle: WebKit
+BreakBeforeBraces: Attach
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
index d68c126..c62505f 100644
--- a/auto_sim/test_controller_2/triangulation.cpp
+++ b/auto_sim/test_controller_2/triangulation.cpp
@@ -1,76 +1,69 @@
 #include "triangulation.hpp"
 
-void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a,
-                                  const size_t cone_b) {}
-
-bool Triangulation::on_edge(const Cone &cone, const size_t a,
-                            const size_t b) const {
-  // check if cone lies on the edge (a,b)
-  const Cone &cone_a = existing_cones[a];
-  const Cone &cone_b = existing_cones[b];
-  // check if cone is collinear with cone_a and cone_b
-  if (const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) -
-                                   (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
-      std::abs(cross_product) > 1e-6) {
-    return false;
-  }
-  // check if cone is within the bounding box of cone_a and cone_b
-  const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) +
-                             (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
-  if (dot_product < 0) {
-    return false;
-  }
-  const double squared_length_ab =
-      (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) +
-      (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
-  if (dot_product > squared_length_ab) {
-    return false;
-  }
-  return true;
+void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b) {
 }
 
-bool Triangulation::edge_detect(const Cone &cone, size_t &a, size_t &b,
-                                size_t &c) const {
-  if (on_edge(cone, a, b)) {
-    return true;
-  }
-  if (on_edge(cone, b, c)) {
-    std::swap(a, c);
+bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b) const {
+    // check if cone lies on the edge (a,b)
+    const Cone& cone_a = existing_cones[a];
+    const Cone& cone_b = existing_cones[b];
+    // check if cone is collinear with cone_a and cone_b
+    if (const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) - (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
+        std::abs(cross_product) > 1e-6) {
+        return false;
+    }
+    // check if cone is within the bounding box of cone_a and cone_b
+    const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
+    if (dot_product < 0) {
+        return false;
+    }
+    const double squared_length_ab = (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
+    if (dot_product > squared_length_ab) {
+        return false;
+    }
     return true;
-  }
-  if (on_edge(cone, a, c)) {
-    std::swap(b, c);
-    return true;
-  }
-  return false;
 }
 
-void Triangulation::insert(const Cone &cone, const size_t cone_id) {
-  // find smallest triangle which contains the cone
-  const std::shared_ptr<TrianglePyramid> t =
-      root.find_triangle(cone, existing_cones);
-  size_t a = t->t.a, b = t->t.b, c = t->t.c;
-  if (bool on_edge = edge_detect(cone, a, b, c)) {
-    // if on_edge, then cone is known to be on edge (a,b)
-    // very annoying
-    throw std::runtime_error(
-        "Edge splitting not implemented yet"); // inshallah we will never need
-                                               // to implement this
-  }
-  // split triangle a,b,c into three triangles a,b,cone_id;
-  // b,c,cone_id; a,c,cone_id
-  adj[cone_id] = {a, b, c};
-  adj[a].push_back(cone_id);
-  adj[b].push_back(cone_id);
-  adj[c].push_back(cone_id);
-  t->children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
-  t->children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
-  t->children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
+bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const {
+    if (on_edge(cone, a, b)) {
+        return true;
+    }
+    if (on_edge(cone, b, c)) {
+        std::swap(a, c);
+        return true;
+    }
+    if (on_edge(cone, a, c)) {
+        std::swap(b, c);
+        return true;
+    }
+    return false;
+}
 
-  // legalize the edges
-  legalize_edge(cone_id, a, b);
-  legalize_edge(cone_id, b, c);
-  legalize_edge(cone_id, a, c);
+void Triangulation::insert(const Cone& cone, const size_t cone_id) {
+    // find smallest triangle which contains the cone
+    const std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone, existing_cones);
+    size_t a = t->t.a, b = t->t.b, c = t->t.c;
+    if (bool on_edge = edge_detect(cone, a, b, c)) {
+        // if on_edge, then cone is known to be on edge (a,b)
+        // very annoying
+        throw std::runtime_error(
+            "Edge splitting not implemented yet"); // inshallah we will never need
+        // to implement this
+    }
+    // split triangle a,b,c into three triangles a,b,cone_id;
+    // b,c,cone_id; a,c,cone_id
+    adj[cone_id] = { a, b, c };
+    adj[a].push_back(cone_id);
+    adj[b].push_back(cone_id);
+    adj[c].push_back(cone_id);
+    t->children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
+    t->children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
+    t->children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
+
+    // legalize the edges
+    legalize_edge(cone_id, a, b);
+    legalize_edge(cone_id, b, c);
+    legalize_edge(cone_id, a, c);
 }
 
 /**
@@ -80,15 +73,14 @@ void Triangulation::insert(const Cone &cone, const size_t cone_id) {
  * @note This function assumes that the input vector of cones is an add-only
  * array whose order is preserved.
  */
-void Triangulation::update(const std::vector<Cone> &cones) {
-  static size_t last_seen_cone = 0;
-  for (; last_seen_cone < cones.size(); ++last_seen_cone) {
-    const Cone &cone = cones[last_seen_cone];
-    // process the new cone
-    const size_t cone_id =
-        last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
-    const std::span<const Cone> s{cones};
-    existing_cones.set_cones(s.first(last_seen_cone));
-    insert(cone, cone_id);
-  }
-}
\ No newline at end of file
+void Triangulation::update(const std::vector<Cone>& cones) {
+    static size_t last_seen_cone = 0;
+    for (; last_seen_cone < cones.size(); ++last_seen_cone) {
+        const Cone& cone = cones[last_seen_cone];
+        // process the new cone
+        const size_t cone_id = last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
+        const std::span s { cones };
+        existing_cones.set_cones(s.first(last_seen_cone));
+        insert(cone, cone_id);
+    }
+}

From 10bca0e61a34f986fc31f676abf50f241951c80b Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 16 Mar 2026 17:10:10 -0700
Subject: [PATCH 31/52] more format things

---
 auto_sim/test_controller_2/.clang-format     |  1 +
 auto_sim/test_controller_2/triangulation.hpp | 37 ++++++--------------
 2 files changed, 12 insertions(+), 26 deletions(-)

diff --git a/auto_sim/test_controller_2/.clang-format b/auto_sim/test_controller_2/.clang-format
index d1078a7..8b0cf95 100644
--- a/auto_sim/test_controller_2/.clang-format
+++ b/auto_sim/test_controller_2/.clang-format
@@ -1,2 +1,3 @@
 BasedOnStyle: WebKit
 BreakBeforeBraces: Attach
+PackConstructorInitializers: NextLine
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
index 370925e..9b35be9 100644
--- a/auto_sim/test_controller_2/triangulation.hpp
+++ b/auto_sim/test_controller_2/triangulation.hpp
@@ -14,19 +14,15 @@ class Triangulation {
         std::optional<std::span<const Cone>> cones;
 
     public:
-        ConeList()
-            : cones(std::nullopt)
-        {
+        ConeList() : cones(std::nullopt) {
         }
 
-        void set_cones(std::span<const Cone> _cones)
-        {
+        void set_cones(std::span<const Cone> _cones) {
             cones.emplace(_cones);
         }
 
-        const Cone& operator[](const size_t cone_id) const
-        {
-            static const Cone cone0{ -100, -100, ConeColor::BLUE },
+        const Cone& operator[](const size_t cone_id) const {
+            static const Cone cone0 { -100, -100, ConeColor::BLUE },
                 cone1 = { 100, -100, ConeColor::YELLOW },
                 cone2 = { 0, 100, ConeColor::BLUE };
             switch (cone_id) {
@@ -44,14 +40,8 @@ class Triangulation {
 
     struct Triangle {
         size_t a, b, c; // indices of the cones that form the triangle
-        Triangle(const size_t _a, const size_t _b, const size_t _c)
-            : a(_a)
-            , b(_b)
-            , c(_c)
-        {
-        }
-        [[nodiscard]] bool contains(const Cone& cone, const ConeList& cones) const
-        {
+        Triangle(const size_t _a, const size_t _b, const size_t _c) : a(_a), b(_b), c(_c) { }
+        [[nodiscard]] bool contains(const Cone& cone, const ConeList& cones) const {
             // check if cone is inside the triangle formed by cones a, b, c
             const Cone& cone_a = cones[a];
             const Cone& cone_b = cones[b];
@@ -66,12 +56,11 @@ class Triangulation {
 
     class TrianglePyramid {
     public:
-        std::vector<std::shared_ptr<TrianglePyramid>> children {};
+        std::vector<std::shared_ptr<TrianglePyramid>> children { };
         Triangle t;
         [[nodiscard]] bool is_intact() const { return children.empty(); }
 
-        [[nodiscard]] std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& cones) const
-        {
+        [[nodiscard]] std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& cones) const {
             for (const auto& child : children) {
                 if (child->t.contains(cone, cones)) {
                     if (child->is_intact()) {
@@ -83,18 +72,14 @@ class Triangulation {
             throw std::runtime_error("Cone is not contained in any triangle");
         }
         TrianglePyramid() = delete;
-        explicit TrianglePyramid(const Triangle& _t)
-            : t(_t)
-        {
+        explicit TrianglePyramid(const Triangle& _t) : t(_t) {
         }
-        TrianglePyramid(const size_t _a, const size_t _b, const size_t _c)
-            : t { _a, _b, _c }
-        {
+        TrianglePyramid(const size_t _a, const size_t _b, const size_t _c) : t { _a, _b, _c } {
         }
     };
 
     TrianglePyramid root { 0, 1, 2 }; // super triangle that contains all cones
-    ConeList existing_cones {};
+    ConeList existing_cones { };
 
     /**
      * helpers

From 00c88de373e81550afb366da780603aad03617a4 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 26 Mar 2026 22:08:12 -0700
Subject: [PATCH 32/52] W triangulation libary

---
 auto_sim/render.py                           |  9 +-
 auto_sim/test_controller_2/CMakeLists.txt    | 26 ++++--
 auto_sim/test_controller_2/controller.cpp    | 31 +++++--
 auto_sim/test_controller_2/controller.hpp    |  4 +-
 auto_sim/test_controller_2/pybind.cpp        | 14 ++-
 auto_sim/test_controller_2/setup.py          |  6 +-
 auto_sim/test_controller_2/triangulation.cpp | 86 -----------------
 auto_sim/test_controller_2/triangulation.hpp | 98 --------------------
 auto_sim/test_controller_2/types.hpp         | 48 +++++-----
 9 files changed, 87 insertions(+), 235 deletions(-)
 delete mode 100644 auto_sim/test_controller_2/triangulation.cpp
 delete mode 100644 auto_sim/test_controller_2/triangulation.hpp

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 4400bca..fd461da 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor
+from Controller import VehicleState, Cone, ConeColor, get_triangulation
 from math import ceil, degrees
 import numpy as np
 
@@ -95,6 +95,13 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 			screen, int_to_color(cone.c),
 			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
 		)
+
+	for edge in get_triangulation():
+		v1, v2 = edge.v1(), edge.v2()
+		pygame.draw.line(screen, "white",
+			transform(cones[v1].x, cones[v1].y, vehicle_state),
+			transform(cones[v2].x, cones[v2].y, vehicle_state), 2
+		)
 	
 	car_rotated = pygame.transform.rotate(car,-90)
 	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M
diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index ae6b49c..d2012aa 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -3,20 +3,28 @@ set(CMAKE_CXX_STANDARD 23)
 project(high_level_controller)
 
 file(
-  DOWNLOAD
-  https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
-  ${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake
-  EXPECTED_HASH SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791
+        DOWNLOAD
+        https://github.com/cpm-cmake/CPM.cmake/releases/download/v0.40.8/CPM.cmake
+        ${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake
+        EXPECTED_HASH SHA256=78ba32abdf798bc616bab7c73aac32a17bbd7b06ad9e26a6add69de8f3ae4791
 )
 include(${CMAKE_CURRENT_BINARY_DIR}/cmake/CPM.cmake)
 
 CPMAddPackage(
-  NAME pybind11
-  GIT_REPOSITORY https://github.com/pybind/pybind11.git
-  VERSION 3.0.2
-  DOWNLOAD_ONLY TRUE
+        NAME pybind11
+        GIT_REPOSITORY https://github.com/pybind/pybind11.git
+        VERSION 3.0.2
+        DOWNLOAD_ONLY TRUE
 )
 add_subdirectory(${pybind11_SOURCE_DIR})
 
+CPMAddPackage(
+        NAME CDT
+        GIT_REPOSITORY https://github.com/artem-ogre/CDT.git
+        GIT_TAG 1.4.4
+        DOWNLOAD_ONLY TRUE
+)
+
 file(GLOB SOURCES *.cpp)
-pybind11_add_module(controller ${SOURCES})
\ No newline at end of file
+pybind11_add_module(controller ${SOURCES})
+target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 714d9e9..019603b 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,16 +1,33 @@
 #include "controller.hpp"
 
-Triangulation t {};
+#include <algorithm>
+#include <iostream>
+#include <iterator>
 
-Triangulation& get_triangulation()
-{
-    return t;
+static CDT::Triangulation<double> cdt;
+static CDT::EdgeUSet edges;
+
+const CDT::EdgeUSet& get_triangulation() {
+    return edges;
 }
 
-ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones)
-{
+ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
     // Implementation for compute function
-    t.update(cones);
+    static size_t seen_points = 0;
+    if (seen_points < cones.size()) {
+        const auto start = std::next(
+            cones.begin(),
+            static_cast<std::vector<Cone>::difference_type>(std::min(seen_points, cones.size())));
+        cdt.insertVertices(start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+        // CDT::Triangulation<double> cpy = cdt;
+        // cpy.eraseOuterTriangles();
+        // std::cout << "number of vertices in cpy " << cpy.vertices.size() << std::endl;
+        cdt.eraseSuperTriangle();
+        edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+        std::cout << "number of edges " << edges.size() << std::endl;
+        seen_points = cones.size();
+    }
+    // cdt.eraseSuperTriangle();
     // t.adj will contain the adj list
     return { 0, 0 };
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
index f0a3e85..c6f9f31 100644
--- a/auto_sim/test_controller_2/controller.hpp
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -1,7 +1,7 @@
 #pragma once
-#include "triangulation.hpp"
+#include "CDT.h"
 #include "types.hpp"
 #include <vector>
 
-Triangulation& get_triangulation();
+const CDT::EdgeUSet& get_triangulation();
 ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index a3c0d81..d1446a6 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -7,8 +7,7 @@
 
 namespace py = pybind11;
 
-PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
-{
+PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     py::class_<ControlOutput>(m, "ControlOutput")
         .def(py::init<double, double>())
         .def_readwrite("ax", &ControlOutput::ax)
@@ -34,15 +33,14 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used())
         .def_readwrite("y", &Cone::y)
         .def_readwrite("c", &Cone::c);
 
-    // export object t (of type Triangulation) to python
-    py::class_<Triangulation>(m, "Triangulation")
-        .def(py::init<>())
-        .def_readonly("adj", &Triangulation::adj);
-
-    m.def("get_triangulation", &get_triangulation, R"pbdoc(
+    m.def("get_triangulation", &get_triangulation, py::return_value_policy::reference, R"pbdoc(
         Get the current triangulation object)
     )pbdoc");
 
