Index

A B C D E F G H I J K L M N O P R S T U V W X Y Z
All Classes and Interfaces|All Packages|Constant Field Values|Serialized Form

A

A_GATE_CLAUSE_NOW_HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

A gate clause that was not holding for the previous best is holding now.

A_GUARDRAIL_IS_NOW_CHECKED_AND_HOLDING - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

A guardrail that was over budget for the previous best, or was not in its envelope at all, is checked and holding now.

AbstractFakeDevice - Class in org.horizon36596.simloop.fakehardware

Base for fake devices: supplies the boilerplate HardwareDevice metadata so concrete fakes (e.g.

AbstractFakeDevice() - Constructor for class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

Creates the device.

accepted() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

Whether the candidate was accepted.

accepted() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

Returns true when this candidate became the new last-best.

acceptedCount() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns how many the gate accepted.

acceptedCount() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how many the gate accepted.

addDof(String, OneDofPlant, String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant.Builder

Add one degree of freedom.

addJoint(JointDefinition) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Append one joint.

addLoosePiece(double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece on the field, PossessionState.LOOSE, and return its id.

advance(double) - Method in class org.horizon36596.simloop.sim.FakeTimer

Advance the clock.

allowsAcceptance() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Whether this clause lets the candidate through.

B

backgroundColorHex(String) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Canvas background.

blockedBy() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The clauses that blocked acceptance, in Gate.Clause order.

bothConfirmed() - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

Both checks ran and both passed.

breakdown() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the breakdown as a human-readable block — what a milestone report prints.

budget() - Method in class org.horizon36596.simloop.loop.Objective

The human's rough time/token estimate.

build() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant.Builder

Produces the immutable multi-DOF plant.

build() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Validates everything and produces the immutable definition.

builder() - Static method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Start describing a multi-degree-of-freedom mechanism.

builder(String) - Static method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Start building.

C

candidateDescription() - Method in class org.horizon36596.simloop.loop.Milestone

Returns what the candidate said it changed, in its own words.

canvasAxes(RobotVector3, RobotVector3) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

The projection plane: which robot-local directions become canvas right and canvas up.

canvasSizeInches(double, double) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Canvas extents.

clause() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Which of the four clauses this result is for.

clause(Gate.Clause) - Method in class org.horizon36596.simloop.loop.Gate.Verdict

One clause's result.

clauses() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

Every clause that was checked, in Gate.Clause order.

clearEncoderMeasuringAnotherMechanism() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Hand this port's reported position and velocity back to this motor's own encoder (the state a fresh FakeMotor is in).

clearMeasuredShaftSpeedFraction() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Hand shaft-speed authority back to the motor's own model (the state a fresh FakeMotor is in).

close() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

close() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

close() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

commandDeadband() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

How far the commanded position has to be from where the horn already sits before the servo bothers to move, in command units of the servo's [0, 1] sweep.

commandQuantum() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

The step size the servo's command is rounded to before it is used, in command units of the [0, 1] sweep.

compare(Path, Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Decodes both RLOG files via PsiKit's RLOGReplay and returns every decoded-field mismatch outside PsiKit's own writer-metadata exclude list, frame by frame.

compare(Path, Path, Set<String>) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

As RlogDecodedCompare.compare(Path, Path), but with a caller-supplied exclude set instead of the PsiKit default.

CONFIRMED_FALSE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller ran the check and it failed.

CONFIRMED_TRUE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller ran the check and it passed.

ContinuousRotationSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the two numbers that describe a degree of freedom which never runs out of travel — a continuous-rotation ejector servo, an intake roller, a flywheel (architecture §3, domain R6/R7).

couldNotBeDetermined(String) - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

The caller should have had a last-best and could not produce one — an unreadable store, a failed deserialize, a lost file.

cross(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

Vector (cross) product this × other, right-handed.

D

decode(Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Every frame of one RLOG, in order, each as its decoded key -> value map (values rendered the way PsiKit renders them: "12.5", "true", "HOLDING").

decodedKeys(Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Every field key that appears anywhere in one RLOG, sorted, minus PsiKit's own writer metadata.

description() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns what this candidate changed, in its own words.

description() - Method in class org.horizon36596.simloop.loop.Objective.Budget

The budget in the human's words.

detail() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Why this clause came out the way it did, in words, naming the specific term or number.

DID_NOT_REPRODUCE - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Replayed, and the decoded fields differed.

direction() - Method in class org.horizon36596.simloop.loop.Objective

Which way the raw metric points.

dot(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

Scalar (dot) product with other.

driveMotorNames() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the drive motor config names, in [frontLeft, frontRight, backLeft, backRight] order.

drivetrain() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the drivetrain geometry and motor-model constants for this season.

DrivetrainSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: drivetrain geometry + motor-model + field-bound constants the core plant needs, supplied by the season layer in TeamCode (architecture §3, domain R7).

E

eject(int, String, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Release a held piece back onto the field at a position the caller states, leaving it PossessionState.LOOSE and acquirable again.

emittedMilestone() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

Returns true when this decision emitted a milestone.

enableWriteCoalescing(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

ENVELOPE_HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

No guardrail violated, and none left unchecked.

ENVELOPE_VIOLATION_PENALTY - Static variable in interface org.horizon36596.simloop.loop.Guardrail

The penalty applied to a violated envelope term.