+    py::class_<CDT::Edge>(m, "Edge")
+        .def("v1", &CDT::Edge::v1)
+        .def("v2", &CDT::Edge::v2);
+
     m.def("compute", &compute, R"pbdoc(
         Compute control output
     )pbdoc");
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index 886aa8c..0fe06e2 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -7,8 +7,8 @@
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["pybind.cpp", "triangulation.cpp", "sim.cpp", "controller.cpp"],
-        include_dirs=["."],
+        ["pybind.cpp", "sim.cpp", "controller.cpp"],
+        include_dirs=[".", "build/_deps/cdt-src/CDT/include"],
         language="c++",
     ),
 ]
@@ -28,4 +28,4 @@
     cmdclass={"build_ext": build_ext},
     zip_safe=False,
     python_requires=">=3.9",
-)
\ No newline at end of file
+)
diff --git a/auto_sim/test_controller_2/triangulation.cpp b/auto_sim/test_controller_2/triangulation.cpp
deleted file mode 100644
index c62505f..0000000
--- a/auto_sim/test_controller_2/triangulation.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "triangulation.hpp"
-
-void Triangulation::legalize_edge(const size_t new_cone, const size_t cone_a, const size_t cone_b) {
-}
-
-bool Triangulation::on_edge(const Cone& cone, const size_t a, const size_t b) const {
-    // check if cone lies on the edge (a,b)
-    const Cone& cone_a = existing_cones[a];
-    const Cone& cone_b = existing_cones[b];
-    // check if cone is collinear with cone_a and cone_b
-    if (const double cross_product = (cone.y - cone_a.y) * (cone_b.x - cone_a.x) - (cone.x - cone_a.x) * (cone_b.y - cone_a.y);
-        std::abs(cross_product) > 1e-6) {
-        return false;
-    }
-    // check if cone is within the bounding box of cone_a and cone_b
-    const double dot_product = (cone.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone.y - cone_a.y) * (cone_b.y - cone_a.y);
-    if (dot_product < 0) {
-        return false;
-    }
-    const double squared_length_ab = (cone_b.x - cone_a.x) * (cone_b.x - cone_a.x) + (cone_b.y - cone_a.y) * (cone_b.y - cone_a.y);
-    if (dot_product > squared_length_ab) {
-        return false;
-    }
-    return true;
-}
-
-bool Triangulation::edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const {
-    if (on_edge(cone, a, b)) {
-        return true;
-    }
-    if (on_edge(cone, b, c)) {
-        std::swap(a, c);
-        return true;
-    }
-    if (on_edge(cone, a, c)) {
-        std::swap(b, c);
-        return true;
-    }
-    return false;
-}
-
-void Triangulation::insert(const Cone& cone, const size_t cone_id) {
-    // find smallest triangle which contains the cone
-    const std::shared_ptr<TrianglePyramid> t = root.find_triangle(cone, existing_cones);
-    size_t a = t->t.a, b = t->t.b, c = t->t.c;
-    if (bool on_edge = edge_detect(cone, a, b, c)) {
-        // if on_edge, then cone is known to be on edge (a,b)
-        // very annoying
-        throw std::runtime_error(
-            "Edge splitting not implemented yet"); // inshallah we will never need
-        // to implement this
-    }
-    // split triangle a,b,c into three triangles a,b,cone_id;
-    // b,c,cone_id; a,c,cone_id
-    adj[cone_id] = { a, b, c };
-    adj[a].push_back(cone_id);
-    adj[b].push_back(cone_id);
-    adj[c].push_back(cone_id);
-    t->children.push_back(std::make_shared<TrianglePyramid>(a, b, cone_id));
-    t->children.push_back(std::make_shared<TrianglePyramid>(b, c, cone_id));
-    t->children.push_back(std::make_shared<TrianglePyramid>(a, c, cone_id));
-
-    // legalize the edges
-    legalize_edge(cone_id, a, b);
-    legalize_edge(cone_id, b, c);
-    legalize_edge(cone_id, a, c);
-}
-
-/**
- * Triangulates the cones. Populates the adj with the edges of the
- * triangulation.
- * @param cones The vector of cones to triangulate.
- * @note This function assumes that the input vector of cones is an add-only
- * array whose order is preserved.
- */
-void Triangulation::update(const std::vector<Cone>& cones) {
-    static size_t last_seen_cone = 0;
-    for (; last_seen_cone < cones.size(); ++last_seen_cone) {
-        const Cone& cone = cones[last_seen_cone];
-        // process the new cone
-        const size_t cone_id = last_seen_cone + 3; // cones 0,1,2 are reserved for the super triangle
-        const std::span s { cones };
-        existing_cones.set_cones(s.first(last_seen_cone));
-        insert(cone, cone_id);
-    }
-}
diff --git a/auto_sim/test_controller_2/triangulation.hpp b/auto_sim/test_controller_2/triangulation.hpp
deleted file mode 100644
index 9b35be9..0000000
--- a/auto_sim/test_controller_2/triangulation.hpp
+++ /dev/null
@@ -1,98 +0,0 @@
-#pragma once
-#include "types.hpp"
-#include <memory>
-#include <optional>
-#include <span>
-#include <stdexcept>
-#include <unordered_map>
-#include <vector>
-
-// inspired by https://youtu.be/1TUUevxkvp4
-
-class Triangulation {
-    class ConeList {
-        std::optional<std::span<const Cone>> cones;
-
-    public:
-        ConeList() : cones(std::nullopt) {
-        }
-
-        void set_cones(std::span<const Cone> _cones) {
-            cones.emplace(_cones);
-        }
-
-        const Cone& operator[](const size_t cone_id) const {
-            static const Cone cone0 { -100, -100, ConeColor::BLUE },
-                cone1 = { 100, -100, ConeColor::YELLOW },
-                cone2 = { 0, 100, ConeColor::BLUE };
-            switch (cone_id) {
-            case 0:
-                return cone0;
-            case 1:
-                return cone1;
-            case 2:
-                return cone2;
-            default:
-                return cones.value()[cone_id - 3];
-            }
-        }
-    };
-
-    struct Triangle {
-        size_t a, b, c; // indices of the cones that form the triangle
-        Triangle(const size_t _a, const size_t _b, const size_t _c) : a(_a), b(_b), c(_c) { }
-        [[nodiscard]] bool contains(const Cone& cone, const ConeList& cones) const {
-            // check if cone is inside the triangle formed by cones a, b, c
-            const Cone& cone_a = cones[a];
-            const Cone& cone_b = cones[b];
-            const Cone& cone_c = cones[c];
-            const double area_abc = 0.5 * std::abs(cone_a.x * (cone_b.y - cone_c.y) + cone_b.x * (cone_c.y - cone_a.y) + cone_c.x * (cone_a.y - cone_b.y));
-            const double area_abp = 0.5 * std::abs(cone_a.x * (cone_b.y - cone.y) + cone_b.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_b.y));
-            const double area_acp = 0.5 * std::abs(cone_a.x * (cone_c.y - cone.y) + cone_c.x * (cone.y - cone_a.y) + cone.x * (cone_a.y - cone_c.y));
-            const double area_bcp = 0.5 * std::abs(cone_b.x * (cone_c.y - cone.y) + cone_c.x * (cone.y - cone_b.y) + cone.x * (cone_b.y - cone_c.y));
-            return std::abs(area_abc - area_abp - area_acp - area_bcp) < 1e-6;
-        }
-    };
-
-    class TrianglePyramid {
-    public:
-        std::vector<std::shared_ptr<TrianglePyramid>> children { };
-        Triangle t;
-        [[nodiscard]] bool is_intact() const { return children.empty(); }
-
-        [[nodiscard]] std::shared_ptr<TrianglePyramid> find_triangle(const Cone& cone, const ConeList& cones) const {
-            for (const auto& child : children) {
-                if (child->t.contains(cone, cones)) {
-                    if (child->is_intact()) {
-                        return child;
-                    }
-                    return child->find_triangle(cone, cones);
-                }
-            }
-            throw std::runtime_error("Cone is not contained in any triangle");
-        }
-        TrianglePyramid() = delete;
-        explicit TrianglePyramid(const Triangle& _t) : t(_t) {
-        }
-        TrianglePyramid(const size_t _a, const size_t _b, const size_t _c) : t { _a, _b, _c } {
-        }
-    };
-
-    TrianglePyramid root { 0, 1, 2 }; // super triangle that contains all cones
-    ConeList existing_cones { };
-
-    /**
-     * helpers
-     */
-    [[nodiscard]] bool on_edge(const Cone& cone, size_t a, size_t b) const;
-    bool edge_detect(const Cone& cone, size_t& a, size_t& b, size_t& c) const;
-    void insert(const Cone& cone, size_t cone_id);
-    void legalize_edge(size_t new_cone, size_t cone_a, size_t cone_b);
-
-public:
-    Triangulation() = default;
-    std::unordered_map<size_t, std::vector<size_t>> adj {
-        { 0, { 1, 2 } }, { 1, { 0, 2 } }, { 2, { 0, 1 } }
-    }; // adj of the edges
-    void update(const std::vector<Cone>& cones);
-};
diff --git a/auto_sim/test_controller_2/types.hpp b/auto_sim/test_controller_2/types.hpp
index d197a12..07b1669 100644
--- a/auto_sim/test_controller_2/types.hpp
+++ b/auto_sim/test_controller_2/types.hpp
@@ -1,31 +1,37 @@
 #pragma once
 
 struct ControlOutput {
-  // in local frame
-  double ax;
-  // no frame
-  double omega_dot;
-  ControlOutput(const double _ax, const double _omega_dot)
-      : ax(_ax), omega_dot(_omega_dot) {}
+    // in local frame
+    double ax;
+    // no frame
+    double omega_dot;
+    ControlOutput(const double _ax, const double _omega_dot)
+        : ax(_ax), omega_dot(_omega_dot) { }
 };
 
 struct VehicleState {
-  // in global frame
-  double x;
-  double y;
-  double theta;
-  // in local frame
-  double v_x;
-  double v_y;
-  // no frame
-  double omega;
-  VehicleState() : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) {}
+    // in global frame
+    double x;
+    double y;
+    double theta;
+    // in local frame
+    double v_x;
+    double v_y;
+    // no frame
+    double omega;
+    VehicleState()
+        : x(0), y(0), theta(0), v_x(0), v_y(0), omega(0) { }
 };
 
-enum class ConeColor { BLUE, YELLOW };
+enum class ConeColor {
+    BLUE,
+    YELLOW,
+    ORANGE,
+};
 struct Cone {
-  double x;
-  double y;
-  ConeColor c;
-  Cone(const double _x, const double _y, const ConeColor _c) : x(_x), y(_y), c(_c) {}
+    double x;
+    double y;
+    ConeColor c;
+    Cone(const double _x, const double _y, const ConeColor _c)
+        : x(_x), y(_y), c(_c) { }
 };
\ No newline at end of file

From 93fd08fd457e1fc7051727e650f7ca820677534a Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 26 Mar 2026 22:09:43 -0700
Subject: [PATCH 33/52] 67

---
 auto_sim/render.py | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index fd461da..845ac01 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -90,18 +90,19 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	p = transform(0, 0, vehicle_state)
 	pygame.draw.circle(screen, "white",p , 5)
 
-	for cone in cones:
-		pygame.draw.circle(
-			screen, int_to_color(cone.c),
-			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
-		)
 
 	for edge in get_triangulation():
 		v1, v2 = edge.v1(), edge.v2()
-		pygame.draw.line(screen, "white",
+		pygame.draw.line(screen, "#676767",
 			transform(cones[v1].x, cones[v1].y, vehicle_state),
 			transform(cones[v2].x, cones[v2].y, vehicle_state), 2
 		)
+
+	for cone in cones:
+		pygame.draw.circle(
+			screen, int_to_color(cone.c),
+			transform(cone.x, cone.y, vehicle_state), 0.2 * PIXELS_PER_M
+		)
 	
 	car_rotated = pygame.transform.rotate(car,-90)
 	scale_factor = VEHICLE_WIDTH_M / car_rotated.get_width() * PIXELS_PER_M

From b3f99bdf175404a897244fae6428e3a69e1fdda6 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 26 Mar 2026 22:13:04 -0700
Subject: [PATCH 34/52] timing

---
 auto_sim/test_controller_2/controller.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 019603b..f1363a5 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,6 +1,7 @@
 #include "controller.hpp"
 
 #include <algorithm>
+#include <chrono>
 #include <iostream>
 #include <iterator>
 
@@ -15,6 +16,7 @@ ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
     // Implementation for compute function
     static size_t seen_points = 0;
     if (seen_points < cones.size()) {
+        const auto start_time = std::chrono::high_resolution_clock::now();
         const auto start = std::next(
             cones.begin(),
             static_cast<std::vector<Cone>::difference_type>(std::min(seen_points, cones.size())));
@@ -26,6 +28,9 @@ ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
         edges = CDT::extractEdgesFromTriangles(cdt.triangles);
         std::cout << "number of edges " << edges.size() << std::endl;
         seen_points = cones.size();
+        const auto end_time = std::chrono::high_resolution_clock::now();
+        const auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time).count();
+        std::cout << "Time taken to insert vertices and extract edges: " << duration << " us" << std::endl;
     }
     // cdt.eraseSuperTriangle();
     // t.adj will contain the adj list

From 1425ee8f3f3e1d61eeb4f6331a169bca5d9c5ee5 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 26 Mar 2026 22:14:53 -0700
Subject: [PATCH 35/52] better

---
 auto_sim/test_controller_2/controller.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index f1363a5..1a98535 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -21,16 +21,13 @@ ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
             cones.begin(),
             static_cast<std::vector<Cone>::difference_type>(std::min(seen_points, cones.size())));
         cdt.insertVertices(start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
-        // CDT::Triangulation<double> cpy = cdt;
-        // cpy.eraseOuterTriangles();
-        // std::cout << "number of vertices in cpy " << cpy.vertices.size() << std::endl;
-        cdt.eraseSuperTriangle();
-        edges = CDT::extractEdgesFromTriangles(cdt.triangles);
-        std::cout << "number of edges " << edges.size() << std::endl;
+        CDT::Triangulation<double> cpy = cdt;
+        cpy.eraseSuperTriangle();
+        edges = CDT::extractEdgesFromTriangles(cpy.triangles);
         seen_points = cones.size();
         const auto end_time = std::chrono::high_resolution_clock::now();
         const auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time).count();
-        std::cout << "Time taken to insert vertices and extract edges: " << duration << " us" << std::endl;
+        std::cout << "triangulation time: " << duration << " us" << std::endl;
     }
     // cdt.eraseSuperTriangle();
     // t.adj will contain the adj list

From 6f5bedf15163c6e938a15a6aa41ff628e8c97690 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 26 Mar 2026 23:51:18 -0700
Subject: [PATCH 36/52] proper triangulation

---
 auto_sim/main.py                          | 22 ++++--
 auto_sim/render.py                        | 33 +++++---
 auto_sim/test_controller_2/controller.cpp | 95 +++++++++++++++++------
 auto_sim/test_controller_2/controller.hpp | 31 +++++++-
 auto_sim/test_controller_2/pybind.cpp     | 23 +++++-
 auto_sim/test_controller_2/scopetimer.hpp | 21 +++++
 6 files changed, 181 insertions(+), 44 deletions(-)
 create mode 100644 auto_sim/test_controller_2/scopetimer.hpp

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 8457ec8..711df7d 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,5 +1,5 @@
 import pygame
-from Controller import compute, sim_step, Cone, ConeColor, VehicleState
+from Controller import compute, sim_step, Cone, ConeColor, VehicleState, compute_path
 from render import init, render_world
 import ctypes
 import platform
@@ -38,13 +38,20 @@
 def handle_key(key: int, state: VehicleState):
 	match key:
 		case pygame.K_d:
-			state.theta += 0.1
+			state.y -= 1
 		case pygame.K_a:
-			state.theta -= 0.1
+			state.y += 1
 		case pygame.K_w:
-			state.x += 0.1
+			state.x += 1
 		case pygame.K_s:
-			state.x -= 0.1
+			state.x -= 1
+
+ran = False
+def simulate_cone_detection(state: VehicleState, cones: list[Cone]):
+    global ran
+    if not ran:
+        compute_path(cones)
+        ran = True
 
 while running:
     # handle events
@@ -52,11 +59,14 @@ def handle_key(key: int, state: VehicleState):
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
             running = False
+        elif event.type == pygame.KEYDOWN:
+            handle_key(event.key, vehicle_state)
 
     dt = clock.get_time()
     # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    controls = compute(vehicle_state, CONE_POSITIONS)
+    simulate_cone_detection(vehicle_state, CONE_POSITIONS)
+    controls = compute(vehicle_state)
     sim_step(vehicle_state, controls, dt)
     render_world(vehicle_state, CONE_POSITIONS, screen)
 
diff --git a/auto_sim/render.py b/auto_sim/render.py
index 845ac01..8cd4a5b 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,11 +1,11 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, get_triangulation
+from Controller import VehicleState, Cone, ConeColor, get_offline_edges, calculate_boundary
 from math import ceil, degrees
 import numpy as np
 
-PIXELS_PER_M = 	50.0
+PIXELS_PER_M = 	20.0
 w: int
 h: int
 
@@ -16,7 +16,7 @@ def init():
 	global car, vignette
 	car = pygame.image.load('fsae.png').convert_alpha()
 	vignette_image = pygame.image.load('vignette.png').convert_alpha()
-	vignette_image = pygame.transform.scale(vignette_image, (1800,1800))
+	vignette_image = pygame.transform.scale(vignette_image, (30 * PIXELS_PER_M,30 * PIXELS_PER_M))
 	vignette = pygame.Surface((3000,3000), pygame.SRCALPHA)
 	vignette.blit(vignette_image, vignette_image.get_rect(center=(1500,1500)))
 
@@ -80,6 +80,8 @@ def int_to_color(value: ConeColor) -> str:
 		case _:
 			return "white"
 
+# boundary = None
+
 def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
 	global w, h
 	w, h = screen.get_width(), screen.get_height()
@@ -90,12 +92,25 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	p = transform(0, 0, vehicle_state)
 	pygame.draw.circle(screen, "white",p , 5)
 
-
-	for edge in get_triangulation():
-		v1, v2 = edge.v1(), edge.v2()
-		pygame.draw.line(screen, "#676767",
-			transform(cones[v1].x, cones[v1].y, vehicle_state),
-			transform(cones[v2].x, cones[v2].y, vehicle_state), 2
+	# if boundary is None:
+	# 	boundary = calculate_boundary(cones, ConeColor.YELLOW)
+
+	for edge in get_offline_edges():
+		v1, v2 = cones[edge.v1()], cones[edge.v2()]
+	# for i in range(len(boundary)):
+	# 	v1, v2 = cones[boundary[i]], cones[boundary[(i+1) % len(boundary)]]
+		default_colour = "#676767"
+		if v1.c == v2.c:
+			match v1.c:
+				case ConeColor.BLUE:
+					default_colour = "blue"
+				case ConeColor.YELLOW:
+					default_colour = "yellow"
+				case _:
+					default_colour = "red"
+		pygame.draw.line(screen, default_colour,
+			transform(v1.x, v1.y, vehicle_state),
+			transform(v2.x, v2.y, vehicle_state), 2
 		)
 
 	for cone in cones:
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 1a98535..7671af8 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,35 +1,84 @@
 #include "controller.hpp"
+#include "scopetimer.hpp"
 
-#include <algorithm>
-#include <chrono>
-#include <iostream>
-#include <iterator>
+std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
+    size_t at = 0;
+    std::unordered_set<size_t> unvisited_blue_cones { };
+    for (size_t i = 0; i < cones.size(); ++i) {
+        if (cones[i].c == c) {
+            at = i;
+            unvisited_blue_cones.insert(i);
+        }
+    }
+
+    std::vector<CDT::VertInd> path;
+    path.reserve(unvisited_blue_cones.size());
+    path.push_back(at);
+    while (not unvisited_blue_cones.empty()) {
+        // find cone with shortest distance to cones[at]
+        size_t closest_cone = 0;
+        double closest_dist = std::numeric_limits<double>::max();
+        for (const size_t i : unvisited_blue_cones) {
+            if (const double dist = std::hypot(cones[at].x - cones[i].x, cones[at].y - cones[i].y); dist < closest_dist) {
+                closest_dist = dist;
+                closest_cone = i;
+            }
+        }
+        unvisited_blue_cones.erase(closest_cone);
+        path.push_back(closest_cone);
+        at = closest_cone;
+    }
+
+    return path;
+}
+
+static CDT::EdgeUSet offline_edges;
+void compute_path(const std::vector<Cone>& cones) {
+    ScopeTimer s { "offline triangulation timer" };
+    CDT::Triangulation<double> cdt;
+    cdt.insertVertices(cones.begin(), cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+
+    // calculate boundary edges and insert them into the triangulation
+    std::vector<CDT::Edge> edges { };
+    const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
+    for (size_t i = 0; i < blue_boundary.size(); ++i) {
+        edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
+    }
+    const std::vector<CDT::VertInd> yellow_boundary = calculate_boundary(cones, ConeColor::YELLOW);
+    for (size_t i = 0; i < yellow_boundary.size(); ++i) {
+        edges.emplace_back(yellow_boundary[i], yellow_boundary[(i + 1) % yellow_boundary.size()]);
+    }
+    cdt.insertEdges(edges);
+    cdt.eraseOuterTrianglesAndHoles();
+    std::cout << "Number of triangles: " << cdt.triangles.size() << std::endl;
+    offline_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+}
+
+const CDT::EdgeUSet& get_offline_edges() {
+    return offline_edges;
+}
 
-static CDT::Triangulation<double> cdt;
 static CDT::EdgeUSet edges;
+void update_cone_positions(const std::vector<Cone>& cones) {
+    static CDT::Triangulation<double> cdt;
+    static size_t seen_cones = 0;
+    if (seen_cones == cones.size()) {
+        return;
+    }
+
+    ScopeTimer s { "online triangulation timer" };
+    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
+    cdt.insertVertices(start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+    CDT::Triangulation<double> cpy = cdt;
+    cpy.eraseSuperTriangle();
+    edges = CDT::extractEdgesFromTriangles(cpy.triangles);
+}
 
 const CDT::EdgeUSet& get_triangulation() {
     return edges;
 }
 
-ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones) {
-    // Implementation for compute function
-    static size_t seen_points = 0;
-    if (seen_points < cones.size()) {
-        const auto start_time = std::chrono::high_resolution_clock::now();
-        const auto start = std::next(
-            cones.begin(),
-            static_cast<std::vector<Cone>::difference_type>(std::min(seen_points, cones.size())));
-        cdt.insertVertices(start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
-        CDT::Triangulation<double> cpy = cdt;
-        cpy.eraseSuperTriangle();
-        edges = CDT::extractEdgesFromTriangles(cpy.triangles);
-        seen_points = cones.size();
-        const auto end_time = std::chrono::high_resolution_clock::now();
-        const auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end_time - start_time).count();
-        std::cout << "triangulation time: " << duration << " us" << std::endl;
-    }
-    // cdt.eraseSuperTriangle();
+ControlOutput compute(const VehicleState& ve) {
     // t.adj will contain the adj list
     return { 0, 0 };
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
index c6f9f31..584560f 100644
--- a/auto_sim/test_controller_2/controller.hpp
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -3,5 +3,32 @@
 #include "types.hpp"
 #include <vector>
 