EnvelopeGuardrails - Class in org.horizon36596.simloop.loop

The seven starter envelope terms from docs/process/scorer-interface.md §3, sorted honestly into the ones a run's log can actually answer and the ones it cannot.

evaluate(RunResult) - Method in interface org.horizon36596.simloop.loop.Guardrail

Checks one finished run.

EXCLUDED_KEYS - Static variable in class org.horizon36596.simloop.sim.RlogDecodedCompare

PsiKit's own writer-thread metadata: real-time queue depth and a startup console line.

expectedFrameCount() - Method in class org.horizon36596.simloop.loop.RunResult

How many frames the scenario was told to produce, known before the run.

explain() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The verdict as a block of text, one line per clause, for a milestone report or a console.

F

facts() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns the two facts no log carries: tests-green and review-passed.

FAILED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Checked, and not satisfied.

FakeAnalogInput - Class in org.horizon36596.simloop.fakehardware

Fake AnalogInput returning a settable voltage, so the unchanged SolversLib AbsoluteAnalogEncoder wrapper (which reads getVoltage() / getMaxVoltage()) resolves headless.

FakeAnalogInput() - Constructor for class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Creates an input reading 0.0 V on a 3.3 V range, the common FTC analog sensor wiring.

FakeAnalogInput(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Creates an input reading a chosen voltage on a chosen range.

FakeCRServo - Class in org.horizon36596.simloop.fakehardware

Fake CRServo: a continuous-rotation servo, the actuator V0's deposit ejects a line of pollen with (docs/specs/deposit.md §2).

FakeCRServo() - Constructor for class org.horizon36596.simloop.fakehardware.FakeCRServo

Creates a servo sitting at neutral, so it does not turn until something commands it.

FakeDevice - Interface in org.horizon36596.simloop.fakehardware

A simulated hardware device with a kinematic plant.

FakeDigitalChannel - Class in org.horizon36596.simloop.fakehardware

Fake DigitalChannel: the one digital IO pin on a REV hub that a beam-break sensor, a limit switch or a signal LED is wired to.

FakeDigitalChannel() - Constructor for class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

A channel that starts in INPUT mode reading false.

FakeExternalEncoder - Class in org.horizon36596.simloop.fakehardware

Fake external encoder (fakehardware-plant §4): the plant → sensor → subsystem seam for a 1-DOF mechanism.

FakeExternalEncoder(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Builds an encoder reading zero ticks at zero velocity.

FakeHardwareMap - Class in org.horizon36596.simloop.fakehardware

JVM-constructible HardwareMap that resolves fake devices by config name (fakehardware-plant §6).

FakeHardwareMap() - Constructor for class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Creates an empty map; register each fake device with FakeHardwareMap.register(String, HardwareDevice).

FakeI2cDeviceSynchSimple - Class in org.horizon36596.simloop.fakehardware

Fake I2cDeviceSynchSimple (the I2C bus client) that an I2cDeviceSynchDevice subclass holds as its deviceClient.

FakeI2cDeviceSynchSimple() - Constructor for class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

Creates a bus client at I2C address zero, with write coalescing and logging off.

FakeMotor - Class in org.horizon36596.simloop.fakehardware

First-order drive-motor plant (fakehardware-plant §3), seeded from PsiKit's test FakeMotor.

FakeMotor(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with the default encoder resolution and the default current figures.

FakeMotor(double, double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with a stated encoder resolution and the default current figures.

FakeMotor(double, double, double, double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with a stated encoder resolution and stated datasheet current figures.

FakeServo - Class in org.horizon36596.simloop.fakehardware

Kinematic fake Servo: a commanded position is held instantly (a bare servo has no dynamics worth modelling for the drivetrain sim — mechanism dynamics live in Mechanism1DofPlant, R6).

FakeServo() - Constructor for class org.horizon36596.simloop.fakehardware.FakeServo

Creates a servo commanded to position 0.0, FORWARD, with the full [0, 1] scale range.

FakeTimer - Class in org.horizon36596.simloop.sim

The single, advanceable simulation clock (fakehardware-plant §6, domain R5).

FakeTimer() - Constructor for class org.horizon36596.simloop.sim.FakeTimer

Creates a clock reading 0.0 seconds.

FakeVoltageSensor - Class in org.horizon36596.simloop.fakehardware

Fake VoltageSensor returning a fixed nominal battery voltage (default 12 V).

FakeVoltageSensor() - Constructor for class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Creates a sensor holding the nominal 12.0 volts.

FakeVoltageSensor(double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Creates a sensor holding a chosen voltage.

FieldFrameTransform - Class in org.horizon36596.simloop.field

The one and only place the localizer ↔ field frame rotation is written.

fieldHalfHeight() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the field half-height, in inches.

fieldHalfWidth() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the field half-width, in inches.

fieldHeadingFromLocalizer(double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field heading from a localizer-frame heading.

fieldXFromLocalizer(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field X (field right) from a localizer-frame position.

fieldYFromLocalizer(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field Y (field forward) from a localizer-frame position.

finalValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The value under key in the run's last frame.

FIRST_ACCEPTED_CANDIDATE - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

The first candidate the gate ever accepted.

firstCandidateOfRun() - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

No candidate has been accepted yet, so there is genuinely nothing to improve on.

forwardInverseKinematicsRoundTrip() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: the drivetrain's FK/IK round-trip holds.

frameCount() - Method in class org.horizon36596.simloop.loop.RunResult

How many frames actually decoded.

frameIndex - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

Which frame differed, counting from 0; -1 when the two runs had different frame counts.

frames() - Method in class org.horizon36596.simloop.loop.RunResult

Every decoded frame, in order, each as key -> rendered value.

fromRlog(String, Path, int) - Static method in class org.horizon36596.simloop.loop.RunResult

Reads a finished run off disk.

G

GamePiece - Class in org.horizon36596.simloop.field

One game piece in the sim: a field position in inches, a physical size, and exactly one PossessionState.

GamePieceTracker - Class in org.horizon36596.simloop.field

The one place a game piece changes hands.

GamePieceTracker(int) - Constructor for class org.horizon36596.simloop.field.GamePieceTracker

Builds a tracker with no pieces on the field yet.

Gate - Class in org.horizon36596.simloop.loop

The acceptance gate: the one place that decides whether a candidate run is allowed to become the new last-best (`docs/process/scorer-interface.md` §6).

Gate() - Constructor for class org.horizon36596.simloop.loop.Gate

Creates a gate.

Gate.Clause - Enum Class in org.horizon36596.simloop.loop

The four §6 clauses, in the order a verdict reports them.

Gate.ClauseResult - Class in org.horizon36596.simloop.loop

One clause's outcome plus the sentence explaining it, for the verdict a human reads.

Gate.Fact - Enum Class in org.horizon36596.simloop.loop

A fact the gate is told rather than measures.

Gate.LastBest - Class in org.horizon36596.simloop.loop

What the caller knows about the current last-best score.

Gate.Outcome - Enum Class in org.horizon36596.simloop.loop

How one clause came out.

Gate.SuppliedFacts - Class in org.horizon36596.simloop.loop

The two facts that are not in any log: whether the tests passed, and whether an independent review approved the change.

Gate.Verdict - Class in org.horizon36596.simloop.loop

The gate's answer: accepted or not, plus every clause and why.

getArmLengthInches() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Distance from the pivot to the segment's tip (in).

getBackgroundColorHex() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas background.

getCanvasHeightInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas height.

getCanvasHorizontalAxis() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Unit robot-local direction drawn as canvas +X (to the right of the picture).

getCanvasVerticalAxis() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Unit robot-local direction drawn as canvas +Y (up the picture).

getCanvasWidthInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas width.

getColorHex() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the stroke colour, "#RRGGBB", upper-case.

getCommandedPosition() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

The position the servo is currently commanding, in mechanism units, clamped to the end stops.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getCurrent(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getCurrent(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Modelled current draw.

getCurrentAlert(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getCurrentAlert(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getCurrentPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getCurrentPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

SDK-reported encoder position in ticks: direction applied on read, so a REVERSE motor commanded positive power reports positive, matching real DcMotorEx (BACKLOG B18).

getDefinition() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Returns what this sketch was built from.

getDepthInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the full extent along robot forward, inches.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getDof(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

The plant moving one named degree of freedom, for a caller that needs to read more than MultiDofMechanismPlant.getPosition(String) and MultiDofMechanismPlant.getVelocity(String) give it.

getDofCount() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Returns how many degrees of freedom this mechanism has.

getDofNames() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Returns every degree of freedom's name, in registration order.

getDrawnAngleDegrees(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The joint's drawn angle, relative to the joint below it (AdvantageScope's convention).

getDrawnLengthInches(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The joint's currently drawn length (in): a stage's retracted length plus its clamped extension, or a pivot's constant arm length.

getDrawnLengthMetres(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The same joint length as MechanismSketch.getDrawnLengthInches(String), read in the metres it is stored in — so the value MechanismSketch.record(String) will hand to AdvantageScope, before this class converts it back for callers.

getFieldXInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the field position, inches, FTC-Cartesian +X right (see class javadoc for the frame).

getFieldYInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the field position, inches, FTC-Cartesian +Y forward (see class javadoc for the frame).

getForwardOffsetInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the centre of the rectangle along robot forward, inches (+ = toward the front).

getHeading() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the heading in radians, CCW-positive, measured from localizer +x.

getHeading() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the heading in radians, CCW-positive, measured from localizer +x; not wrapped.

getHealthStatus() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getHeldCapacity() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns the most pieces the robot may hold at once, as declared at construction.

getHeldCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

How many pieces the robot is carrying right now.

getI2cAddr() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getI2cAddress() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getId() - Method in class org.horizon36596.simloop.field.GamePiece

Stable identifier, assigned in the order pieces were added (first piece is 0).

getJointAngleRadians(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

A revolute joint's current clamped angle (rad), measured from the pose the mechanism is drawn in in CAD.

getJointExtensionInches(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

A linear stage's current clamped extension.

getJoints() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Every joint, base first.

getKind() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns which of the segment's two drawn numbers this joint moves.

getKind() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

getKind() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

getLeftOffsetInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the centre of the rectangle along robot left, inches (+ = toward the left side).

getLinearJoints() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Only the LinearJointDefinition joints, in chain order — the stages that extend.

getLineWeightPixels() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the stroke thickness in pixels.

getLogging() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getLoggingTag() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getLooseCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns how many pieces are on the field, available to acquire.