-const CDT::EdgeUSet& get_triangulation();
-ControlOutput compute(const VehicleState& ve, const std::vector<Cone>& cones);
\ No newline at end of file
+ControlOutput compute(const VehicleState& ve);
+
+enum class DriverlessState {
+    IDLE,
+    ONLINE_MAPPING, // use for autocross, acceleration, skidpad, etc.
+    TRACKDRIVE_MAPPING,
+    TRACKDRIVE_RUNNING
+};
+
+// NOTE everything under this line should be private, but we are exposing it for testing purposes
+/**
+ * @param cones cones to calculate the boundary from
+ * @param c the color of the cones to calculate the boundary for
+ * @return a vector of vertex indices that form the boundary of the given color. The order of the vertices is not guaranteed to be clockwise or counterclockwise.
+ */
+std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, ConeColor c);
+/**
+ * This computes the path from the given ALL cones offline.
+ * @param cones
+ */
+void compute_path(const std::vector<Cone>& cones);
+/**
+ * @return offline edges
+ */
+const CDT::EdgeUSet& get_offline_edges();
+
+// online path planning
+void update_cone_positions(const std::vector<Cone>& cones);
+const CDT::EdgeUSet& get_triangulation();
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index d1446a6..b5fd645 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -33,10 +33,6 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
         .def_readwrite("y", &Cone::y)
         .def_readwrite("c", &Cone::c);
 
-    m.def("get_triangulation", &get_triangulation, py::return_value_policy::reference, R"pbdoc(
-        Get the current triangulation object)
-    )pbdoc");
-
     py::class_<CDT::Edge>(m, "Edge")
         .def("v1", &CDT::Edge::v1)
         .def("v2", &CDT::Edge::v2);
@@ -45,6 +41,25 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
         Compute control output
     )pbdoc");
 
+    // offline path calculations
+    m.def("calculate_boundary", &calculate_boundary, R"pbdoc(
+        Calculate the boundary of the given color from the list of cones
+    )pbdoc");
+    m.def("compute_path", &compute_path, R"pbdoc()
+        Compute the triangulation from a list of cones
+    )pbdoc");
+    m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
+        Get the offline edges calculated from compute_path()
+    )pbdoc");
+
+    // online path caclulations
+    m.def("update_cone_positions", &update_cone_positions, R"pbdoc()
+        Update the triangulation with new cone positions
+    )pbdoc");
+    m.def("get_triangulation", &get_triangulation, py::return_value_policy::reference, R"pbdoc(
+        Get the current triangulation object)
+    )pbdoc");
+
     m.def("sim_step", &sim_step, R"pbdoc(
         Simulate one step of the vehicle dynamics
     )pbdoc");
diff --git a/auto_sim/test_controller_2/scopetimer.hpp b/auto_sim/test_controller_2/scopetimer.hpp
new file mode 100644
index 0000000..38b583e
--- /dev/null
+++ b/auto_sim/test_controller_2/scopetimer.hpp
@@ -0,0 +1,21 @@
+#pragma once
+#include <chrono>
+#include <iostream>
+
+class ScopeTimer {
+public:
+    // Constructor: Starts the timer
+    explicit ScopeTimer(const std::string& name)
+        : m_name(name), m_start_time(std::chrono::steady_clock::now()) { }
+
+    // Destructor: Stops the timer and prints elapsed time
+    ~ScopeTimer() {
+        const auto end_time = std::chrono::steady_clock::now();
+        const auto duration_us = std::chrono::duration_cast<std::chrono::microseconds>(end_time - m_start_time).count();
+        std::cout << "Timer [" << m_name << "]: " << duration_us << " us" << std::endl;
+    }
+
+private:
+    std::string m_name;
+    std::chrono::time_point<std::chrono::steady_clock> m_start_time;
+};
\ No newline at end of file

From 6610487d41ebc46616a7c8625cf22054441cca84 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Fri, 27 Mar 2026 00:05:25 -0700
Subject: [PATCH 37/52] restructure

---
 auto_sim/main.py | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 711df7d..cbb1952 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -47,11 +47,12 @@ def handle_key(key: int, state: VehicleState):
 			state.x -= 1
 
 ran = False
-def simulate_cone_detection(state: VehicleState, cones: list[Cone]):
+def simulate_cone_detection(state: VehicleState):
     global ran
     if not ran:
-        compute_path(cones)
+        compute_path(CONE_POSITIONS)
         ran = True
+    return CONE_POSITIONS
 
 while running:
     # handle events
@@ -62,11 +63,13 @@ def simulate_cone_detection(state: VehicleState, cones: list[Cone]):
         elif event.type == pygame.KEYDOWN:
             handle_key(event.key, vehicle_state)
 
+    # this is what is running on the 
+    detected_cones = simulate_cone_detection(vehicle_state)
+    controls = compute(vehicle_state)
+
+    # closing the SIL loop
     dt = clock.get_time()
-    # fill the screen with a color to wipe away anything from last frame
     screen.fill("black")
-    simulate_cone_detection(vehicle_state, CONE_POSITIONS)
-    controls = compute(vehicle_state)
     sim_step(vehicle_state, controls, dt)
     render_world(vehicle_state, CONE_POSITIONS, screen)
 

From b74123270c2ff23b8d7cd84156ce21d3ba3c0ffa Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Fri, 27 Mar 2026 09:38:46 -0700
Subject: [PATCH 38/52] small fix

---
 auto_sim/test_controller_2/controller.cpp | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 7671af8..968475b 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -2,14 +2,15 @@
 #include "scopetimer.hpp"
 
 std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
-    size_t at = 0;
+    size_t start = 0;
     std::unordered_set<size_t> unvisited_blue_cones { };
     for (size_t i = 0; i < cones.size(); ++i) {
         if (cones[i].c == c) {
-            at = i;
+            start = i;
             unvisited_blue_cones.insert(i);
         }
     }
+    size_t at = start;
 
     std::vector<CDT::VertInd> path;
     path.reserve(unvisited_blue_cones.size());
@@ -24,6 +25,9 @@ std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, con
                 closest_cone = i;
             }
         }
+        if (closest_cone == start) {
+            break;
+        }
         unvisited_blue_cones.erase(closest_cone);
         path.push_back(closest_cone);
         at = closest_cone;
@@ -32,11 +36,18 @@ std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, con
     return path;
 }
 
+static double get_cone_x(const Cone& c) {
+    return c.x;
+}
+static double get_cone_y(const Cone& c) {
+    return c.y;
+}
+
 static CDT::EdgeUSet offline_edges;
 void compute_path(const std::vector<Cone>& cones) {
     ScopeTimer s { "offline triangulation timer" };
     CDT::Triangulation<double> cdt;
-    cdt.insertVertices(cones.begin(), cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+    cdt.insertVertices(cones.begin(), cones.end(), get_cone_x, get_cone_y);
 
     // calculate boundary edges and insert them into the triangulation
     std::vector<CDT::Edge> edges { };

From 9ce85fd96591469bdeae3b6a1ba469a224431a85 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Fri, 27 Mar 2026 10:10:26 -0700
Subject: [PATCH 39/52] center line

---
 auto_sim/render.py                        | 34 +++++++++-------
 auto_sim/test_controller_2/controller.cpp | 47 ++++++++++++++++++-----
 auto_sim/test_controller_2/controller.hpp | 12 ++++++
 auto_sim/test_controller_2/pybind.cpp     |  6 +++
 auto_sim/test_controller_2/types.hpp      |  1 +
 5 files changed, 77 insertions(+), 23 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 8cd4a5b..9358f37 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, get_offline_edges, calculate_boundary
+from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points
 from math import ceil, degrees
 import numpy as np
 
@@ -95,19 +95,27 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# if boundary is None:
 	# 	boundary = calculate_boundary(cones, ConeColor.YELLOW)
 
-	for edge in get_offline_edges():
-		v1, v2 = cones[edge.v1()], cones[edge.v2()]
-	# for i in range(len(boundary)):
-	# 	v1, v2 = cones[boundary[i]], cones[boundary[(i+1) % len(boundary)]]
+	# for edge in get_offline_edges():
+	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
+	# 	default_colour = "#676767"
+	# 	if v1.c == v2.c:
+	# 		match v1.c:
+	# 			case ConeColor.BLUE:
+	# 				default_colour = "blue"
+	# 			case ConeColor.YELLOW:
+	# 				default_colour = "yellow"
+	# 			case _:
+	# 				default_colour = "red"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 	)
+
+	center_points = get_center_points()
+	center_line = get_center_line()
+	for i in range(len(center_line)):
+		v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]]
 		default_colour = "#676767"
-		if v1.c == v2.c:
-			match v1.c:
-				case ConeColor.BLUE:
-					default_colour = "blue"
-				case ConeColor.YELLOW:
-					default_colour = "yellow"
-				case _:
-					default_colour = "red"
 		pygame.draw.line(screen, default_colour,
 			transform(v1.x, v1.y, vehicle_state),
 			transform(v2.x, v2.y, vehicle_state), 2
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 968475b..f70c248 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -3,23 +3,24 @@
 
 std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
     size_t start = 0;
-    std::unordered_set<size_t> unvisited_blue_cones { };
+    std::unordered_set<size_t> unvisited_cones { };
     for (size_t i = 0; i < cones.size(); ++i) {
         if (cones[i].c == c) {
             start = i;
-            unvisited_blue_cones.insert(i);
+            unvisited_cones.insert(i);
         }
     }
     size_t at = start;
 
     std::vector<CDT::VertInd> path;
-    path.reserve(unvisited_blue_cones.size());
+    path.reserve(unvisited_cones.size());
     path.push_back(at);
-    while (not unvisited_blue_cones.empty()) {
+    unvisited_cones.erase(at);
+    while (not unvisited_cones.empty()) {
         // find cone with shortest distance to cones[at]
         size_t closest_cone = 0;
         double closest_dist = std::numeric_limits<double>::max();
-        for (const size_t i : unvisited_blue_cones) {
+        for (const size_t i : unvisited_cones) {
             if (const double dist = std::hypot(cones[at].x - cones[i].x, cones[at].y - cones[i].y); dist < closest_dist) {
                 closest_dist = dist;
                 closest_cone = i;
@@ -28,7 +29,7 @@ std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, con
         if (closest_cone == start) {
             break;
         }
-        unvisited_blue_cones.erase(closest_cone);
+        unvisited_cones.erase(closest_cone);
         path.push_back(closest_cone);
         at = closest_cone;
     }
@@ -43,7 +44,10 @@ static double get_cone_y(const Cone& c) {
     return c.y;
 }
 
-static CDT::EdgeUSet offline_edges;
+static CDT::EdgeUSet offline_inner_edges;
+static CDT::EdgeUSet offline_boundary_edges;
+static std::vector<Cone> center_points;
+static std::vector<CDT::VertInd> center_line;
 void compute_path(const std::vector<Cone>& cones) {
     ScopeTimer s { "offline triangulation timer" };
     CDT::Triangulation<double> cdt;
@@ -61,12 +65,35 @@ void compute_path(const std::vector<Cone>& cones) {
     }
     cdt.insertEdges(edges);
     cdt.eraseOuterTrianglesAndHoles();
-    std::cout << "Number of triangles: " << cdt.triangles.size() << std::endl;
-    offline_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+    offline_boundary_edges = cdt.fixedEdges;
+    offline_inner_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+    const size_t original_num_edges = offline_inner_edges.size();
+    for (const auto e : offline_boundary_edges) {
+        offline_inner_edges.erase(e);
+    }
+    assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
+
+    center_points = { };
+    for (const auto e : offline_inner_edges) {
+        // get center point of e
+        const Cone& c1 = cones[e.v1()];
+        const Cone& c2 = cones[e.v2()];
+        center_points.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
+    }
+    center_line = calculate_boundary(center_points, ConeColor::CENTER);
 }
 
 const CDT::EdgeUSet& get_offline_edges() {
-    return offline_edges;
+    return offline_inner_edges;
+}
+const CDT::EdgeUSet& get_boundary_edges() {
+    return offline_inner_edges;
+}
+const std::vector<Cone>& get_center_points() {
+    return center_points;
+}
+const std::vector<CDT::VertInd>& get_center_line() {
+    return center_line;
 }
 
 static CDT::EdgeUSet edges;
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
index 584560f..86c575b 100644
--- a/auto_sim/test_controller_2/controller.hpp
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -28,6 +28,18 @@ void compute_path(const std::vector<Cone>& cones);
  * @return offline edges
  */
 const CDT::EdgeUSet& get_offline_edges();
+/**
+ * @return boundary edges
+ */
+const CDT::EdgeUSet& get_boundary_edges();
+/**
+ * @return center points
+ */
+const std::vector<Cone>& get_center_points();
+/**
+ * @return center line vertices
+ */
+const std::vector<CDT::VertInd>& get_center_line();
 
 // online path planning
 void update_cone_positions(const std::vector<Cone>& cones);
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index b5fd645..7fd3ae3 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -51,6 +51,12 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
         Get the offline edges calculated from compute_path()
     )pbdoc");
+    m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc())
+        Get the center points calculated from compute_path()
+    )pbdoc");
+    m.def("get_center_line", get_center_line, py::return_value_policy::reference, R"pbdoc())
+        Get the center line calculated from compute_path()
+    )pbdoc");
 
     // online path caclulations
     m.def("update_cone_positions", &update_cone_positions, R"pbdoc()
diff --git a/auto_sim/test_controller_2/types.hpp b/auto_sim/test_controller_2/types.hpp
index 07b1669..a65f1ea 100644
--- a/auto_sim/test_controller_2/types.hpp
+++ b/auto_sim/test_controller_2/types.hpp
@@ -27,6 +27,7 @@ enum class ConeColor {
     BLUE,
     YELLOW,
     ORANGE,
+    CENTER
 };
 struct Cone {
     double x;

From 6aaefc4496614a171fac846142d98bc39e93c66a Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 2 Apr 2026 14:40:07 -0700
Subject: [PATCH 40/52] update pipfiles

---
 auto_sim/Pipfile      |   2 +
 auto_sim/Pipfile.lock | 377 +++++++++++++++++++++++++++++++++---------
 2 files changed, 305 insertions(+), 74 deletions(-)

diff --git a/auto_sim/Pipfile b/auto_sim/Pipfile
index fdb120a..9acf776 100644
--- a/auto_sim/Pipfile
+++ b/auto_sim/Pipfile
@@ -9,6 +9,8 @@ numpy = "*"
 scipy = "*"
 setuptools = "*"
 pybind11 = "*"
+requests = "*"
+casadi = "==3.6.7"
 
 [dev-packages]
 
diff --git a/auto_sim/Pipfile.lock b/auto_sim/Pipfile.lock
index 52b1eea..1a2f9eb 100644
--- a/auto_sim/Pipfile.lock
+++ b/auto_sim/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "63ddba2de7dab27b129c0ff4adb1a6d5b6dc3b9212d0fc8202ab757e40506fcb"
+            "sha256": "99c98440216291c693070c2fd616fd9a9691013b1b74849cdfb39eeefffc7f78"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -16,84 +16,296 @@
         ]
     },
     "default": {
+        "casadi": {
+            "hashes": [
+                "sha256:0012c1951286013ab1c7ab79f21fec7374995085f9067d8cef7873dea062b426",
+                "sha256:045c1c7fc24bb27398f0ba8979eb6bf07b09525496dc83ee4e75ca037187a6bd",
+                "sha256:05ef1a87ac6e173cba3762f0ad0ba50c02154317a1135317a23c446a149a2e12",
+                "sha256:05fedada09ae4f1b8d53194168efa8d88ca878717a9a4e7a2465b6e2aacff805",
+                "sha256:16042ef095117704312be53389a0f22ab7a0968131db2bf785663d8003957a95",
+                "sha256:1a676437955fcda10488fea87f78ae64f495a7247825bda476199cdeb5ba0b4d",
+                "sha256:1a7122f3fd4dca0ed9af72bac398de06e225b291b45c3d89b73a19a3247eeeb5",
+                "sha256:1ab528f5ea04ef56e2676252cfc3a04023de5d1169578d1873ce403e23fb48d5",
+                "sha256:1b7467dd5e664a87e03ff118993587d154371a3fb7020ce705ee1045ab561399",
+                "sha256:1d52d8c11d0125552e10c458d8f33b38cd9a6eb9603405a1df87eb35aae4c93a",
+                "sha256:21cde87288afebb32a2a035bf6b6a91a025e24ee14aba7a0ae5515707b9887c1",
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+                "sha256:f169b9a863d34f5d11b8698ead99febeaa17a13ca044961aa8e2662a6c7766a0",
+                "sha256:f2cf083b324a467e1ab358c105f6cad5ea950f50524668a80c486ff1db24e119",
+                "sha256:f8474c4241bc18b750be2abea9d7a9ec84f46ef861dbacf86a4f6e043401f79e",
+                "sha256:f983334aea213c99992053ede6168500e5f086ce74fbc4acc3f2b00f5762e9db",
+                "sha256:f9e75681b59ddaa5e659898085ae0eaea229d054f2ac0c7e563a62205a700121",
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             ],
             "index": "pypi",
             "markers": "python_version >= '3.11'",
-            "version": "==2.4.3"
+            "version": "==2.4.4"
         },
         "pybind11": {
             "hashes": [
@@ -171,6 +383,15 @@
             "markers": "python_version >= '3.6'",
             "version": "==2.6.1"
         },
+        "requests": {
+            "hashes": [
+                "sha256:18817f8c57c6263968bc123d237e3b8b08ac046f5456bd1e307ee8f4250d3517",
+                "sha256:4e6d1ef462f3626a1f0a0a9c42dd93c63bad33f9f1c1937509b8c5c8718ab56a"
+            ],
+            "index": "pypi",
+            "markers": "python_version >= '3.10'",
+            "version": "==2.33.1"
+        },
         "scipy": {
             "hashes": [
                 "sha256:010f4333c96c9bb1a4516269e33cb5917b08ef2166d5556ca2fd9f082a9e6ea0",
@@ -247,6 +468,14 @@
             "index": "pypi",
             "markers": "python_version >= '3.9'",
             "version": "==82.0.1"
+        },
+        "urllib3": {
+            "hashes": [
+                "sha256:1b62b6884944a57dbe321509ab94fd4d3b307075e0c2eae991ac71ee15ad38ed",
+                "sha256:bf272323e553dfb2e87d9bfd225ca7b0f467b919d7bbd355436d3fd37cb0acd4"
+            ],
+            "markers": "python_version >= '3.9'",
+            "version": "==2.6.3"
         }
     },
     "develop": {}

From d9d75b5af6c561618d0ab4168a5835dc73e464c2 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sun, 5 Apr 2026 20:41:07 -0700
Subject: [PATCH 41/52] draw

---
 auto_sim/render.py                        | 32 ++++++++++++++---------
 auto_sim/test_controller_2/controller.cpp | 11 ++++----
 auto_sim/test_controller_2/pybind.cpp     |  3 +++
 3 files changed, 28 insertions(+), 18 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 9358f37..04d03d6 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points
+from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points, get_boundary_edges
 from math import ceil, degrees
 import numpy as np
 