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getMaxAngleRadians() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Most positive reachable angle (rad), measured from the zero pose.

getMaxTotalTravelInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Sum of every linear stage's maxTravelInches — the mechanism's full stroke capacity (in), i.e.

getMaxTravelInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the highest extension along the travel axis (in).

getMaxVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the free speed this motor was built with, in encoder ticks/second.

getMaxVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Returns the full-scale voltage of the range, in volts.

getMinAngleRadians() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Most negative reachable angle (rad), measured from the zero pose.

getMinTravelInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the lowest extension along the travel axis (in).

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getMotorType() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getMotorType() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getMountAcrossRobotInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Where the mechanism mounts on the robot, measured along the canvas horizontal axis (in) and signed — negative is behind the robot's centre when that axis is robot-forward.

getMountPointInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Where the mechanism attaches to the robot.

getName() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the label this volume is logged under when it acquires a piece.

getName() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the segment's name; one segment of its AdvantageScope log key.

getName() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Mechanism name.

getPhysicalPositionTicks() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True modelled shaft position in encoder ticks, direction already baked in and NOT re-applied (BACKLOG B18; see class javadoc).

getPhysicalPower() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

The speed the horn is really turning at, in [-1, 1]: the direction is already baked in and is not applied again.

getPhysicalVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True modelled shaft velocity in encoder ticks/second, direction already baked in and NOT re-applied (BACKLOG B18; see class javadoc).

getPIDCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPIDCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getPIDFCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPIDFCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getPiece(int) - Method in class org.horizon36596.simloop.field.GamePieceTracker

One piece by id.

getPieces() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Every piece added so far, in id order.

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Returns the servo port number; always 0, since a fake is not wired to a hub.

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Returns the last commanded position on the user-facing [0, 1] scale, unitless.

getPosition() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Returns the current position in mechanism units, always within [minPosition, maxPosition].

getPosition() - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Returns the current position of this degree of freedom, in its own mechanism unit.

getPosition() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Returns the current mechanism position in mechanism units, always within [minPosition, maxPosition].

getPosition(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Current position of one named degree of freedom.

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

The commanded speed the caller asked for, clipped to [-1, 1] — not the direction the horn actually turns.

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getRadiusInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the piece's radius, in inches.

getRetractedLengthInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the drawn length when fully retracted (in).

getRootCanvasXInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

The root's canvas x (in) — the number written to the log, already shifted by half the canvas width so AdvantageScope lands it on the robot.

getRootCanvasYInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

The root's canvas y (in) — the number written to the log.

getRotationAxis() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Unit axis the segment turns about, robot-local.

getScaledPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

The scaled (physical) position actually applied, in [limitMin, limitMax] — the value a downstream sim mechanism would see (analogous to FakeMotor.getCurrentPosition()).

getScoredCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns how many pieces have been scored and are out of play.

getSimulatedInputState() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Returns the raw line level the sim is currently driving, whatever mode the channel happens to be in.

getSpeed() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the unitless shaft speed in [-1, 1] (fraction of max velocity); physical, see class javadoc.

getState() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

The channel's current state: the bit the robot last wrote while in OUTPUT mode, or the line the sim is driving while in INPUT mode.

getState() - Method in class org.horizon36596.simloop.field.GamePiece

Returns which of the three possession states this piece is in right now.

getTargetPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getTargetPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getTargetPositionTolerance() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getTargetPositionTolerance() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getTotalTravelInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Sum of every linear stage's current extension (in) — what the mechanism is extended by.

getUnloggedTransitions() - Method in class org.horizon36596.simloop.field.GamePieceTracker

The transitions that have happened since the last GamePieceTracker.record(String), in order — the exact strings that call will log.

getUserConfiguredName() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getVelocity() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getVelocity() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getVelocity() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Current modelled velocity in mechanism units/second (0 while stalled against an end-limit).

getVelocity() - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Current modelled speed of this degree of freedom, in its own mechanism unit per second.

getVelocity() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Modelled speed over the last tick in mechanism units/second (0 while parked against an end stop or once the joint has arrived).

getVelocity(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Current modelled speed of one named degree of freedom.

getVelocity(AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getVelocity(AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getVelocityFractionOfMaxSpeed() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

The same modelled velocity as Mechanism1DofPlant.getVelocity(), expressed as a fraction of maxSpeed in [-1, 1] — which is the unit a motor's back-EMF current model needs.

getVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

SDK-reported wheel velocity in encoder ticks/second: direction applied on read, so a REVERSE motor commanded positive power reports positive, matching real DcMotorEx (BACKLOG B18).

getVersion() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

1, as CRServoImpl reports.

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

1, as DigitalChannelImpl reports.

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Returns the reading, in volts.

getVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Returns the battery voltage this sensor reports, in volts.

getWidthInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the full extent along robot left, inches.

getX() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the localizer-frame X position, in inches — +x is forward at heading 0.

getX() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the localizer-frame X position (forward at heading 0), in inches, clamped to the field.

getY() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the localizer-frame Y position, in inches — +y is left at heading 0.

getY() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the localizer-frame Y position (left at heading 0), in inches, clamped to the field.

getZeroPoseDirection() - Method in class org.horizon36596.simloop.viz.JointDefinition

Unit direction the segment points at the mechanism's zero pose, robot-local frame.

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.JointDefinition

The segment's drawn length at the zero pose (in).