@@ -98,28 +98,34 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# for edge in get_offline_edges():
 	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
 	# 	default_colour = "#676767"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 	)
+
+	# for edge in get_boundary_edges():
+	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
+	# 	default_colour = "#FF0000"
 	# 	if v1.c == v2.c:
 	# 		match v1.c:
 	# 			case ConeColor.BLUE:
 	# 				default_colour = "blue"
 	# 			case ConeColor.YELLOW:
 	# 				default_colour = "yellow"
-	# 			case _:
-	# 				default_colour = "red"
 	# 	pygame.draw.line(screen, default_colour,
 	# 		transform(v1.x, v1.y, vehicle_state),
-	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 		transform(v2.x, v2.y, vehicle_state), 1
 	# 	)
 
-	center_points = get_center_points()
-	center_line = get_center_line()
-	for i in range(len(center_line)):
-		v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]]
-		default_colour = "#676767"
-		pygame.draw.line(screen, default_colour,
-			transform(v1.x, v1.y, vehicle_state),
-			transform(v2.x, v2.y, vehicle_state), 2
-		)
+	# center_points = get_center_points()
+	# center_line = get_center_line()
+	# for i in range(len(center_line)):
+	# 	v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]]
+	# 	default_colour = "#676767"
+	# 	pygame.draw.line(screen, default_colour,
+	# 		transform(v1.x, v1.y, vehicle_state),
+	# 		transform(v2.x, v2.y, vehicle_state), 2
+	# 	)
 
 	for cone in cones:
 		pygame.draw.circle(
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index f70c248..0d0e2dc 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -3,7 +3,7 @@
 
 std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
     size_t start = 0;
-    std::unordered_set<size_t> unvisited_cones { };
+    std::unordered_set<size_t> unvisited_cones {};
     for (size_t i = 0; i < cones.size(); ++i) {
         if (cones[i].c == c) {
             start = i;
@@ -54,7 +54,7 @@ void compute_path(const std::vector<Cone>& cones) {
     cdt.insertVertices(cones.begin(), cones.end(), get_cone_x, get_cone_y);
 
     // calculate boundary edges and insert them into the triangulation
-    std::vector<CDT::Edge> edges { };
+    std::vector<CDT::Edge> edges {};
     const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
     for (size_t i = 0; i < blue_boundary.size(); ++i) {
         edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
@@ -73,7 +73,7 @@ void compute_path(const std::vector<Cone>& cones) {
     }
     assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
 
-    center_points = { };
+    center_points = {};
     for (const auto e : offline_inner_edges) {
         // get center point of e
         const Cone& c1 = cones[e.v1()];
@@ -87,7 +87,7 @@ const CDT::EdgeUSet& get_offline_edges() {
     return offline_inner_edges;
 }
 const CDT::EdgeUSet& get_boundary_edges() {
-    return offline_inner_edges;
+    return offline_boundary_edges;
 }
 const std::vector<Cone>& get_center_points() {
     return center_points;
@@ -106,7 +106,8 @@ void update_cone_positions(const std::vector<Cone>& cones) {
 
     ScopeTimer s { "online triangulation timer" };
     const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
-    cdt.insertVertices(start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+    cdt.insertVertices(
+        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
     CDT::Triangulation<double> cpy = cdt;
     cpy.eraseSuperTriangle();
     edges = CDT::extractEdgesFromTriangles(cpy.triangles);
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index 7fd3ae3..d6532e6 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -51,6 +51,9 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
         Get the offline edges calculated from compute_path()
     )pbdoc");
+    m.def("get_boundary_edges", &get_boundary_edges, py::return_value_policy::reference, R"pbdoc()
+        Get the boundary edges calculated from compute_path()
+    )pbdoc");
     m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc())
         Get the center points calculated from compute_path()
     )pbdoc");

From e7526791f056d1b43759818a9cba8e76617996f2 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Mon, 6 Apr 2026 17:33:56 -0700
Subject: [PATCH 42/52] waow

---
 auto_sim/render.py                        |   4 +-
 auto_sim/test_controller_2/controller.cpp | 117 -------------------
 auto_sim/test_controller_2/controller.hpp |  37 +-----
 auto_sim/test_controller_2/path.cpp       | 131 ++++++++++++++++++++++
 auto_sim/test_controller_2/path.hpp       |  32 ++++++
 auto_sim/test_controller_2/pybind.cpp     |   4 +
 auto_sim/test_controller_2/setup.py       |   2 +-
 7 files changed, 171 insertions(+), 156 deletions(-)
 create mode 100644 auto_sim/test_controller_2/path.cpp
 create mode 100644 auto_sim/test_controller_2/path.hpp

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 04d03d6..c709418 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points, get_boundary_edges
+from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points, get_boundary_edges, project
 from math import ceil, degrees
 import numpy as np
 
@@ -120,7 +120,7 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# center_points = get_center_points()
 	# center_line = get_center_line()
 	# for i in range(len(center_line)):
-	# 	v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]]
+	# 	v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]] # returns cone objects
 	# 	default_colour = "#676767"
 	# 	pygame.draw.line(screen, default_colour,
 	# 		transform(v1.x, v1.y, vehicle_state),
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 0d0e2dc..2c6caa3 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,121 +1,4 @@
 #include "controller.hpp"
-#include "scopetimer.hpp"
-
-std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
-    size_t start = 0;
-    std::unordered_set<size_t> unvisited_cones {};
-    for (size_t i = 0; i < cones.size(); ++i) {
-        if (cones[i].c == c) {
-            start = i;
-            unvisited_cones.insert(i);
-        }
-    }
-    size_t at = start;
-
-    std::vector<CDT::VertInd> path;
-    path.reserve(unvisited_cones.size());
-    path.push_back(at);
-    unvisited_cones.erase(at);
-    while (not unvisited_cones.empty()) {
-        // find cone with shortest distance to cones[at]
-        size_t closest_cone = 0;
-        double closest_dist = std::numeric_limits<double>::max();
-        for (const size_t i : unvisited_cones) {
-            if (const double dist = std::hypot(cones[at].x - cones[i].x, cones[at].y - cones[i].y); dist < closest_dist) {
-                closest_dist = dist;
-                closest_cone = i;
-            }
-        }
-        if (closest_cone == start) {
-            break;
-        }
-        unvisited_cones.erase(closest_cone);
-        path.push_back(closest_cone);
-        at = closest_cone;
-    }
-
-    return path;
-}
-
-static double get_cone_x(const Cone& c) {
-    return c.x;
-}
-static double get_cone_y(const Cone& c) {
-    return c.y;
-}
-
-static CDT::EdgeUSet offline_inner_edges;
-static CDT::EdgeUSet offline_boundary_edges;
-static std::vector<Cone> center_points;
-static std::vector<CDT::VertInd> center_line;
-void compute_path(const std::vector<Cone>& cones) {
-    ScopeTimer s { "offline triangulation timer" };
-    CDT::Triangulation<double> cdt;
-    cdt.insertVertices(cones.begin(), cones.end(), get_cone_x, get_cone_y);
-
-    // calculate boundary edges and insert them into the triangulation
-    std::vector<CDT::Edge> edges {};
-    const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
-    for (size_t i = 0; i < blue_boundary.size(); ++i) {
-        edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
-    }
-    const std::vector<CDT::VertInd> yellow_boundary = calculate_boundary(cones, ConeColor::YELLOW);
-    for (size_t i = 0; i < yellow_boundary.size(); ++i) {
-        edges.emplace_back(yellow_boundary[i], yellow_boundary[(i + 1) % yellow_boundary.size()]);
-    }
-    cdt.insertEdges(edges);
-    cdt.eraseOuterTrianglesAndHoles();
-    offline_boundary_edges = cdt.fixedEdges;
-    offline_inner_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
-    const size_t original_num_edges = offline_inner_edges.size();
-    for (const auto e : offline_boundary_edges) {
-        offline_inner_edges.erase(e);
-    }
-    assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
-
-    center_points = {};
-    for (const auto e : offline_inner_edges) {
-        // get center point of e
-        const Cone& c1 = cones[e.v1()];
-        const Cone& c2 = cones[e.v2()];
-        center_points.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
-    }
-    center_line = calculate_boundary(center_points, ConeColor::CENTER);
-}
-
-const CDT::EdgeUSet& get_offline_edges() {
-    return offline_inner_edges;
-}
-const CDT::EdgeUSet& get_boundary_edges() {
-    return offline_boundary_edges;
-}
-const std::vector<Cone>& get_center_points() {
-    return center_points;
-}
-const std::vector<CDT::VertInd>& get_center_line() {
-    return center_line;
-}
-
-static CDT::EdgeUSet edges;
-void update_cone_positions(const std::vector<Cone>& cones) {
-    static CDT::Triangulation<double> cdt;
-    static size_t seen_cones = 0;
-    if (seen_cones == cones.size()) {
-        return;
-    }
-
-    ScopeTimer s { "online triangulation timer" };
-    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
-    cdt.insertVertices(
-        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
-    CDT::Triangulation<double> cpy = cdt;
-    cpy.eraseSuperTriangle();
-    edges = CDT::extractEdgesFromTriangles(cpy.triangles);
-}
-
-const CDT::EdgeUSet& get_triangulation() {
-    return edges;
-}
 
 ControlOutput compute(const VehicleState& ve) {
     // t.adj will contain the adj list
diff --git a/auto_sim/test_controller_2/controller.hpp b/auto_sim/test_controller_2/controller.hpp
index 86c575b..cdf4921 100644
--- a/auto_sim/test_controller_2/controller.hpp
+++ b/auto_sim/test_controller_2/controller.hpp
@@ -1,7 +1,5 @@
 #pragma once
-#include "CDT.h"
 #include "types.hpp"
-#include <vector>
 
 ControlOutput compute(const VehicleState& ve);
 
@@ -10,37 +8,4 @@ enum class DriverlessState {
     ONLINE_MAPPING, // use for autocross, acceleration, skidpad, etc.
     TRACKDRIVE_MAPPING,
     TRACKDRIVE_RUNNING
-};
-
-// NOTE everything under this line should be private, but we are exposing it for testing purposes
-/**
- * @param cones cones to calculate the boundary from
- * @param c the color of the cones to calculate the boundary for
- * @return a vector of vertex indices that form the boundary of the given color. The order of the vertices is not guaranteed to be clockwise or counterclockwise.
- */
-std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, ConeColor c);
-/**
- * This computes the path from the given ALL cones offline.
- * @param cones
- */
-void compute_path(const std::vector<Cone>& cones);
-/**
- * @return offline edges
- */
-const CDT::EdgeUSet& get_offline_edges();
-/**
- * @return boundary edges
- */
-const CDT::EdgeUSet& get_boundary_edges();
-/**
- * @return center points
- */
-const std::vector<Cone>& get_center_points();
-/**
- * @return center line vertices
- */
-const std::vector<CDT::VertInd>& get_center_line();
-
-// online path planning
-void update_cone_positions(const std::vector<Cone>& cones);
-const CDT::EdgeUSet& get_triangulation();
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/path.cpp b/auto_sim/test_controller_2/path.cpp
new file mode 100644
index 0000000..f00a7c3
--- /dev/null
+++ b/auto_sim/test_controller_2/path.cpp
@@ -0,0 +1,131 @@
+#include "path.hpp"
+#include "scopetimer.hpp"
+
+std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
+    size_t start = 0;
+    std::unordered_set<size_t> unvisited_cones {};
+    for (size_t i = 0; i < cones.size(); ++i) {
+        if (cones[i].c == c) {
+            start = i;
+            unvisited_cones.insert(i);
+        }
+    }
+    size_t at = start;
+
+    std::vector<CDT::VertInd> path;
+    path.reserve(unvisited_cones.size());
+    path.push_back(at);
+    unvisited_cones.erase(at);
+    while (not unvisited_cones.empty()) {
+        // find cone with shortest distance to cones[at]
+        size_t closest_cone = 0;
+        double closest_dist = std::numeric_limits<double>::max();
+        for (const size_t i : unvisited_cones) {
+            if (const double dist = std::hypot(cones[at].x - cones[i].x, cones[at].y - cones[i].y); dist < closest_dist) {
+                closest_dist = dist;
+                closest_cone = i;
+            }
+        }
+        if (closest_cone == start) {
+            break;
+        }
+        unvisited_cones.erase(closest_cone);
+        path.push_back(closest_cone);
+        at = closest_cone;
+    }
+
+    return path;
+}
+
+static CDT::EdgeUSet offline_inner_edges;
+static CDT::EdgeUSet offline_boundary_edges;
+static std::vector<Cone> center_points;
+static std::vector<CDT::VertInd> center_line;
+static double get_cone_x(const Cone& c) {
+    return c.x;
+}
+static double get_cone_y(const Cone& c) {
+    return c.y;
+}
+void compute_path(const std::vector<Cone>& cones) {
+    ScopeTimer s { "offline triangulation timer" };
+    CDT::Triangulation<double> cdt;
+    cdt.insertVertices(cones.begin(), cones.end(), get_cone_x, get_cone_y);
+
+    // calculate boundary edges and insert them into the triangulation
+    std::vector<CDT::Edge> edges {};
+    const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
+    for (size_t i = 0; i < blue_boundary.size(); ++i) {
+        edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
+    }
+    const std::vector<CDT::VertInd> yellow_boundary = calculate_boundary(cones, ConeColor::YELLOW);
+    for (size_t i = 0; i < yellow_boundary.size(); ++i) {
+        edges.emplace_back(yellow_boundary[i], yellow_boundary[(i + 1) % yellow_boundary.size()]);
+    }
+    cdt.insertEdges(edges);
+    cdt.eraseOuterTrianglesAndHoles();
+    offline_boundary_edges = cdt.fixedEdges;
+    offline_inner_edges = CDT::extractEdgesFromTriangles(cdt.triangles);
+    const size_t original_num_edges = offline_inner_edges.size();
+    for (const auto e : offline_boundary_edges) {
+        offline_inner_edges.erase(e);
+    }
+    assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
+
+    center_points = {};
+    for (const auto e : offline_inner_edges) {
+        // get center point of e
+        const Cone& c1 = cones[e.v1()];
+        const Cone& c2 = cones[e.v2()];
+        center_points.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
+    }
+    center_line = calculate_boundary(center_points, ConeColor::CENTER);
+}
+
+const CDT::EdgeUSet& get_offline_edges() {
+    return offline_inner_edges;
+}
+const CDT::EdgeUSet& get_boundary_edges() {
+    return offline_boundary_edges;
+}
+const std::vector<Cone>& get_center_points() {
+    return center_points;
+}
+const std::vector<CDT::VertInd>& get_center_line() {
+    return center_line;
+}
+
+static CDT::EdgeUSet edges;
+void update_cone_positions(const std::vector<Cone>& cones) {
+    static CDT::Triangulation<double> cdt;
+    static size_t seen_cones = 0;
+    if (seen_cones == cones.size()) {
+        return;
+    }
+
+    ScopeTimer s { "online triangulation timer" };
+    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
+    cdt.insertVertices(
+        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
+    CDT::Triangulation<double> cpy = cdt;
+    cpy.eraseSuperTriangle();
+    edges = CDT::extractEdgesFromTriangles(cpy.triangles);
+}
+
+const CDT::EdgeUSet& get_triangulation() {
+    return edges;
+}
+
+/**
+ * Projects point at (x,y) to the line defined by c0 and c1.
+ * @param x Point to project x coordinate
+ * @param y Point to project y coordinate
+ * @param c0 First point defining the line to project onto
+ * @param c1 Second point defining the line to project onto
+ * @return the parameter t such that the projected point is at (1-t)*c0 + t*c1
+ */
+double project(const double x, const double y, const Cone& c0, const Cone& c1) {
+    const double x_min_x0 = x - c0.x;
+    const double y_min_y0 = y - c0.y;
+    return x_min_x0 * (c1.x - c0.x) + y_min_y0 * (c1.y - c0.y);
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/path.hpp b/auto_sim/test_controller_2/path.hpp
new file mode 100644
index 0000000..0639ae7
--- /dev/null
+++ b/auto_sim/test_controller_2/path.hpp
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "CDT.h"
+#include "types.hpp"
+#include <vector>
+
+/**
+ * @param cones cones to calculate the boundary from
+ * @param c the color of the cones to calculate the boundary for
+ * @return a vector of vertex indices that form the boundary of the given color. The order of the vertices is not guaranteed to be clockwise or counterclockwise.
+ */
+std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, ConeColor c);
+
+/**
+ * This computes the path from the given ALL cones offline.
+ * @param cones
+ */
+void compute_path(const std::vector<Cone>& cones);
+
+/**
+ * @param cones
+ */
+void update_cone_positions(const std::vector<Cone>& cones);
+
+// NOTE everything under this line should be private, but we are exposing it for testing purposes
+const CDT::EdgeUSet& get_offline_edges();
+const CDT::EdgeUSet& get_boundary_edges();
+const std::vector<Cone>& get_center_points();
+const std::vector<CDT::VertInd>& get_center_line();
+const CDT::EdgeUSet& get_triangulation();
+
+double project(double x, double y, const Cone& c0, const Cone& c1);
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index d6532e6..8b775ad 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -2,6 +2,7 @@
 #include <pybind11/stl.h>
 
 #include "controller.hpp"
+#include "path.hpp"
 #include "sim.hpp"
 #include "types.hpp"
 
@@ -60,6 +61,9 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     m.def("get_center_line", get_center_line, py::return_value_policy::reference, R"pbdoc())
         Get the center line calculated from compute_path()
     )pbdoc");
+    m.def("project", &project, R"pbdoc())
+        Project a point onto the center line
+    )pbdoc");
 
     // online path caclulations
     m.def("update_cone_positions", &update_cone_positions, R"pbdoc()
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index 0fe06e2..c0fa05e 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -7,7 +7,7 @@
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["pybind.cpp", "sim.cpp", "controller.cpp"],
+        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp"],
         include_dirs=[".", "build/_deps/cdt-src/CDT/include"],
         language="c++",
     ),

From 242e9d6246d511ad65cdeaa6fcffabddb0a1f1a1 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Tue, 7 Apr 2026 18:58:16 -0700
Subject: [PATCH 43/52] wow