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

The stage's drawn length at the zero pose (in): its retracted length plus its clamped minimum travel.

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

The arm's length (in) — the same number as RevoluteJointDefinition.getArmLengthInches(), under the name every joint kind answers to.

getZeroPowerBehavior() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getZeroPowerBehavior() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

0.0 — see the table in the class javadoc for why.

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

How much of the motor's full effort the mechanism's own weight takes away, as a fraction in [0, 1) — a vertical slide carrying a load needs a continuous power just to stay where it is, and gets nothing back when it lets go.

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Always 0.0 for a servo-driven joint, and not because servo-driven joints are weightless.

Guardrail - Interface in org.horizon36596.simloop.loop

One safety-envelope term: something that must stay true no matter how good the objective gets (docs/process/scorer-interface.md §3).

Guardrail.Status - Enum Class in org.horizon36596.simloop.loop

What a guardrail concluded about one run.

Guardrail.Verdict - Class in org.horizon36596.simloop.loop

A guardrail's conclusion about one run: a status, a penalty, and why.

guardrails() - Method in class org.horizon36596.simloop.loop.Scorer

Returns the envelope terms applied, in order.

H

hasEncoderMeasuringAnotherMechanism() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns whether this port is reporting another mechanism's encoder rather than this motor's own shaft.

hasKey(String) - Method in class org.horizon36596.simloop.loop.RunResult

Whether a key was logged at all.

hasLastBest() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns true once the gate has accepted at least one candidate.

hasNonFiniteValue() - Method in class org.horizon36596.simloop.loop.RunResult

True if any frame logged a non-finite number under any key — NaN or an infinity.

hasReportableScore() - Method in class org.horizon36596.simloop.loop.StopReport

Returns true only when a score is safe to report — replayed, and identical field by field.

hasViolation() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns true if any envelope term was checked and found broken.

HELD - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Carried by the robot.

holds() - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Checked, and fine.

HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Checked, and satisfied.

HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; the invariant holds.

holdsCleanly() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

True when this term was checked and is fine.

I

IMPROVED_BY_AT_LEAST_THE_THRESHOLD - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

The total improved on the previous best by at least the loop's milestone threshold.

improvement() - Method in class org.horizon36596.simloop.loop.Milestone

How much the total moved.

IMPROVES_ON_LAST_BEST - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

Strictly better than last-best, within one scenario and one objective.

integrate(double, double, double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Advance the pose by one tick from the four wheel linear speeds.

invariantTestsGreen() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: all invariant-tier tests green.

isArmed() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

isAtCapacity() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns true while the robot cannot take another piece.

isBusy() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

isBusy() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Always false, because DcMotor.RunMode.RUN_TO_POSITION is refused outright by FakeMotor.setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode) — see there.

isComparableTo(Scorer.Score) - Method in class org.horizon36596.simloop.loop.Scorer.Score

True when this score may be compared against other — same objective, same scenario.

isComplete() - Method in class org.horizon36596.simloop.loop.RunResult

True when the run produced every frame it was supposed to.

isFirstCandidateOfRun() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Whether this is the first candidate of a run.

isFrameCountMismatch() - Method in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

Returns true if this entry reports the two runs having a different total frame count, not a field diff.

isHeld() - Method in class org.horizon36596.simloop.field.GamePiece

Returns true while this piece is being carried by the robot.

isMotorEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

isMotorEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

isOverBudget() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term was checked, holds as an invariant, but charged a graded soft-budget penalty.

isOverCurrent() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

isOverCurrent() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True once the modelled current reaches the alert threshold, matching the SDK's own over-current flag.

isPerpendicularTo(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

True if this vector is perpendicular to other within 1e-6.

isUnavailable() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Whether a last-best was expected and could not be produced.

isUnitLength() - Method in class org.horizon36596.simloop.viz.RobotVector3

True if this vector is within 1e-6 of unit length.

isUnknown() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term could not be checked from the run at all.

isViolation() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term was checked and is broken.

isWriteCoalescingEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

J

JointDefinition - Class in org.horizon36596.simloop.viz

One segment of a mechanism, as it should be drawn in AdvantageScope.

JointDefinition(String, RobotVector3, String, double) - Constructor for class org.horizon36596.simloop.viz.JointDefinition

Validates and stores the four things every joint has, whatever kind it is.

JointDefinition.Kind - Enum Class in org.horizon36596.simloop.viz

Which of a segment's two drawn numbers this joint moves.

judge(Scorer.Score, Gate.LastBest, Gate.SuppliedFacts) - Method in class org.horizon36596.simloop.loop.Gate

Judge one candidate.

K

key - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

The RLOG key whose decoded value differed.

keys() - Method in class org.horizon36596.simloop.loop.RunResult

Every key that appears anywhere in the run, sorted.

L

lastBest() - Method in class org.horizon36596.simloop.loop.LoopDriver

The best answer so far.

length() - Method in class org.horizon36596.simloop.viz.RobotVector3

Euclidean length.

LINEAR - Enum constant in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

The segment's drawn length moves; its angle is fixed.

LinearJointDefinition - Class in org.horizon36596.simloop.viz

One telescoping stage of a linear mechanism — a segment whose drawn length moves while its angle stays put.

LinearJointDefinition(String, RobotVector3, double, double, double, String, double) - Constructor for class org.horizon36596.simloop.viz.LinearJointDefinition

Validates and stores one extending stage's drawn geometry and its travel range.