---
 auto_sim/test_controller_2/CMakeLists.txt |  25 +++-
 auto_sim/test_controller_2/path.cpp       | 142 +++++++++++++---------
 auto_sim/test_controller_2/path.hpp       |  42 ++++---
 auto_sim/test_controller_2/perception.cpp |   1 +
 auto_sim/test_controller_2/perception.hpp |   9 ++
 auto_sim/test_controller_2/pybind.cpp     |  44 ++++---
 auto_sim/test_controller_2/setup.py       |   2 +-
 7 files changed, 166 insertions(+), 99 deletions(-)
 create mode 100644 auto_sim/test_controller_2/perception.cpp
 create mode 100644 auto_sim/test_controller_2/perception.hpp

diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index d2012aa..bdc680d 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -24,7 +24,30 @@ CPMAddPackage(
         GIT_TAG 1.4.4
         DOWNLOAD_ONLY TRUE
 )
+CPMAddPackage(
+        NAME EIGEN
+        GIT_REPOSITORY https://gitlab.com/libeigen/eigen
+        GIT_TAG 3147391d946bb4b6c68edd901f2add6ac1f31f8c
+        GIT_SHALLOW TRUE
+        DOWNLOAD_ONLY TRUE
+)
+set(EIGEN_INCLUDE_DIRS ${EIGEN_SOURCE_DIR})
+add_library(eigen_interface INTERFACE)
+target_include_directories(eigen_interface SYSTEM INTERFACE ${EIGEN_INCLUDE_DIRS})
+target_compile_definitions(eigen_interface INTERFACE
+        EIGEN_STACK_ALLOCATION_LIMIT=0
+        EIGEN_MAX_STATIC_ALIGN_BYTES=0
+)
+
+CPMAddPackage(
+        NAME alglib
+        URL https://www.alglib.net/translator/re/alglib-4.07.0.cpp.gpl.zip
+        DOWNLOAD_ONLY TRUE
+)
+add_library(alglib_interface INTERFACE)
+target_include_directories(alglib_interface INTERFACE ${alglib_SOURCE_DIR}/src)
 
 file(GLOB SOURCES *.cpp)
 pybind11_add_module(controller ${SOURCES})
-target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
\ No newline at end of file
+target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
+target_link_libraries(controller PRIVATE eigen_interface alglib_interface)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/path.cpp b/auto_sim/test_controller_2/path.cpp
index f00a7c3..0e5a720 100644
--- a/auto_sim/test_controller_2/path.cpp
+++ b/auto_sim/test_controller_2/path.cpp
@@ -1,9 +1,11 @@
 #include "path.hpp"
+#include "perception.hpp"
 #include "scopetimer.hpp"
+#include <unordered_set>
 
-std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
+static std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, const ConeColor c) {
     size_t start = 0;
-    std::unordered_set<size_t> unvisited_cones {};
+    std::unordered_set<size_t> unvisited_cones { };
     for (size_t i = 0; i < cones.size(); ++i) {
         if (cones[i].c == c) {
             start = i;
@@ -37,23 +39,26 @@ std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, con
     return path;
 }
 
-static CDT::EdgeUSet offline_inner_edges;
-static CDT::EdgeUSet offline_boundary_edges;
-static std::vector<Cone> center_points;
-static std::vector<CDT::VertInd> center_line;
-static double get_cone_x(const Cone& c) {
-    return c.x;
+static float mod(const float a, const float b) {
+    return a - b * std::floor(a / b);
 }
-static double get_cone_y(const Cone& c) {
-    return c.y;
+static double mod(const double a, const double b) {
+    return a - b * std::floor(a / b);
 }
-void compute_path(const std::vector<Cone>& cones) {
-    ScopeTimer s { "offline triangulation timer" };
-    CDT::Triangulation<double> cdt;
-    cdt.insertVertices(cones.begin(), cones.end(), get_cone_x, get_cone_y);
+
+void compute_path_from_percepted_cones() {
+    ScopeTimer s { "compute_path timer" };
+    static CDT::Triangulation<double> cdt_cache;
+    static size_t seen_cones = 0;
+    if (seen_cones == cones.size()) {
+        return;
+    }
+    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
+    cdt_cache.insertVertices(
+        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
 
     // calculate boundary edges and insert them into the triangulation
-    std::vector<CDT::Edge> edges {};
+    std::vector<CDT::Edge> edges { };
     const std::vector<CDT::VertInd> blue_boundary = calculate_boundary(cones, ConeColor::BLUE);
     for (size_t i = 0; i < blue_boundary.size(); ++i) {
         edges.emplace_back(blue_boundary[i], blue_boundary[(i + 1) % blue_boundary.size()]);
@@ -62,6 +67,8 @@ void compute_path(const std::vector<Cone>& cones) {
     for (size_t i = 0; i < yellow_boundary.size(); ++i) {
         edges.emplace_back(yellow_boundary[i], yellow_boundary[(i + 1) % yellow_boundary.size()]);
     }
+    // compute corresponding triangulation
+    CDT::Triangulation<double> cdt = cdt_cache;
     cdt.insertEdges(edges);
     cdt.eraseOuterTrianglesAndHoles();
     offline_boundary_edges = cdt.fixedEdges;
@@ -72,60 +79,79 @@ void compute_path(const std::vector<Cone>& cones) {
     }
     assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
 
-    center_points = {};
+    // construct center line
+    center_points = { };
     for (const auto e : offline_inner_edges) {
         // get center point of e
         const Cone& c1 = cones[e.v1()];
         const Cone& c2 = cones[e.v2()];
         center_points.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
     }
-    center_line = calculate_boundary(center_points, ConeColor::CENTER);
-}
+    center_line_idxs = calculate_boundary(center_points, ConeColor::CENTER);
 
-const CDT::EdgeUSet& get_offline_edges() {
-    return offline_inner_edges;
-}
-const CDT::EdgeUSet& get_boundary_edges() {
-    return offline_boundary_edges;
-}
-const std::vector<Cone>& get_center_points() {
-    return center_points;
-}
-const std::vector<CDT::VertInd>& get_center_line() {
-    return center_line;
-}
+    // center line parameterization prefix
+    alglib::real_1d_array center_line_len_prefix;
+    center_line_len_prefix.setlength(center_line_idxs.size() + 1);
+    for (size_t i = 1; i <= center_line_idxs.size(); ++i) {
+        const Cone& c1 = center_points[center_line_idxs[i - 1]];
+        const Cone& c2 = center_points[center_line_idxs[i]];
+        center_line_len_prefix[i] = center_line_len_prefix[i - 1] + std::hypot(c1.x - c2.x, c1.y - c2.y);
+    }
+    center_line_length = center_line_len_prefix[center_line_idxs.size()];
 
-static CDT::EdgeUSet edges;
-void update_cone_positions(const std::vector<Cone>& cones) {
-    static CDT::Triangulation<double> cdt;
-    static size_t seen_cones = 0;
-    if (seen_cones == cones.size()) {
-        return;
+    // draw a spline between all the center points
+    alglib::real_1d_array xs, ys { };
+    xs.setlength(center_line_idxs.size() + 1);
+    ys.setlength(center_line_idxs.size() + 1);
+    for (size_t i = 0; i < center_line_idxs.size(); ++i) {
+        const Cone& c = center_points[center_line_idxs[i]];
+        xs[i] = c.x;
+        ys[i] = c.y;
     }
+    // cycle around
+    xs[center_line_idxs.size()] = center_points[center_line_idxs[0]].x;
+    ys[center_line_idxs.size()] = center_points[center_line_idxs[0]].y;
 
-    ScopeTimer s { "online triangulation timer" };
-    const auto start = std::next(cones.begin(), static_cast<std::vector<Cone>::difference_type>(seen_cones));
-    cdt.insertVertices(
-        start, cones.end(), [](const Cone& c) { return c.x; }, [](const Cone& c) { return c.y; });
-    CDT::Triangulation<double> cpy = cdt;
-    cpy.eraseSuperTriangle();
-    edges = CDT::extractEdgesFromTriangles(cpy.triangles);
+    alglib::spline1dbuildcubic(xs, center_line_len_prefix, x_spline);
+    alglib::spline1dbuildcubic(ys, center_line_len_prefix, y_spline);
 }
 
-const CDT::EdgeUSet& get_triangulation() {
-    return edges;
+double project(const double x, const double y) {
+    static constexpr uint32_t samples = 10;
+    double best_dist = std::numeric_limits<double>::max(), best_t = 0;
+    for (double at_t = 0; at_t <= center_line_length; at_t += center_line_length / samples) { // NOLINT(*-flp30-c)
+        if (const double dist = std::hypot(
+                alglib::spline1dcalc(x_spline, at_t) - x,
+                alglib::spline1dcalc(y_spline, at_t) - y);
+            dist < best_dist) {
+            best_t = project(x, y, at_t);
+            best_dist = std::hypot(
+                alglib::spline1dcalc(x_spline, best_t) - x,
+                alglib::spline1dcalc(y_spline, best_t) - y);
+        }
+    }
+    return best_t;
 }
+double project(const double x, const double y, double at_t) {
+    // just good to double check
+    assert(0 <= at_t);
+    assert(at_t <= center_line_length);
+
+    double dd;
+    double at_x, at_dx;
+    alglib::spline1ddiff(x_spline, at_t, at_x, at_dx, dd);
+    double at_y, at_dy;
+    alglib::spline1ddiff(y_spline, at_t, at_y, at_dy, dd);
 
-/**
- * Projects point at (x,y) to the line defined by c0 and c1.
- * @param x Point to project x coordinate
- * @param y Point to project y coordinate
- * @param c0 First point defining the line to project onto
- * @param c1 Second point defining the line to project onto
- * @return the parameter t such that the projected point is at (1-t)*c0 + t*c1
- */
-double project(const double x, const double y, const Cone& c0, const Cone& c1) {
-    const double x_min_x0 = x - c0.x;
-    const double y_min_y0 = y - c0.y;
-    return x_min_x0 * (c1.x - c0.x) + y_min_y0 * (c1.y - c0.y);
-}
\ No newline at end of file
+    // newton stepping ????
+    for (uint32_t i = 0; i < 20; i++) {
+        const double f_prime = 2 * (at_x * at_dy + at_y * at_dx) - (x * at_dy + y * at_dx);
+        const double f = (at_x * at_dy + at_y * at_dx) - (x * at_dy + y * at_dx);
+        const double step = f / f_prime;
+        at_t -= step;
+        if (step < 1e-6) {
+            return at_t;
+        }
+    }
+    throw std::runtime_error("project did not converge");
+}
diff --git a/auto_sim/test_controller_2/path.hpp b/auto_sim/test_controller_2/path.hpp
index 0639ae7..0b52c2d 100644
--- a/auto_sim/test_controller_2/path.hpp
+++ b/auto_sim/test_controller_2/path.hpp
@@ -1,32 +1,36 @@
 #pragma once
 
 #include "CDT.h"
+#include "interpolation.h"
 #include "types.hpp"
+
 #include <vector>
 
 /**
- * @param cones cones to calculate the boundary from
- * @param c the color of the cones to calculate the boundary for
- * @return a vector of vertex indices that form the boundary of the given color. The order of the vertices is not guaranteed to be clockwise or counterclockwise.
+ * This computes the path from the given ALL cones offline.
  */
-std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& cones, ConeColor c);
-
+void compute_path_from_percepted_cones();
 /**
- * This computes the path from the given ALL cones offline.
- * @param cones
+ * Note this overload is MUCH faster than without at_t
+ * @param x x position
+ * @param y y position
+ * @param at_t please use this to seed the optimization algorithm
+ * @return t s.t. the point on the center line that is closest to (x, y) in terms of Euclidean distance
  */
-void compute_path(const std::vector<Cone>& cones);
-
+double project(double x, double y, double at_t = 0);
 /**
- * @param cones
+ * this variant tries a bunch of values of at_t, between [0, center_line_length], and returns the best one.
+ * this is more expensive but can be more robust if the center line is very curvy and the optimization algorithm gets stuck in a local minimum.
+ * @param x x position
+ * @param y y position
+ * @return
  */
-void update_cone_positions(const std::vector<Cone>& cones);
-
-// NOTE everything under this line should be private, but we are exposing it for testing purposes
-const CDT::EdgeUSet& get_offline_edges();
-const CDT::EdgeUSet& get_boundary_edges();
-const std::vector<Cone>& get_center_points();
-const std::vector<CDT::VertInd>& get_center_line();
-const CDT::EdgeUSet& get_triangulation();
+double project(double x, double y);
 
-double project(double x, double y, const Cone& c0, const Cone& c1);
\ No newline at end of file
+// for debugging purposes only
+inline CDT::EdgeUSet offline_boundary_edges;
+inline CDT::EdgeUSet offline_inner_edges;
+inline std::vector<Cone> center_points;
+inline std::vector<CDT::VertInd> center_line_idxs;
+inline alglib::spline1dinterpolant x_spline, y_spline;
+inline double center_line_length;
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/perception.cpp b/auto_sim/test_controller_2/perception.cpp
new file mode 100644
index 0000000..f90e7de
--- /dev/null
+++ b/auto_sim/test_controller_2/perception.cpp
@@ -0,0 +1 @@
+#include "perception.hpp"
diff --git a/auto_sim/test_controller_2/perception.hpp b/auto_sim/test_controller_2/perception.hpp
new file mode 100644
index 0000000..d60fd76
--- /dev/null
+++ b/auto_sim/test_controller_2/perception.hpp
@@ -0,0 +1,9 @@
+#pragma once
+
+#include "types.hpp"
+#include <vector>
+
+inline std::vector<Cone> cones {};
+inline void mock_perception(std::vector<Cone>&& new_cones) {
+    cones = std::move(new_cones);
+}
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index 8b775ad..8da229f 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -1,6 +1,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
+#include "CDT.h"
 #include "controller.hpp"
 #include "path.hpp"
 #include "sim.hpp"
@@ -42,36 +43,39 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
         Compute control output
     )pbdoc");
 
-    // offline path calculations
-    m.def("calculate_boundary", &calculate_boundary, R"pbdoc(
-        Calculate the boundary of the given color from the list of cones
-    )pbdoc");
-    m.def("compute_path", &compute_path, R"pbdoc()
+    m.def("compute_path", &compute_path_from_percepted_cones, R"pbdoc()
         Compute the triangulation from a list of cones
     )pbdoc");
-    m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
+
+    // debugging visualization purposes
+    m.def(
+        "get_offline_edges", [] -> CDT::EdgeUSet& {
+            return offline_inner_edges;
+        },
+        py::return_value_policy::reference, R"pbdoc()
         Get the offline edges calculated from compute_path()
     )pbdoc");
-    m.def("get_boundary_edges", &get_boundary_edges, py::return_value_policy::reference, R"pbdoc()
+    m.def(
+        "get_boundary_edges", [] -> CDT::EdgeUSet& {
+            return offline_boundary_edges;
+        },
+        py::return_value_policy::reference, R"pbdoc()
         Get the boundary edges calculated from compute_path()
     )pbdoc");
-    m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc())
+    m.def(
+        "get_center_points", [] -> std::vector<Cone>& {
+            return center_points;
+        },
+        py::return_value_policy::reference, R"pbdoc())
         Get the center points calculated from compute_path()
     )pbdoc");
-    m.def("get_center_line", get_center_line, py::return_value_policy::reference, R"pbdoc())
+    m.def(
+        "get_center_line", [] -> std::vector<CDT::VertInd>& {
+            return center_line_idxs;
+        },
+        py::return_value_policy::reference, R"pbdoc())
         Get the center line calculated from compute_path()
     )pbdoc");
-    m.def("project", &project, R"pbdoc())
-        Project a point onto the center line
-    )pbdoc");
-
-    // online path caclulations
-    m.def("update_cone_positions", &update_cone_positions, R"pbdoc()
-        Update the triangulation with new cone positions
-    )pbdoc");
-    m.def("get_triangulation", &get_triangulation, py::return_value_policy::reference, R"pbdoc(
-        Get the current triangulation object)
-    )pbdoc");
 
     m.def("sim_step", &sim_step, R"pbdoc(
         Simulate one step of the vehicle dynamics
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index c0fa05e..b604625 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -7,7 +7,7 @@
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp"],
+        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp", "perception.cpp"],
         include_dirs=[".", "build/_deps/cdt-src/CDT/include"],
         language="c++",
     ),

From 6301414638214835e29f60854e3a9aaa11d1b446 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Tue, 7 Apr 2026 22:22:43 -0700
Subject: [PATCH 44/52] p

---
 auto_sim/main.py                          |  5 +-
 auto_sim/render.py                        | 23 ++++++-
 auto_sim/test_controller_2/CMakeLists.txt |  2 +-
 auto_sim/test_controller_2/path.cpp       | 71 ++++++++++++----------
 auto_sim/test_controller_2/path.hpp       | 14 +++--
 auto_sim/test_controller_2/perception.hpp |  4 +-
 auto_sim/test_controller_2/pybind.cpp     | 74 +++++++++++++++++------
 auto_sim/test_controller_2/setup.py       | 14 ++++-
 8 files changed, 141 insertions(+), 66 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index cbb1952..8e12cf8 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -1,5 +1,5 @@
 import pygame
-from Controller import compute, sim_step, Cone, ConeColor, VehicleState, compute_path
+from Controller import compute, sim_step, Cone, ConeColor, VehicleState, mock_perception, compute_path
 from render import init, render_world
 import ctypes
 import platform
@@ -50,7 +50,8 @@ def handle_key(key: int, state: VehicleState):
 def simulate_cone_detection(state: VehicleState):
     global ran
     if not ran:
-        compute_path(CONE_POSITIONS)
+        mock_perception(CONE_POSITIONS)
+        compute_path()
         ran = True
     return CONE_POSITIONS
 
diff --git a/auto_sim/render.py b/auto_sim/render.py
index c709418..cb0ad33 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,7 +1,7 @@
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, get_offline_edges, get_center_line, get_center_points, get_boundary_edges, project
+from Controller import VehicleState, Cone, ConeColor, spline_t, get_center_line_length, project, project_seeded
 from math import ceil, degrees
 import numpy as np
 
@@ -81,9 +81,9 @@ def int_to_color(value: ConeColor) -> str:
 			return "white"
 
 # boundary = None
-
+at_t = None
 def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
-	global w, h
+	global w, h, at_t
 	w, h = screen.get_width(), screen.get_height()
 
 	# grid for context
@@ -127,6 +127,23 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# 		transform(v2.x, v2.y, vehicle_state), 2
 	# 	)
 
+	# if at_t is None:
+	# else:
+	# 	at_t = project_seeded(vehicle_state.x, vehicle_state.y, at_t)
+	at_t = project(vehicle_state.x, vehicle_state.y)
+	x = spline_t(at_t)
+	pygame.draw.circle(screen, "red", transform(x.x, x.y, vehicle_state), 5)
+
+	# DRAW SPLINE
+	# steps = 10
+	# dt = get_center_line_length() / steps
+	# for t in range(steps):
+	# 	x1 = spline_t(t * dt)
+	# 	x2= spline_t((t + 1) * dt)
+	# 	pygame.draw.line(screen, "green",
+	# 			   transform(x1.x, x1.y, vehicle_state),
+	# 			   transform(x2.x, x2.y, vehicle_state), 2)
+
 	for cone in cones:
 		pygame.draw.circle(
 			screen, int_to_color(cone.c),
diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index bdc680d..104c72a 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -47,7 +47,7 @@ CPMAddPackage(
 add_library(alglib_interface INTERFACE)
 target_include_directories(alglib_interface INTERFACE ${alglib_SOURCE_DIR}/src)
 
-file(GLOB SOURCES *.cpp)
+file(GLOB SOURCES *.cpp ${alglib_SOURCE_DIR}/src/*.cpp)
 pybind11_add_module(controller ${SOURCES})
 target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
 target_link_libraries(controller PRIVATE eigen_interface alglib_interface)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/path.cpp b/auto_sim/test_controller_2/path.cpp
index 0e5a720..d8b40f7 100644
--- a/auto_sim/test_controller_2/path.cpp
+++ b/auto_sim/test_controller_2/path.cpp
@@ -39,11 +39,9 @@ static std::vector<CDT::VertInd> calculate_boundary(const std::vector<Cone>& con
     return path;
 }
 
-static float mod(const float a, const float b) {
-    return a - b * std::floor(a / b);
-}
 static double mod(const double a, const double b) {
-    return a - b * std::floor(a / b);
+    const double result = std::fmod(a, b);
+    return result >= 0 ? result : result + b;
 }
 
 void compute_path_from_percepted_cones() {
@@ -92,15 +90,16 @@ void compute_path_from_percepted_cones() {
     // center line parameterization prefix
     alglib::real_1d_array center_line_len_prefix;
     center_line_len_prefix.setlength(center_line_idxs.size() + 1);
+    center_line_len_prefix[0] = 0;
     for (size_t i = 1; i <= center_line_idxs.size(); ++i) {
         const Cone& c1 = center_points[center_line_idxs[i - 1]];
-        const Cone& c2 = center_points[center_line_idxs[i]];
+        const Cone& c2 = center_points[center_line_idxs[i % center_line_idxs.size()]];
         center_line_len_prefix[i] = center_line_len_prefix[i - 1] + std::hypot(c1.x - c2.x, c1.y - c2.y);
     }
     center_line_length = center_line_len_prefix[center_line_idxs.size()];
 
     // draw a spline between all the center points
-    alglib::real_1d_array xs, ys { };
+    alglib::real_1d_array xs, ys;
     xs.setlength(center_line_idxs.size() + 1);
     ys.setlength(center_line_idxs.size() + 1);
     for (size_t i = 0; i < center_line_idxs.size(); ++i) {
@@ -112,46 +111,54 @@ void compute_path_from_percepted_cones() {
     xs[center_line_idxs.size()] = center_points[center_line_idxs[0]].x;
     ys[center_line_idxs.size()] = center_points[center_line_idxs[0]].y;
 
-    alglib::spline1dbuildcubic(xs, center_line_len_prefix, x_spline);
-    alglib::spline1dbuildcubic(ys, center_line_len_prefix, y_spline);
+    alglib::spline1dbuildcubic(center_line_len_prefix, xs, x_spline);
+    alglib::spline1dbuildcubic(center_line_len_prefix, ys, y_spline);
 }
 
 double project(const double x, const double y) {
-    static constexpr uint32_t samples = 10;
+    const ScopeTimer s { "project timer" };
+    static constexpr uint32_t samples = 50;
+    static constexpr double eps = 0;
+
     double best_dist = std::numeric_limits<double>::max(), best_t = 0;
-    for (double at_t = 0; at_t <= center_line_length; at_t += center_line_length / samples) { // NOLINT(*-flp30-c)
-        if (const double dist = std::hypot(
-                alglib::spline1dcalc(x_spline, at_t) - x,
-                alglib::spline1dcalc(y_spline, at_t) - y);
-            dist < best_dist) {
-            best_t = project(x, y, at_t);
-            best_dist = std::hypot(
-                alglib::spline1dcalc(x_spline, best_t) - x,
-                alglib::spline1dcalc(y_spline, best_t) - y);
+    const double step_size = center_line_length / samples - eps;
+    assert(step_size > 0);
+    for (double at_t = eps; at_t < center_line_length; at_t += step_size) { // NOLINT(*-flp30-c)
+        const double t = project(x, y, at_t);
+        const double d = std::hypot(
+            alglib::spline1dcalc(x_spline, t) - x,
+            alglib::spline1dcalc(y_spline, t) - y);
+        if (d < best_dist) {
+            best_dist = d;
+            best_t = t;
         }
     }
     return best_t;
 }
-double project(const double x, const double y, double at_t) {
+double project(const double x0, const double y0, double t) {
     // just good to double check
-    assert(0 <= at_t);
-    assert(at_t <= center_line_length);
-
-    double dd;
-    double at_x, at_dx;
-    alglib::spline1ddiff(x_spline, at_t, at_x, at_dx, dd);
-    double at_y, at_dy;
-    alglib::spline1ddiff(y_spline, at_t, at_y, at_dy, dd);
+    assert(0 <= t);
+    assert(t <= center_line_length);
 
     // newton stepping ????
     for (uint32_t i = 0; i < 20; i++) {
-        const double f_prime = 2 * (at_x * at_dy + at_y * at_dx) - (x * at_dy + y * at_dx);
-        const double f = (at_x * at_dy + at_y * at_dx) - (x * at_dy + y * at_dx);
+        double l_x, l_dx, l_ddx;
+        alglib::spline1ddiff(x_spline, t, l_x, l_dx, l_ddx);
+        double l_y, l_dy, l_ddy;
+        alglib::spline1ddiff(y_spline, t, l_y, l_dy, l_ddy);
+        // ||l'(t)||_2 + (l(t) - x) dot l''(t)
+        const double f_prime = (l_dx * l_dx + l_dy * l_dy) + ((l_x - x0) * l_ddx + (l_y - y0) * l_ddy);
+        // (l(t) - x) dot l'(t)
+        const double f = (l_x - x0) * l_dx + (l_y - y0) * l_dy;
         const double step = f / f_prime;
-        at_t -= step;
+        t = mod(t - step, center_line_length);
         if (step < 1e-6) {
-            return at_t;
+            return t;
         }
     }
-    throw std::runtime_error("project did not converge");
+    throw std::exception("project did not converge");
+}
+
+Location spline_t(const double t) {
+    return { alglib::spline1dcalc(x_spline, t), alglib::spline1dcalc(y_spline, t) };
 }
diff --git a/auto_sim/test_controller_2/path.hpp b/auto_sim/test_controller_2/path.hpp
index 0b52c2d..3a7f3f2 100644
--- a/auto_sim/test_controller_2/path.hpp
+++ b/auto_sim/test_controller_2/path.hpp
@@ -12,12 +12,12 @@
 void compute_path_from_percepted_cones();
 /**
  * Note this overload is MUCH faster than without at_t
- * @param x x position
- * @param y y position
- * @param at_t please use this to seed the optimization algorithm
+ * @param x0 x position
+ * @param y0 y position
+ * @param t please use this to seed the optimization algorithm
  * @return t s.t. the point on the center line that is closest to (x, y) in terms of Euclidean distance
  */
-double project(double x, double y, double at_t = 0);
+double project(double x0, double y0, double t);
 /**
  * this variant tries a bunch of values of at_t, between [0, center_line_length], and returns the best one.
  * this is more expensive but can be more robust if the center line is very curvy and the optimization algorithm gets stuck in a local minimum.
@@ -27,6 +27,12 @@ double project(double x, double y, double at_t = 0);
  */
 double project(double x, double y);
 
+struct Location {
+    double x;
+    double y;
+};
+Location spline_t(double t);
+
 // for debugging purposes only
 inline CDT::EdgeUSet offline_boundary_edges;
 inline CDT::EdgeUSet offline_inner_edges;
diff --git a/auto_sim/test_controller_2/perception.hpp b/auto_sim/test_controller_2/perception.hpp
index d60fd76..377c27c 100644
--- a/auto_sim/test_controller_2/perception.hpp
+++ b/auto_sim/test_controller_2/perception.hpp
@@ -3,7 +3,7 @@
 #include "types.hpp"
 #include <vector>
 
-inline std::vector<Cone> cones {};
-inline void mock_perception(std::vector<Cone>&& new_cones) {
+inline std::vector<Cone> cones { };
+inline void mock_perception(std::vector<Cone> new_cones) {
     cones = std::move(new_cones);
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index 8da229f..d7e0068 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -4,11 +4,28 @@
 #include "CDT.h"
 #include "controller.hpp"
 #include "path.hpp"
+#include "perception.hpp"
 #include "sim.hpp"
 #include "types.hpp"
 
 namespace py = pybind11;
 
+static CDT::EdgeUSet& get_offline_edges() {
+    return offline_inner_edges;
+}
+static CDT::EdgeUSet& get_boundary_edges() {
+    return offline_boundary_edges;
+}
+static std::vector<Cone>& get_center_points() {
+    return center_points;
+}
+static std::vector<CDT::VertInd>& get_center_line() {
+    return center_line_idxs;
+}
+static double get_center_line_length() {
+    return center_line_length;
+}
+
 PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     py::class_<ControlOutput>(m, "ControlOutput")
         .def(py::init<double, double>())
@@ -39,6 +56,11 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
         .def("v1", &CDT::Edge::v1)
         .def("v2", &CDT::Edge::v2);
 
+    py::class_<Location>(m, "Location")
+        .def(py::init<double, double>())
+        .def_readwrite("x", &Location::x)
+        .def_readwrite("y", &Location::y);
+
     m.def("compute", &compute, R"pbdoc(
         Compute control output
     )pbdoc");
@@ -48,36 +70,48 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     )pbdoc");
 
     // debugging visualization purposes
-    m.def(
-        "get_offline_edges", [] -> CDT::EdgeUSet& {
-            return offline_inner_edges;
-        },
-        py::return_value_policy::reference, R"pbdoc()
+    m.def("get_offline_edges", &get_offline_edges, py::return_value_policy::reference, R"pbdoc()
         Get the offline edges calculated from compute_path()
     )pbdoc");
-    m.def(
-        "get_boundary_edges", [] -> CDT::EdgeUSet& {
-            return offline_boundary_edges;
-        },
-        py::return_value_policy::reference, R"pbdoc()
+    m.def("get_boundary_edges", &get_boundary_edges, py::return_value_policy::reference, R"pbdoc(
         Get the boundary edges calculated from compute_path()
     )pbdoc");
-    m.def(
-        "get_center_points", [] -> std::vector<Cone>& {
-            return center_points;
-        },
-        py::return_value_policy::reference, R"pbdoc())
+    m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc(
         Get the center points calculated from compute_path()
     )pbdoc");
-    m.def(
-        "get_center_line", [] -> std::vector<CDT::VertInd>& {
-            return center_line_idxs;
-        },
-        py::return_value_policy::reference, R"pbdoc())
+    m.def("get_center_line", &get_center_line, py::return_value_policy::reference, R"pbdoc(
         Get the center line calculated from compute_path()
     )pbdoc");
+    m.def("get_center_line_length", &get_center_line_length, R"pbdoc(
+        Get the length of the center line calculated from compute_path()
+    )pbdoc");
 
     m.def("sim_step", &sim_step, R"pbdoc(
         Simulate one step of the vehicle dynamics
     )pbdoc");
+
+    m.def("project", [](const double a, const double b) { return project(a, b); }, R"pbdoc(
+        Project a point onto a line defined by two points
+    )pbdoc");
+    m.def("project_seeded", [](const double a, const double b, const double c) { return project(a, b, c); }, R"pbdoc()
+        Project a point onto a line defined by two points, with a seed for the optimization algorithm
+    )pbdoc");
+    m.def("spline_t", &spline_t, R"pbdoc()
+        Get the point on the center line corresponding to a given t
+    )pbdoc");
+
+    m.def("mock_perception", &mock_perception, R"pbdoc(
+        Mock the perception module by directly setting the list of cones
+    )pbdoc");
+
+    static py::exception<alglib::ap_error> ex(m, "Alglib::ApError");
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p)
+                std::rethrow_exception(p);
+        } catch (const alglib::ap_error& e) {
+            // Set the Python error using a custom field instead of .what()
+            ex(e.msg.c_str());
+        }
+    });
 }
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/setup.py b/auto_sim/test_controller_2/setup.py
index b604625..5179022 100644
--- a/auto_sim/test_controller_2/setup.py
+++ b/auto_sim/test_controller_2/setup.py
@@ -4,11 +4,21 @@
 
 __version__ = "0.0.1"
 
+# get all sources in the build/_deps/alglib-src/alglib/src directory
+import os
+
+alglib_srcs = []
+for root, dirs, files in os.walk("build/_deps/alglib-src/src"):
+    for file in files:
+        if file.endswith(".cpp"):
+            alglib_srcs.append(os.path.join(root, file))
+print(alglib_srcs)
+
 ext_modules = [
     Pybind11Extension(
         "Controller",
-        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp", "perception.cpp"],
-        include_dirs=[".", "build/_deps/cdt-src/CDT/include"],
+        ["pybind.cpp", "sim.cpp", "controller.cpp", "path.cpp", "perception.cpp"] + alglib_srcs,
+        include_dirs=[".", "build/_deps/cdt-src/CDT/include", "build/_deps/alglib-src/src"],
         language="c++",
     ),
 ]

From 2652e74bd3d2f7206f5857578e63d0487cd2da23 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Wed, 8 Apr 2026 01:13:58 -0700
Subject: [PATCH 45/52] fix :)

---
 auto_sim/main.py                      | 14 +++----
 auto_sim/render.py                    | 54 +++++++++++++++++----------
 auto_sim/test_controller_2/path.cpp   | 36 ++++++++++--------
 auto_sim/test_controller_2/path.hpp   |  2 +-
 auto_sim/test_controller_2/pybind.cpp |  6 ---
 5 files changed, 62 insertions(+), 50 deletions(-)

diff --git a/auto_sim/main.py b/auto_sim/main.py
index 8e12cf8..bb1faaf 100644
--- a/auto_sim/main.py
+++ b/auto_sim/main.py
@@ -36,15 +36,11 @@
 # vehicle_state.omega = -0.2
 
 def handle_key(key: int, state: VehicleState):
-	match key:
-		case pygame.K_d:
-			state.y -= 1
-		case pygame.K_a:
-			state.y += 1
-		case pygame.K_w:
-			state.x += 1
-		case pygame.K_s:
-			state.x -= 1
+    match key:
+        case pygame.K_d: state.y -= 1
+        case pygame.K_a: state.y += 1
+        case pygame.K_w: state.x += 1
+        case pygame.K_s: state.x -= 1
 
 ran = False
 def simulate_cone_detection(state: VehicleState):
diff --git a/auto_sim/render.py b/auto_sim/render.py
index cb0ad33..9f366ee 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,9 +1,12 @@
+from typing import Tuple
+
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, spline_t, get_center_line_length, project, project_seeded
+from Controller import VehicleState, Cone, ConeColor, spline_t, project, get_center_line_length, get_center_points
 from math import ceil, degrees
 import numpy as np
+from colorsys import hsv_to_rgb
 
 PIXELS_PER_M = 	20.0
 w: int
@@ -71,6 +74,25 @@ def drawGrid(screen: pygame.Surface, state: VehicleState, color=(45, 45, 45), sp
 
 	screen.blit(screen_grid, (0, 0))
 
+
+# def create_spline_surface():
+# 	surf = pygame.Surface((77 * PIXELS_PER_M, 47 * PIXELS_PER_M), pygame.SRCALPHA)
+# 	length = get_center_line_length()
+# 	for x in range(int(77 * PIXELS_PER_M)):
+# 		for y in range(int(47 * PIXELS_PER_M)):
+# 			k = hsv_to_rgb(project(22-x/PIXELS_PER_M, -39+y/PIXELS_PER_M)/length, 1, 1)
+# 			surf.set_at((x, y), (int(k[0]*255), int(k[1]*255), int(k[2]*255)))
+# 	return surf
+
+# spline_surface = None
+# def drawSplintSurface(screen: pygame.Surface, vehicle_state: VehicleState):
+# 	global spline_surface	
+# 	if spline_surface is None:
+# 		spline_surface = create_spline_surface()
+# 	rotated_surf: pygame.Surface = pygame.transform.rotate(spline_surface, degrees(-vehicle_state.theta - np.pi/2))
+# 	screen.blit(rotated_surf, rotated_surf.get_rect(center=transform(-16.5, -15.5, vehicle_state)))
+	
+
 def int_to_color(value: ConeColor) -> str:
 	match value:
 		case ConeColor.BLUE:
@@ -80,7 +102,6 @@ def int_to_color(value: ConeColor) -> str:
 		case _:
 			return "white"
 
-# boundary = None
 at_t = None
 def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.Surface):
 	global w, h, at_t
@@ -88,13 +109,11 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 
 	# grid for context
 	drawGrid(screen, vehicle_state)
+	# drawSplintSurface(screen, vehicle_state)
 
-	p = transform(0, 0, vehicle_state)
-	pygame.draw.circle(screen, "white",p , 5)
-
-	# if boundary is None:
-	# 	boundary = calculate_boundary(cones, ConeColor.YELLOW)
+	# pygame.draw.circle(screen, "white", transform(0, 0, vehicle_state), 5)
 
+	# DRAW TRIANGULATION
 	# for edge in get_offline_edges():
 	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
 	# 	default_colour = "#676767"
@@ -102,7 +121,6 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# 		transform(v1.x, v1.y, vehicle_state),
 	# 		transform(v2.x, v2.y, vehicle_state), 2
 	# 	)
-
 	# for edge in get_boundary_edges():
 	# 	v1, v2 = cones[edge.v1()], cones[edge.v2()]
 	# 	default_colour = "#FF0000"
@@ -117,30 +135,28 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 	# 		transform(v2.x, v2.y, vehicle_state), 1
 	# 	)
 
+	# DRAW CENTER LINE
 	# center_points = get_center_points()
-	# center_line = get_center_line()
-	# for i in range(len(center_line)):
-	# 	v1, v2 = center_points[center_line[i]], center_points[center_line[(i+1) % len(center_line)]] # returns cone objects
+	# for i in range(len(center_points)):
+	# 	v1, v2 = center_points[i], center_points[(i+1) % len(center_points)] # returns cone objects
 	# 	default_colour = "#676767"
 	# 	pygame.draw.line(screen, default_colour,
 	# 		transform(v1.x, v1.y, vehicle_state),
 	# 		transform(v2.x, v2.y, vehicle_state), 2
 	# 	)
 
-	# if at_t is None:
-	# else:
-	# 	at_t = project_seeded(vehicle_state.x, vehicle_state.y, at_t)
-	at_t = project(vehicle_state.x, vehicle_state.y)
-	x = spline_t(at_t)
-	pygame.draw.circle(screen, "red", transform(x.x, x.y, vehicle_state), 5)
+	# DRAW PATH PROJECTION
+	# at_t = project(vehicle_state.x, vehicle_state.y)
+	# x = spline_t(at_t)
+	# pygame.draw.circle(screen, "red", transform(x.x, x.y, vehicle_state), 5)
 
 	# DRAW SPLINE
-	# steps = 10
+	# steps = 100
 	# dt = get_center_line_length() / steps
 	# for t in range(steps):
 	# 	x1 = spline_t(t * dt)
 	# 	x2= spline_t((t + 1) * dt)
-	# 	pygame.draw.line(screen, "green",
+	# 	pygame.draw.line(screen, "#676767",
 	# 			   transform(x1.x, x1.y, vehicle_state),
 	# 			   transform(x2.x, x2.y, vehicle_state), 2)
 
diff --git a/auto_sim/test_controller_2/path.cpp b/auto_sim/test_controller_2/path.cpp
index d8b40f7..6c39b83 100644
--- a/auto_sim/test_controller_2/path.cpp
+++ b/auto_sim/test_controller_2/path.cpp
@@ -78,45 +78,50 @@ void compute_path_from_percepted_cones() {
     assert(offline_inner_edges.size() + offline_boundary_edges.size() == original_num_edges);
 
     // construct center line
-    center_points = { };
+    std::vector<Cone> _centers = { };
     for (const auto e : offline_inner_edges) {
         // get center point of e
         const Cone& c1 = cones[e.v1()];
         const Cone& c2 = cones[e.v2()];
-        center_points.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
+        _centers.emplace_back((c1.x + c2.x) / 2, (c1.y + c2.y) / 2, ConeColor::CENTER);
+    }
+    const std::vector<CDT::VertInd> _center_idxs = calculate_boundary(_centers, ConeColor::CENTER);
+    center_points.clear();
+    center_points.reserve(_center_idxs.size());
+    for (const size_t i : _center_idxs) {
+        center_points.push_back(_centers[i]);
     }
-    center_line_idxs = calculate_boundary(center_points, ConeColor::CENTER);
 