LOCALIZER_TO_FIELD_HEADING_OFFSET_RADIANS - Static variable in class org.horizon36596.simloop.field.FieldFrameTransform

Constant heading offset between the two frames, in radians: the field frame is +90° from the localizer frame.

localizerHeadingFromField(double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer heading from a field-frame heading.

localizerXFromField(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer X (robot forward at heading 0) from a field-frame position.

localizerYFromField(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer Y (robot left at heading 0) from a field-frame position.

LoopDriver - Class in org.horizon36596.simloop.loop

The bookkeeping half of the loop: holds the last-best, judges each candidate with Gate, emits a Milestone when the answer gets qualitatively better, and writes the StopReport (docs/process/scorer-interface.md §5, §6, §8).

LoopDriver(Gate, double) - Constructor for class org.horizon36596.simloop.loop.LoopDriver

Builds a driver that has accepted nothing yet.

LoopDriver.Candidate - Class in org.horizon36596.simloop.loop

One candidate offered to the loop: the run, its score, the two facts the gate cannot measure, and the candidate's own account of what it changed.

LoopDriver.Decision - Class in org.horizon36596.simloop.loop

What the loop did with one offered candidate.

loopTimeUnderBudget(String, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3 + vision.md §5: the loop stays inside its time budget, so the robot is never degraded in order to log.

LOOSE - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Sitting on the field at its own position, available to be acquired.

M

maxAccel() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

How fast a drive motor's speed chases the power it was commanded, in reciprocal seconds.

MAXIMIZE - Enum constant in enum class org.horizon36596.simloop.loop.Objective.Direction

The raw metric is already "bigger is better" — pollen scored, distance covered.

maxLateralVelocityTicksPerSecond() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

How fast the chassis actually travels sideways at full power, in the same encoder ticks/second units as DrivetrainSimConfig.maxVelocityTicksPerSecond() — which is a forward figure.

maxPosition() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Double.POSITIVE_INFINITY: no hard stop on this side.

maxPosition() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Returns the upper end-limit, in the mechanism's own position units.

maxSpeed() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Top travel rate (travel units/s, > 0) at full commanded power — the free speed the actuator reaches with the load it normally carries.

maxSpeed() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Maximum position rate (units/s, > 0): the force/effort limit expressed as the top speed an overdamped first-order mechanism can move.

maxValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The largest value logged under key.

maxVelocityTicksPerSecond() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the maximum wheel velocity, in encoder ticks per second.

meanValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The mean of every value logged under key.

MecanumDrivePlant - Class in org.horizon36596.simloop.plant

Closes the sim odometry loop for a mecanum drivetrain (fakehardware-plant §5): each tick it reads the four drive FakeMotors' modelled wheel velocities and integrates the pose through MecanumPoseIntegrator.

MecanumDrivePlant(FakeMotor[], DrivetrainSimConfig) - Constructor for class org.horizon36596.simloop.plant.MecanumDrivePlant

Wires the plant to the four fake motors the robot code already drives.

MecanumPoseIntegrator - Class in org.horizon36596.simloop.plant

Kinematic mecanum forward-kinematics pose integrator (architecture §3 core primitive, fakehardware-plant §5).

MecanumPoseIntegrator(DrivetrainSimConfig) - Constructor for class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Builds an integrator sitting at the field origin, facing +X.

Mechanism1DofPlant - Class in org.horizon36596.simloop.plant

Generic 1-DOF mechanism plant (fakehardware-plant §4, domain R6): the season-agnostic primitive every mechanism (slide, arm, turret) is built on — one class, one config per mechanism.

Mechanism1DofPlant(DcMotorSimple, MechanismSimConfig) - Constructor for class org.horizon36596.simloop.plant.Mechanism1DofPlant

Builds the plant for one powered 1-DOF mechanism, at rest at the clamped origin.

MechanismSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the parameterized first-order dynamics + end-limits of one 1-DOF mechanism, supplied by the season layer in TeamCode (architecture §3, domain R6/R7).

MechanismSketch - Class in org.horizon36596.simloop.viz

Draws a MechanismSketchDefinition into AdvantageScope's Mechanism tab: it owns a PsiKit LoggedMechanism2d, keeps one ligament per joint, and updates them as the mechanism moves.

MechanismSketch(MechanismSketchDefinition) - Constructor for class org.horizon36596.simloop.viz.MechanismSketch

Builds the drawing at the mechanism's zero pose — every linear stage retracted, every pivot at the angle CAD drew it at.

MechanismSketchDefinition - Class in org.horizon36596.simloop.viz

The complete description of one mechanism as AdvantageScope should draw it: a canvas, a mount point, and an ordered chain of telescoping stages.

MechanismSketchDefinition.Builder - Class in org.horizon36596.simloop.viz

Step-by-step builder for a MechanismSketchDefinition.

metric(String) - Method in class org.horizon36596.simloop.loop.RunResult

Every value logged under key, in frame order, parsed as a double.

milestone() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

The milestone this candidate produced, or null.

Milestone - Class in org.horizon36596.simloop.loop

One milestone: a point where the loop's best answer got qualitatively better, and the side-by-side evidence for saying so (docs/process/scorer-interface.md §5).