     // center line parameterization prefix
     alglib::real_1d_array center_line_len_prefix;
-    center_line_len_prefix.setlength(center_line_idxs.size() + 1);
+    center_line_len_prefix.setlength(center_points.size() + 1);
     center_line_len_prefix[0] = 0;
-    for (size_t i = 1; i <= center_line_idxs.size(); ++i) {
-        const Cone& c1 = center_points[center_line_idxs[i - 1]];
-        const Cone& c2 = center_points[center_line_idxs[i % center_line_idxs.size()]];
+    for (size_t i = 1; i <= center_points.size(); ++i) {
+        const Cone& c1 = center_points[i - 1];
+        const Cone& c2 = center_points[i % center_points.size()];
         center_line_len_prefix[i] = center_line_len_prefix[i - 1] + std::hypot(c1.x - c2.x, c1.y - c2.y);
     }
-    center_line_length = center_line_len_prefix[center_line_idxs.size()];
+    center_line_length = center_line_len_prefix[center_points.size()];
 
     // draw a spline between all the center points
     alglib::real_1d_array xs, ys;
-    xs.setlength(center_line_idxs.size() + 1);
-    ys.setlength(center_line_idxs.size() + 1);
-    for (size_t i = 0; i < center_line_idxs.size(); ++i) {
-        const Cone& c = center_points[center_line_idxs[i]];
+    xs.setlength(center_points.size() + 1);
+    ys.setlength(center_points.size() + 1);
+    for (size_t i = 0; i < center_points.size(); ++i) {
+        const Cone& c = center_points[i];
         xs[i] = c.x;
         ys[i] = c.y;
     }
     // cycle around
-    xs[center_line_idxs.size()] = center_points[center_line_idxs[0]].x;
-    ys[center_line_idxs.size()] = center_points[center_line_idxs[0]].y;
+    xs[center_points.size()] = center_points[0].x;
+    ys[center_points.size()] = center_points[0].y;
 
     alglib::spline1dbuildcubic(center_line_len_prefix, xs, x_spline);
     alglib::spline1dbuildcubic(center_line_len_prefix, ys, y_spline);
 }
 
 double project(const double x, const double y) {
-    const ScopeTimer s { "project timer" };
+    // const ScopeTimer s { "project timer" };
     static constexpr uint32_t samples = 50;
     static constexpr double eps = 0;
 
@@ -156,6 +161,7 @@ double project(const double x0, const double y0, double t) {
             return t;
         }
     }
+    std::cout << "project did not converge at x=" << x0 << "and y=" << y0 << std::endl;
     throw std::exception("project did not converge");
 }
 
diff --git a/auto_sim/test_controller_2/path.hpp b/auto_sim/test_controller_2/path.hpp
index 3a7f3f2..466c2d0 100644
--- a/auto_sim/test_controller_2/path.hpp
+++ b/auto_sim/test_controller_2/path.hpp
@@ -37,6 +37,6 @@ Location spline_t(double t);
 inline CDT::EdgeUSet offline_boundary_edges;
 inline CDT::EdgeUSet offline_inner_edges;
 inline std::vector<Cone> center_points;
-inline std::vector<CDT::VertInd> center_line_idxs;
+// inline std::vector<CDT::VertInd> center_line_idxs;
 inline alglib::spline1dinterpolant x_spline, y_spline;
 inline double center_line_length;
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/pybind.cpp b/auto_sim/test_controller_2/pybind.cpp
index d7e0068..8c2c864 100644
--- a/auto_sim/test_controller_2/pybind.cpp
+++ b/auto_sim/test_controller_2/pybind.cpp
@@ -19,9 +19,6 @@ static CDT::EdgeUSet& get_boundary_edges() {
 static std::vector<Cone>& get_center_points() {
     return center_points;
 }
-static std::vector<CDT::VertInd>& get_center_line() {
-    return center_line_idxs;
-}
 static double get_center_line_length() {
     return center_line_length;
 }
@@ -79,9 +76,6 @@ PYBIND11_MODULE(Controller, m, py::mod_gil_not_used()) {
     m.def("get_center_points", &get_center_points, py::return_value_policy::reference, R"pbdoc(
         Get the center points calculated from compute_path()
     )pbdoc");
-    m.def("get_center_line", &get_center_line, py::return_value_policy::reference, R"pbdoc(
-        Get the center line calculated from compute_path()
-    )pbdoc");
     m.def("get_center_line_length", &get_center_line_length, R"pbdoc(
         Get the length of the center line calculated from compute_path()
     )pbdoc");

From 6e76db3bb9ceb72f24b7338c974925632d5c18a8 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 11 Apr 2026 01:20:05 -0700
Subject: [PATCH 46/52] random

---
 auto_sim/render.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/auto_sim/render.py b/auto_sim/render.py
index 9f366ee..c753cc1 100644
--- a/auto_sim/render.py
+++ b/auto_sim/render.py
@@ -1,12 +1,10 @@
-from typing import Tuple
 
 import pygame
 from scipy.spatial.transform import Rotation as R
 from constants import VEHICLE_WIDTH_M
-from Controller import VehicleState, Cone, ConeColor, spline_t, project, get_center_line_length, get_center_points
+from Controller import VehicleState, Cone, ConeColor, get_center_points, project, spline_t
 from math import ceil, degrees
 import numpy as np
-from colorsys import hsv_to_rgb
 
 PIXELS_PER_M = 	20.0
 w: int
@@ -137,6 +135,8 @@ def render_world(vehicle_state: VehicleState, cones: list[Cone], screen: pygame.
 
 	# DRAW CENTER LINE
 	# center_points = get_center_points()
+	# for point in center_points:
+	# 	pygame.draw.circle(screen, "white", transform(point.x, point.y, vehicle_state), 2)
 	# for i in range(len(center_points)):
 	# 	v1, v2 = center_points[i], center_points[(i+1) % len(center_points)] # returns cone objects
 	# 	default_colour = "#676767"

From ce240a7fe58fdd12ad532765e92d194b3011e2b7 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 25 Jun 2026 17:48:02 -0400
Subject: [PATCH 47/52] qp solver?

---
 auto_sim/test_controller_2/CMakeLists.txt | 20 ++++++++++---
 auto_sim/test_controller_2/controller.cpp | 36 ++++++++++++++++++++++-
 2 files changed, 51 insertions(+), 5 deletions(-)

diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index 104c72a..08f4f5d 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -1,4 +1,5 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 4.1.1)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_CXX_STANDARD 23)
 project(high_level_controller)
 
@@ -24,12 +25,14 @@ CPMAddPackage(
         GIT_TAG 1.4.4
         DOWNLOAD_ONLY TRUE
 )
+add_library(cdt_interface INTERFACE)
+target_include_directories(cdt_interface SYSTEM INTERFACE ${CDT_SOURCE_DIR}/CDT/include)
+
 CPMAddPackage(
         NAME EIGEN
         GIT_REPOSITORY https://gitlab.com/libeigen/eigen
         GIT_TAG 3147391d946bb4b6c68edd901f2add6ac1f31f8c
         GIT_SHALLOW TRUE
-        DOWNLOAD_ONLY TRUE
 )
 set(EIGEN_INCLUDE_DIRS ${EIGEN_SOURCE_DIR})
 add_library(eigen_interface INTERFACE)
@@ -47,7 +50,16 @@ CPMAddPackage(
 add_library(alglib_interface INTERFACE)
 target_include_directories(alglib_interface INTERFACE ${alglib_SOURCE_DIR}/src)
 
+CPMAddPackage(
+        NAME simde
+        URL https://github.com/simd-everywhere/simde/releases/download/v0.8.2/simde-amalgamated-0.8.2.tar.xz
+)
+
+CPMAddPackage(
+        NAME proxsuite
+        URL https://github.com/Simple-Robotics/proxsuite/releases/download/v0.7.3/proxsuite-0.7.3.tar.gz
+)
+
 file(GLOB SOURCES *.cpp ${alglib_SOURCE_DIR}/src/*.cpp)
 pybind11_add_module(controller ${SOURCES})
-target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
-target_link_libraries(controller PRIVATE eigen_interface alglib_interface)
\ No newline at end of file
+target_link_libraries(controller PRIVATE eigen_interface alglib_interface cdt_interface proxsuite)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 2c6caa3..718b727 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,6 +1,40 @@
 #include "controller.hpp"
+#include <proxsuite/proxqp/dense/dense.hpp>
+
+using namespace proxsuite::proxqp;
 
 ControlOutput compute(const VehicleState& ve) {
-    // t.adj will contain the adj list
+    constexpr isize dim = 3, n_eq = 0, n_in = 3;
+    constexpr double eps_abs = 1e-9;
+
+    // qp
+    Eigen::Matrix<double, dim, dim> H;
+    Eigen::Vector<double, dim> g = Eigen::Vector<double, dim>::Random(dim);
+
+    // bounds constraints
+    Eigen::Matrix<double, n_in, dim> C;
+    Eigen::Vector<double, n_in> l;
+    l << -1.0, -1.0, -1.0;
+    Eigen::Vector<double, n_in> u;
+    u << 1.0, 1.0, 1.0;
+
+    // equality constraints
+    Eigen::Matrix<double, n_eq, dim> A;
+    Eigen::Vector<double, n_eq> b = Eigen::Vector<double, n_eq>::Zero(n_eq);
+
+    dense::QP<double> qp(dim, n_eq, n_in);
+    qp.settings.eps_abs = eps_abs;
+    qp.settings.initial_guess = InitialGuessStatus::NO_INITIAL_GUESS;
+    qp.settings.verbose = true;
+    qp.init(H, g, A, b, C, l, u);
+    qp.solve();
+
+    // std::cout << "primal residual: " << qp.results.info.pri_res << std::endl;
+    // std::cout << "dual residual: " << qp.results.info.dua_res << std::endl;
+    // std::cout << "total number of iteration: " << qp.results.info.iter
+    //           << std::endl;
+    // std::cout << "setup timing " << qp.results.info.setup_time << " solve time "
+    //           << qp.results.info.solve_time << std::endl;
+
     return { 0, 0 };
 }
\ No newline at end of file

From 7e13aa90c5bbccf787ec53357f5b63139a71dc23 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Thu, 25 Jun 2026 21:58:28 -0400
Subject: [PATCH 48/52] stupid ahh qp solver

This reverts commit ce240a7fe58fdd12ad532765e92d194b3011e2b7.
---
 auto_sim/test_controller_2/CMakeLists.txt | 20 +++----------
 auto_sim/test_controller_2/controller.cpp | 36 +----------------------
 2 files changed, 5 insertions(+), 51 deletions(-)

diff --git a/auto_sim/test_controller_2/CMakeLists.txt b/auto_sim/test_controller_2/CMakeLists.txt
index 08f4f5d..104c72a 100644
--- a/auto_sim/test_controller_2/CMakeLists.txt
+++ b/auto_sim/test_controller_2/CMakeLists.txt
@@ -1,5 +1,4 @@
-cmake_minimum_required(VERSION 4.1.1)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+cmake_minimum_required(VERSION 3.10)
 set(CMAKE_CXX_STANDARD 23)
 project(high_level_controller)
 
@@ -25,14 +24,12 @@ CPMAddPackage(
         GIT_TAG 1.4.4
         DOWNLOAD_ONLY TRUE
 )
-add_library(cdt_interface INTERFACE)
-target_include_directories(cdt_interface SYSTEM INTERFACE ${CDT_SOURCE_DIR}/CDT/include)
-
 CPMAddPackage(
         NAME EIGEN
         GIT_REPOSITORY https://gitlab.com/libeigen/eigen
         GIT_TAG 3147391d946bb4b6c68edd901f2add6ac1f31f8c
         GIT_SHALLOW TRUE
+        DOWNLOAD_ONLY TRUE
 )
 set(EIGEN_INCLUDE_DIRS ${EIGEN_SOURCE_DIR})
 add_library(eigen_interface INTERFACE)
@@ -50,16 +47,7 @@ CPMAddPackage(
 add_library(alglib_interface INTERFACE)
 target_include_directories(alglib_interface INTERFACE ${alglib_SOURCE_DIR}/src)
 
-CPMAddPackage(
-        NAME simde
-        URL https://github.com/simd-everywhere/simde/releases/download/v0.8.2/simde-amalgamated-0.8.2.tar.xz
-)
-
-CPMAddPackage(
-        NAME proxsuite
-        URL https://github.com/Simple-Robotics/proxsuite/releases/download/v0.7.3/proxsuite-0.7.3.tar.gz
-)
-
 file(GLOB SOURCES *.cpp ${alglib_SOURCE_DIR}/src/*.cpp)
 pybind11_add_module(controller ${SOURCES})
-target_link_libraries(controller PRIVATE eigen_interface alglib_interface cdt_interface proxsuite)
\ No newline at end of file
+target_include_directories(controller PRIVATE ${CDT_SOURCE_DIR}/CDT/include)
+target_link_libraries(controller PRIVATE eigen_interface alglib_interface)
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/controller.cpp b/auto_sim/test_controller_2/controller.cpp
index 718b727..2c6caa3 100644
--- a/auto_sim/test_controller_2/controller.cpp
+++ b/auto_sim/test_controller_2/controller.cpp
@@ -1,40 +1,6 @@
 #include "controller.hpp"
-#include <proxsuite/proxqp/dense/dense.hpp>
-
-using namespace proxsuite::proxqp;
 
 ControlOutput compute(const VehicleState& ve) {
-    constexpr isize dim = 3, n_eq = 0, n_in = 3;
-    constexpr double eps_abs = 1e-9;
-
-    // qp
-    Eigen::Matrix<double, dim, dim> H;
-    Eigen::Vector<double, dim> g = Eigen::Vector<double, dim>::Random(dim);
-
-    // bounds constraints
-    Eigen::Matrix<double, n_in, dim> C;
-    Eigen::Vector<double, n_in> l;
-    l << -1.0, -1.0, -1.0;
-    Eigen::Vector<double, n_in> u;
-    u << 1.0, 1.0, 1.0;
-
-    // equality constraints
-    Eigen::Matrix<double, n_eq, dim> A;
-    Eigen::Vector<double, n_eq> b = Eigen::Vector<double, n_eq>::Zero(n_eq);
-
-    dense::QP<double> qp(dim, n_eq, n_in);
-    qp.settings.eps_abs = eps_abs;
-    qp.settings.initial_guess = InitialGuessStatus::NO_INITIAL_GUESS;
-    qp.settings.verbose = true;
-    qp.init(H, g, A, b, C, l, u);
-    qp.solve();
-
-    // std::cout << "primal residual: " << qp.results.info.pri_res << std::endl;
-    // std::cout << "dual residual: " << qp.results.info.dua_res << std::endl;
-    // std::cout << "total number of iteration: " << qp.results.info.iter
-    //           << std::endl;
-    // std::cout << "setup timing " << qp.results.info.setup_time << " solve time "
-    //           << qp.results.info.solve_time << std::endl;
-
+    // t.adj will contain the adj list
     return { 0, 0 };
 }
\ No newline at end of file

From c5ca0d533cff26b924398e694a8ff5a1e7732af1 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 27 Jun 2026 00:13:24 -0400
Subject: [PATCH 49/52] forces

---
 auto_sim/test_controller_2/forces/.gitignore  |  1 +
 .../forces/forcespro_helper.py                |  5 ++
 .../test_controller_2/forces/test_forces.py   | 60 +++++++++++++++++++
 3 files changed, 66 insertions(+)
 create mode 100644 auto_sim/test_controller_2/forces/.gitignore
 create mode 100644 auto_sim/test_controller_2/forces/forcespro_helper.py
 create mode 100644 auto_sim/test_controller_2/forces/test_forces.py

diff --git a/auto_sim/test_controller_2/forces/.gitignore b/auto_sim/test_controller_2/forces/.gitignore
new file mode 100644
index 0000000..e7a5351
--- /dev/null
+++ b/auto_sim/test_controller_2/forces/.gitignore
@@ -0,0 +1 @@
+get_userid.py
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/forces/forcespro_helper.py b/auto_sim/test_controller_2/forces/forcespro_helper.py
new file mode 100644
index 0000000..b348064
--- /dev/null
+++ b/auto_sim/test_controller_2/forces/forcespro_helper.py
@@ -0,0 +1,5 @@
+import sys
+sys.path.insert(0, 'C:\\Users\\jessi\\Documents\\School\\fsae\\forces_pro_client')
+
+import forcespro
+import forcespro.nlp
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/forces/test_forces.py b/auto_sim/test_controller_2/forces/test_forces.py
new file mode 100644
index 0000000..a9e1c25
--- /dev/null
+++ b/auto_sim/test_controller_2/forces/test_forces.py
@@ -0,0 +1,60 @@
+import numpy as np
+from test_controller_2.forces.forcespro_helper import forcespro
+import test_controller_2.forces.get_userid as get_userid
+
+N = 10
+nx = 0
+nu = 0
+R = np.zeros((nu,nu))
+P = np.zeros((nx,nx))
+Q = np.zeros((nx,nx))
+A = np.zeros((nx,nx))
+B = np.zeros((nx,nu))
+umin = np.zeros((nu,1))
+umax = np.zeros((nu,1))
+xmin = np.zeros((nx,1))
+xmax = np.zeros((nx,1))
+
+# FORCESPRO multistage form # assume variable ordering zi = [u{i-1}, x{i}] for i=1...N
+stages = forcespro.MultistageProblem(N)
+
+# get stages struct of length N
+for i in range(N):
+	# dimensions
+	stages.dims[ i ]['n'] = nx+nu # number of stage variables
+	stages.dims[ i ]['r'] = nx    # number of equality constraints
+	stages.dims[ i ]['l'] = nx+nu # number of lower bounds
+	stages.dims[ i ]['u'] = nx+nu # number of upper bounds
+	
+	# cost
+	if ( i == N-1 ):
+		stages.cost[ i ]['H'] = np.vstack((np.hstack((R,np.zeros((nu,nx)))), np.hstack((np.zeros((nx,nu)),P))))
+	else:
+		stages.cost[ i ]['H'] = np.vstack((np.hstack((R,np.zeros((nu,nx)))), np.hstack((np.zeros((nx,nu)),Q))))
+
+	stages.cost[ i ]['f'] = np.zeros((nx+nu,1)) # linear cost terms
+	# lower bounds
+	stages.ineq[ i ]['b']['lbidx'] = range(1,nu+nx+1) # lower bound acts on these indices
+	stages.ineq[ i ]['b']['lb'] = np.concatenate((umin,xmin),0) # lower bound for this stage variable
+	# upper bounds
+	stages.ineq[ i ]['b']['ubidx'] = range(1,nu+nx+1) # upper bound acts on these indices
+	stages.ineq[ i ]['b']['ub'] = np.concatenate((umax,xmax),0) # upper bound for this stage variable
+
+	# equality constraints
+	if ( i < N-1 ):
+		stages.eq[i]['C'] = np.hstack((np.zeros((nx,nu)),A))
+	if ( i>0 ):
+		stages.eq[i]['c'] = np.zeros((nx,1))
+	stages.eq[i]['D'] = np.hstack((B,-np.eye(nx)))
+
+# RHS of first eq. constr. is a parameter: stages(1).eq.c = -A*x0
+stages.newParam('minusA_times_x0', [1], 'eq.c')
+# define output of the solver
+stages.newOutput('u0', 1, range(1,nu+1))
+
+codeoptions = forcespro.CodeOptions('solver_name')
+# codeoptions.platform = '' # to specify the target platform
+codeoptions.printlevel = 0 # optional, on some platforms printing is not supported
+codeoptions.cleanup = 0 # to keep auxiliary source files (not needed for low-level interface)
+stages.codeoptions = codeoptions
+stages.generateCode(get_userid.userid)
\ No newline at end of file