Milestone.Reason - Enum Class in org.horizon36596.simloop.loop

Why a milestone was emitted.

milestones() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns every milestone emitted so far, in order.

milestones() - Method in class org.horizon36596.simloop.loop.StopReport

Returns every milestone the loop emitted, in order.

milestoneThreshold() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns the threshold this loop was built with, in score units.

MINIMIZE - Enum constant in enum class org.horizon36596.simloop.loop.Objective.Direction

The raw metric is "smaller is better" — finish time, path error, loop period.

minPosition() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Double.NEGATIVE_INFINITY: no hard stop on this side.

minPosition() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Returns the lower end-limit, in the mechanism's own position units.

minValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The smallest value logged under key.

mismatches() - Method in class org.horizon36596.simloop.loop.StopReport

Every decoded-field mismatch between the two runs.

mountPointInches(RobotVector3) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Where the mechanism attaches to the robot.

MultiDofMechanismPlant - Class in org.horizon36596.simloop.plant

How one subsystem with several real degrees of freedom is simulated: one plant per degree of freedom, held side by side, ticked together and logged apart (BACKLOG B13, decided 2026-09-14).

MultiDofMechanismPlant.Builder - Class in org.horizon36596.simloop.plant

Collects the degrees of freedom, in the order they are added.

N

name() - Method in interface org.horizon36596.simloop.loop.Guardrail

What this guardrail is called, for the score breakdown a human reads.

name() - Method in class org.horizon36596.simloop.loop.Objective

What a human calls this objective.

newBest() - Method in class org.horizon36596.simloop.loop.Milestone

Returns the new best.

newlyHolding() - Method in class org.horizon36596.simloop.loop.Milestone

The clauses and guardrails that are holding now and were not before.

nonFiniteKeys() - Method in class org.horizon36596.simloop.loop.RunResult

Sorted names of every key that logged a NaN or an infinity in at least one frame.

noNonFiniteValues() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: no NaN or infinity in any logged number.

normalized() - Method in class org.horizon36596.simloop.viz.RobotVector3

This vector scaled to length 1.

NOT_ATTEMPTED - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

No replay was attempted, because there is no last-best to replay.

NOT_CHECKED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller did not run the check.

NOT_YET_APPLICABLE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

The clause does not apply yet, and does not block.

notAnswerableFromALog() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

Every §3 term that cannot be answered from a run, as one list.

nothingChecked() - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

Neither check was run.

number() - Method in class org.horizon36596.simloop.loop.Milestone

Which milestone this is, counting from 1 in emission order.

O

objective() - Method in class org.horizon36596.simloop.loop.Scorer

Returns the objective being measured.

Objective - Class in org.horizon36596.simloop.loop

What the loop is trying to make better, declared up front (docs/process/scorer-interface.md §2).

Objective.Budget - Class in org.horizon36596.simloop.loop

The human's rough estimate of what this objective is worth spending.

Objective.Direction - Enum Class in org.horizon36596.simloop.loop

Which way a raw metric points.

Objective.NonFiniteMetricException - Exception in org.horizon36596.simloop.loop

Thrown when an objective's metric measured NaN or an infinity.

objectiveName() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns what the objective is called.

objectiveValue() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the objective's contribution, already oriented so bigger is better.

odometryName() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the config name of the odometry/localizer device the drivetrain reads pose from.

of(String) - Static method in class org.horizon36596.simloop.loop.Objective.Budget

A budget the human stated, in their own words: "about an hour", "50k tokens".

of(String, String, Objective.Direction, Objective.Budget, ToDoubleFunction<RunResult>) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective computed by an arbitrary function of the run.

of(String, RunResult, Scorer.Score, Gate.SuppliedFacts) - Static method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Bundles one candidate run with everything needed to judge it.

of(Gate.Fact, Gate.Fact) - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

States both facts explicitly.

of(Scorer.Score) - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

There is a last-best, and here it is.

offer(LoopDriver.Candidate) - Method in class org.horizon36596.simloop.loop.LoopDriver

Judge one candidate and, if the gate accepts it, make it the new last-best.

offeredCount() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns how many candidates have been offered.

offeredCount() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how many candidates were offered to the gate.

ofFinalValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the last value logged under one RLOG key — the common case (a finish time, a final pose error, a count at the end of a run).

ofMaxValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the largest value logged under one RLOG key.

ofMeanValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the mean of every value under one RLOG key.

OneDofPlant - Interface in org.horizon36596.simloop.plant

The surface shared by every plant in this package that models exactly one degree of freedom: Mechanism1DofPlant (power-driven, through a motor or a continuous-rotation servo) and PositionalServoPlant (command-driven, through a positional servo).

opModeName() - Method in class org.horizon36596.simloop.loop.RunResult

What ran.

org.horizon36596.simloop.config - package org.horizon36596.simloop.config

org.horizon36596.simloop.fakehardware - package org.horizon36596.simloop.fakehardware

org.horizon36596.simloop.field - package org.horizon36596.simloop.field

org.horizon36596.simloop.loop - package org.horizon36596.simloop.loop

org.horizon36596.simloop.plant - package org.horizon36596.simloop.plant

org.horizon36596.simloop.sim - package org.horizon36596.simloop.sim

org.horizon36596.simloop.viz - package org.horizon36596.simloop.viz

orient(double, RunResult) - Method in class org.horizon36596.simloop.loop.Objective

Validates an already-measured raw metric and orients it so that bigger is better.

origin() - Static method in class org.horizon36596.simloop.viz.RobotVector3

The origin, (0, 0, 0).

outcome() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

How the clause came out.