From e4c4b13e0ecdba3d79578649543a468421ca01c6 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sat, 27 Jun 2026 00:14:14 -0400
Subject: [PATCH 50/52] gi

---
 .gitignore | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 30c681e..895e743 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,4 +3,5 @@ slprj
 *.slxc
 *.asv
 *.autosave
-testing_data
\ No newline at end of file
+testing_data
+BUILD_OUTPUT
\ No newline at end of file

From 6c7c0b7a07b94a19b99c386dada3f2dd72830665 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sun, 28 Jun 2026 19:04:08 -0400
Subject: [PATCH 51/52] forgor labels :(

---
 auto_sim/.gitignore         |   1 -
 auto_sim/labels/0000001.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000002.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000003.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000005.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000008.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000012.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000013.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000014.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000015.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000016.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000017.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000018.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000020.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000021.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000022.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000023.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000024.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000025.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000026.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000027.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000028.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000029.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000030.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000031.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000032.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000035.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000036.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000037.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000038.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000039.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000040.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000041.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000042.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000043.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000044.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000046.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000047.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000048.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000049.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000050.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000051.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000052.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000053.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000054.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000055.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000056.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000057.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000058.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000059.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000060.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000061.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000062.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000063.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000064.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000065.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000066.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000067.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000068.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000069.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000071.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000072.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000073.txt | 144 ++++++++++++++++++++++++++++++++++++
 auto_sim/labels/0000075.txt | 144 ++++++++++++++++++++++++++++++++++++
 64 files changed, 9072 insertions(+), 1 deletion(-)
 create mode 100644 auto_sim/labels/0000001.txt
 create mode 100644 auto_sim/labels/0000002.txt
 create mode 100644 auto_sim/labels/0000003.txt
 create mode 100644 auto_sim/labels/0000005.txt
 create mode 100644 auto_sim/labels/0000008.txt
 create mode 100644 auto_sim/labels/0000012.txt
 create mode 100644 auto_sim/labels/0000013.txt
 create mode 100644 auto_sim/labels/0000014.txt
 create mode 100644 auto_sim/labels/0000015.txt
 create mode 100644 auto_sim/labels/0000016.txt
 create mode 100644 auto_sim/labels/0000017.txt
 create mode 100644 auto_sim/labels/0000018.txt
 create mode 100644 auto_sim/labels/0000020.txt
 create mode 100644 auto_sim/labels/0000021.txt
 create mode 100644 auto_sim/labels/0000022.txt
 create mode 100644 auto_sim/labels/0000023.txt
 create mode 100644 auto_sim/labels/0000024.txt
 create mode 100644 auto_sim/labels/0000025.txt
 create mode 100644 auto_sim/labels/0000026.txt
 create mode 100644 auto_sim/labels/0000027.txt
 create mode 100644 auto_sim/labels/0000028.txt
 create mode 100644 auto_sim/labels/0000029.txt
 create mode 100644 auto_sim/labels/0000030.txt
 create mode 100644 auto_sim/labels/0000031.txt
 create mode 100644 auto_sim/labels/0000032.txt
 create mode 100644 auto_sim/labels/0000035.txt
 create mode 100644 auto_sim/labels/0000036.txt
 create mode 100644 auto_sim/labels/0000037.txt
 create mode 100644 auto_sim/labels/0000038.txt
 create mode 100644 auto_sim/labels/0000039.txt
 create mode 100644 auto_sim/labels/0000040.txt
 create mode 100644 auto_sim/labels/0000041.txt
 create mode 100644 auto_sim/labels/0000042.txt
 create mode 100644 auto_sim/labels/0000043.txt
 create mode 100644 auto_sim/labels/0000044.txt
 create mode 100644 auto_sim/labels/0000046.txt
 create mode 100644 auto_sim/labels/0000047.txt
 create mode 100644 auto_sim/labels/0000048.txt
 create mode 100644 auto_sim/labels/0000049.txt
 create mode 100644 auto_sim/labels/0000050.txt
 create mode 100644 auto_sim/labels/0000051.txt
 create mode 100644 auto_sim/labels/0000052.txt
 create mode 100644 auto_sim/labels/0000053.txt
 create mode 100644 auto_sim/labels/0000054.txt
 create mode 100644 auto_sim/labels/0000055.txt
 create mode 100644 auto_sim/labels/0000056.txt
 create mode 100644 auto_sim/labels/0000057.txt
 create mode 100644 auto_sim/labels/0000058.txt
 create mode 100644 auto_sim/labels/0000059.txt
 create mode 100644 auto_sim/labels/0000060.txt
 create mode 100644 auto_sim/labels/0000061.txt
 create mode 100644 auto_sim/labels/0000062.txt
 create mode 100644 auto_sim/labels/0000063.txt
 create mode 100644 auto_sim/labels/0000064.txt
 create mode 100644 auto_sim/labels/0000065.txt
 create mode 100644 auto_sim/labels/0000066.txt
 create mode 100644 auto_sim/labels/0000067.txt
 create mode 100644 auto_sim/labels/0000068.txt
 create mode 100644 auto_sim/labels/0000069.txt
 create mode 100644 auto_sim/labels/0000071.txt
 create mode 100644 auto_sim/labels/0000072.txt
 create mode 100644 auto_sim/labels/0000073.txt
 create mode 100644 auto_sim/labels/0000075.txt

diff --git a/auto_sim/.gitignore b/auto_sim/.gitignore
index 4c6891f..8b632a4 100644
--- a/auto_sim/.gitignore
+++ b/auto_sim/.gitignore
@@ -1,5 +1,4 @@
 __pycache__
 build
 *.egg-info
-labels
 .idea
\ No newline at end of file
diff --git a/auto_sim/labels/0000001.txt b/auto_sim/labels/0000001.txt
new file mode 100644
index 0000000..d7e9599
--- /dev/null
+++ b/auto_sim/labels/0000001.txt
@@ -0,0 +1,144 @@
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diff --git a/auto_sim/labels/0000002.txt b/auto_sim/labels/0000002.txt
new file mode 100644
index 0000000..7c3cfc6
--- /dev/null
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diff --git a/auto_sim/labels/0000005.txt b/auto_sim/labels/0000005.txt
new file mode 100644
index 0000000..8eccc46
--- /dev/null
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new file mode 100644
index 0000000..43fb3fa
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--- /dev/null
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new file mode 100644
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diff --git a/auto_sim/labels/0000017.txt b/auto_sim/labels/0000017.txt
new file mode 100644
index 0000000..0513f84
--- /dev/null
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new file mode 100644
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new file mode 100644
index 0000000..8521016
--- /dev/null
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new file mode 100644
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new file mode 100644
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--- /dev/null
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diff --git a/auto_sim/labels/0000031.txt b/auto_sim/labels/0000031.txt
new file mode 100644
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new file mode 100644
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diff --git a/auto_sim/labels/0000038.txt b/auto_sim/labels/0000038.txt
new file mode 100644
index 0000000..105afc4
--- /dev/null
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new file mode 100644
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new file mode 100644
index 0000000..bbccdef
--- /dev/null
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new file mode 100644
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--- /dev/null
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index 0000000..c62820c
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new file mode 100644
index 0000000..516b05c
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000..c66c1b7
--- /dev/null
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new file mode 100644
index 0000000..43c2986
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From 25897ef48e7d901bf33a76797f6453426de10b24 Mon Sep 17 00:00:00 2001
From: Edwin <20777515+Lucien950@users.noreply.github.com>
Date: Sun, 28 Jun 2026 22:15:13 -0400
Subject: [PATCH 52/52] fuck me 3.11 ig

---
 auto_sim/test_controller_2/forces/Pipfile     |  14 +
 .../test_controller_2/forces/Pipfile.lock     | 639 ++++++++++++++++++
 .../test_controller_2/forces/test_forces.py   |  90 ++-
 3 files changed, 707 insertions(+), 36 deletions(-)
 create mode 100644 auto_sim/test_controller_2/forces/Pipfile
 create mode 100644 auto_sim/test_controller_2/forces/Pipfile.lock

diff --git a/auto_sim/test_controller_2/forces/Pipfile b/auto_sim/test_controller_2/forces/Pipfile
new file mode 100644
index 0000000..efd0efb
--- /dev/null
+++ b/auto_sim/test_controller_2/forces/Pipfile
@@ -0,0 +1,14 @@
+[[source]]
+url = "https://pypi.org/simple"
+verify_ssl = true
+name = "pypi"
+
+[packages]
+numpy = "1.26.1"
+scipy = "1.11.3"
+requests = "2.22"
+casadi = "3.6.7"
+matplotlib = "*"
+
+[requires]
+python_version = "3.11"
\ No newline at end of file
diff --git a/auto_sim/test_controller_2/forces/Pipfile.lock b/auto_sim/test_controller_2/forces/Pipfile.lock
new file mode 100644
index 0000000..d0f6f0e
--- /dev/null
+++ b/auto_sim/test_controller_2/forces/Pipfile.lock
@@ -0,0 +1,639 @@
+{
+    "_meta": {
+        "hash": {
+            "sha256": "ed04adb12226b92be9067aa25c628aef21923a3120f87e024ccf3dd53a9d7b16"
+        },
+        "pipfile-spec": 6,
+        "requires": {
+            "python_version": "3.11"
+        },
+        "sources": [
+            {
+                "name": "pypi",
+                "url": "https://pypi.org/simple",
+                "verify_ssl": true
+            }
+        ]
+    },
+    "default": {
+        "casadi": {
+            "hashes": [
+                "sha256:0012c1951286013ab1c7ab79f21fec7374995085f9067d8cef7873dea062b426",
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+                "sha256:05ef1a87ac6e173cba3762f0ad0ba50c02154317a1135317a23c446a149a2e12",
+                "sha256:05fedada09ae4f1b8d53194168efa8d88ca878717a9a4e7a2465b6e2aacff805",
+                "sha256:16042ef095117704312be53389a0f22ab7a0968131db2bf785663d8003957a95",
+                "sha256:1a676437955fcda10488fea87f78ae64f495a7247825bda476199cdeb5ba0b4d",
+                "sha256:1a7122f3fd4dca0ed9af72bac398de06e225b291b45c3d89b73a19a3247eeeb5",
+                "sha256:1ab528f5ea04ef56e2676252cfc3a04023de5d1169578d1873ce403e23fb48d5",
+                "sha256:1b7467dd5e664a87e03ff118993587d154371a3fb7020ce705ee1045ab561399",
+                "sha256:1d52d8c11d0125552e10c458d8f33b38cd9a6eb9603405a1df87eb35aae4c93a",
+                "sha256:21cde87288afebb32a2a035bf6b6a91a025e24ee14aba7a0ae5515707b9887c1",
+                "sha256:21d5b4ce0f83cfc4ab3b9129bdd7501758457323518069f760cb13a0cefb7fc9",
+                "sha256:26fea7e80b104698d7c799556ec706ce29748e0e2a045a2ca7eb66032e428929",
+                "sha256:290e92a7e2f4cecffc229dc196a85855e7dbedf6929eed1850b27e4ad8ad67f0",
+                "sha256:32ba1335bb0928fd340adc9e21d481d918025072a1f0540cf94093b95f781951",
+                "sha256:3a51b7731126ca1767accbe6747df7ba0087fc32537ab7e5843db88ab42454e3",
+                "sha256:4e98668fe6ea0fc8bd9e4189a8f71725acd13c5e748af62b6796bc8fcb71af1d",
+                "sha256:514b5d2af59c3a60b2a955d9508d5f2c75f05bec1e2f5000043870856e3d41a3",
+                "sha256:53189e560bcc20e7b10714356c987ae98755e28d5103337fd96bc81632786591",
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+                "sha256:bb9f3c2e9ab4a1fb28a7ad7e5012e133720656b606b8f560bc1bc55a8154e2d9",
+                "sha256:c02a304f5e8b147bca343e84b4de39629e2b761901c1fe99ecffa66c99875b80",
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+                "sha256:c7b5bf2d05140db9609a8fa1716936e7e00d78d42e599167fc682d3b88dd05b9",
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+                "sha256:cacf78a5e3c5590bf281a1606a213ac5d6d9e0be71986449b7e523044abb2ea0",
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+            ],
+            "index": "pypi",
+            "version": "==3.6.7"
+        },
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+        },
+        "python-dateutil": {
+            "hashes": [
+                "sha256:37dd54208da7e1cd875388217d5e00ebd4179249f90fb72437e91a35459a0ad3",
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+            "version": "==2.9.0.post0"
+        },
+        "requests": {
+            "hashes": [
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+            "version": "==2.22.0"
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+            "version": "==1.11.3"
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+            "version": "==1.17.0"
+        },
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+                "sha256:8d7eaa5a82a1cac232164990f04874c594c9453ec55eef02eab885aa02fc17a2",
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+            ],
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+            "version": "==1.25.11"
+        }
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+    "develop": {}
+}
diff --git a/auto_sim/test_controller_2/forces/test_forces.py b/auto_sim/test_controller_2/forces/test_forces.py
index a9e1c25..cf27ad6 100644
--- a/auto_sim/test_controller_2/forces/test_forces.py
+++ b/auto_sim/test_controller_2/forces/test_forces.py
@@ -1,56 +1,74 @@
 import numpy as np
-from test_controller_2.forces.forcespro_helper import forcespro
-import test_controller_2.forces.get_userid as get_userid
+from forcespro_helper import forcespro
+import get_userid
 
 N = 10
-nx = 0
-nu = 0
+nx = 3 # state variable count
+nu = 2 # control variable count
+
+# costs on control
 R = np.zeros((nu,nu))
-P = np.zeros((nx,nx))
+# costs on state
+P = np.zeros((nx,nx)) # cost on state at final stage
 Q = np.zeros((nx,nx))
-A = np.zeros((nx,nx))
-B = np.zeros((nx,nu))
-umin = np.zeros((nu,1))
-umax = np.zeros((nu,1))
-xmin = np.zeros((nx,1))
-xmax = np.zeros((nx,1))
-
-# FORCESPRO multistage form # assume variable ordering zi = [u{i-1}, x{i}] for i=1...N
+
+A = np.zeros((nx,nx)) # transition on state
+B = np.zeros((nx,nu)) # transition on control
+
+umin = np.zeros(nu)
+umax = np.zeros(nu)
+xmin = np.zeros(nx)
+xmax = np.zeros(nx)
+
+# FORCESPRO multistage form
+# assume variable ordering zi = [u{i-1}, x{i}] for i=1...N
 stages = forcespro.MultistageProblem(N)
 
 # get stages struct of length N
 for i in range(N):
 	# dimensions
-	stages.dims[ i ]['n'] = nx+nu # number of stage variables
-	stages.dims[ i ]['r'] = nx    # number of equality constraints
-	stages.dims[ i ]['l'] = nx+nu # number of lower bounds
-	stages.dims[ i ]['u'] = nx+nu # number of upper bounds
-	
+	stages.dims[i]['n'] = nx+nu # number of stage variables (dimension of z)
+	stages.dims[i]['r'] = nx    # number of equality constraints
+	stages.dims[i]['l'] = nx+nu # number of lower bounds
+	stages.dims[i]['u'] = nx+nu # number of upper bounds
+	stages.dims[i]['p'] = 0     # number of polytopic constraints
+	stages.dims[i]['q'] = 0     # number of quadratic constraints
+
 	# cost
-	if ( i == N-1 ):
-		stages.cost[ i ]['H'] = np.vstack((np.hstack((R,np.zeros((nu,nx)))), np.hstack((np.zeros((nx,nu)),P))))
+	if i == N-1:
+		# R P blockmatrix
+		stages.cost[i]['H'] = np.vstack((
+			np.hstack((R,np.zeros((nu,nx)))),
+			np.hstack((np.zeros((nx,nu)),P))
+		))
 	else:
-		stages.cost[ i ]['H'] = np.vstack((np.hstack((R,np.zeros((nu,nx)))), np.hstack((np.zeros((nx,nu)),Q))))
-
-	stages.cost[ i ]['f'] = np.zeros((nx+nu,1)) # linear cost terms
-	# lower bounds
-	stages.ineq[ i ]['b']['lbidx'] = range(1,nu+nx+1) # lower bound acts on these indices
-	stages.ineq[ i ]['b']['lb'] = np.concatenate((umin,xmin),0) # lower bound for this stage variable
-	# upper bounds
-	stages.ineq[ i ]['b']['ubidx'] = range(1,nu+nx+1) # upper bound acts on these indices
-	stages.ineq[ i ]['b']['ub'] = np.concatenate((umax,xmax),0) # upper bound for this stage variable
-
-	# equality constraints
-	if ( i < N-1 ):
+		# R Q blockmatrix
+		stages.cost[i]['H'] = np.vstack((
+			np.hstack((R,np.zeros((nu,nx)))),
+			np.hstack((np.zeros((nx,nu)),Q))
+		))
+	stages.cost[i]['f'] = np.zeros((nx+nu, 1)) # linear cost terms
+
+	# # lower bounds
+	stages.ineq[i]['b']['lbidx'] = range(1,nu+nx+1) # lower bound acts on these indices
+	stages.ineq[i]['b']['lb'] = np.concatenate((umin,xmin),0) # lower bound for this stage variable
+	# # upper bounds
+	stages.ineq[i]['b']['ubidx'] = range(1,nu+nx+1) # upper bound acts on these indices
+	stages.ineq[i]['b']['ub'] = np.concatenate((umax,xmax),0) # upper bound for this stage variable
+
+	# # equality constraints
+	if i < N-1:
 		stages.eq[i]['C'] = np.hstack((np.zeros((nx,nu)),A))
-	if ( i>0 ):
-		stages.eq[i]['c'] = np.zeros((nx,1))
-	stages.eq[i]['D'] = np.hstack((B,-np.eye(nx)))
+	if i > 0:
+		stages.eq[i]['c'] = np.zeros(nx)
+	stages.eq[i]['D'] = np.hstack((B,-np.eye(nx))) # note that it is I rather than zeros, because equality constraint for state transition
 
 # RHS of first eq. constr. is a parameter: stages(1).eq.c = -A*x0
+# read 8.10
 stages.newParam('minusA_times_x0', [1], 'eq.c')
 # define output of the solver
-stages.newOutput('u0', 1, range(1,nu+1))
+# read 8.11
+stages.newOutput('u0', 1, range(1, nu + 1))
 
 codeoptions = forcespro.CodeOptions('solver_name')
 # codeoptions.platform = '' # to specify the target platform