OVER_BUDGET - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; a soft budget was exceeded.

overBudget(double, String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Graded penalty for a soft budget overrun (§1: "graded when a soft budget is exceeded").

overlapsPiece(double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.TriggerVolume

True when this volume, carried by a robot at the given field pose, overlaps the given piece.

P

passedInSimFirst() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3 / domain R8: code may actuate real hardware only after the same code passed in sim.

penalty() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

How much to subtract from the objective.

PositionalServoPlant - Class in org.horizon36596.simloop.plant

1-DOF mechanism plant for a joint driven by a positional servo — the servo-side twin of Mechanism1DofPlant (fakehardware-plant §4, domain R6).

PositionalServoPlant(FakeServo, PositionalServoSimConfig) - Constructor for class org.horizon36596.simloop.plant.PositionalServoPlant

Builds the plant for one servo-driven joint, parked at the position its current command maps to.

PositionalServoSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: everything a PositionalServoPlant needs to turn a servo command in [0, 1] into a real mechanism position that takes time to get there (architecture §3, domain R6/R7).

positionAtCommandOne() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Mechanism position (units) the joint physically reaches when the servo's scaled command is 1.0.

positionAtCommandZero() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Mechanism position (units) the joint physically reaches when the servo's scaled command is 0.0.

PossessionState - Enum Class in org.horizon36596.simloop.field

The complete, fixed set of possession states one game piece can be in.

previousBest() - Method in class org.horizon36596.simloop.loop.Milestone

Returns the best before this one, or null when this is Milestone.Reason.FIRST_ACCEPTED_CANDIDATE.

R

rawMetric() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the metric in its own units and direction, for a human reading a milestone.

rawMetric(RunResult) - Method in class org.horizon36596.simloop.loop.Objective

The metric exactly as measured, in its own units and its own direction — 12.4 seconds is 12.4 here even for a minimizing objective.

read(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read8() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read8(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

readTimeStamped(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

readTimeStamped(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

reason() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns why, in a sentence a human can act on.

reasons() - Method in class org.horizon36596.simloop.loop.Milestone

Every reason this milestone was emitted.

record(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Publish this tick's possession state to the RLOG under keyPrefix, then clear the transition backlog.

record(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Write every degree of freedom's modelled position and velocity to the log, under <keyPrefix>/<dof>/....

record(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Publish the current pose to AdvantageScope under key.

register(String, T) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Registers a fake device (which is both an SDK HardwareDevice and a FakeDevice) under name, exactly as the real robot-configuration parser registers the hardware it replaces.

replay(RunResult) - Method in interface org.horizon36596.simloop.loop.StopReport.ScenarioReplayer

Re-runs the scenario that produced accepted and returns the path to the new RLOG.

reportedScore() - Method in class org.horizon36596.simloop.loop.StopReport

The best score, once it has been reproduced.

REPRODUCED - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Replayed, and every decoded field matched.

reproduction() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how the second run came out.

requireFinite(double, String, String) - Static method in class org.horizon36596.simloop.viz.JointDefinition

Shared validation helper: rejects a non-finite number with a message naming the joint and the field, so a bad CAD export says which number it was.

reset() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the pose to the origin, facing localizer +x (robot forward).

reset() - Method in class org.horizon36596.simloop.sim.FakeTimer

Reset to zero (e.g.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Resets the direction to FORWARD, which is what CRServoImpl does here and what AbstractFakeDevice's no-op default would have missed.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

REVIEW_PASSED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

An independent review approved the diff (R10).

reviewPassed() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

What the caller said about the independent review.

REVOLUTE - Enum constant in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

The segment's drawn angle moves; its length is fixed.

RevoluteJointDefinition - Class in org.horizon36596.simloop.viz

One pivot of a mechanism — a segment of fixed length whose drawn angle moves.

RevoluteJointDefinition(String, RobotVector3, RobotVector3, double, double, double, String, double) - Constructor for class org.horizon36596.simloop.viz.RevoluteJointDefinition

Validates and stores one pivoting segment's drawn geometry and its angle range.

RlogDecodedCompare - Class in org.horizon36596.simloop.sim

Compares two RLOG files by decoded field value, not raw bytes (BACKLOG B3, docs/process/scorer-interface.md §2/§7).

RlogDecodedCompare.Mismatch - Class in org.horizon36596.simloop.sim

One decoded-field mismatch between two runs; frameIndex is -1 for a frame-count mismatch.

rlogPath() - Method in class org.horizon36596.simloop.loop.RunResult

Where the RLOG this was decoded from lives.

RobotVector3 - Class in org.horizon36596.simloop.viz

An immutable 3-D vector in the robot-local frame: +X robot-right, +Y robot-forward, +Z up, with the origin at the centre of the drivetrain footprint at floor level (docs/phase1/01-conventions.md §7, extended to 3-D for CAD in B12).

RobotVector3(double, double, double) - Constructor for class org.horizon36596.simloop.viz.RobotVector3

Builds a vector in the robot frame from its three components.

run() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns the finished run this candidate was scored from.

run(String, SimRobotConfig, FakeTimer, int, double, Path, ScenarioRunner.ScenarioBody) - Static method in class org.horizon36596.simloop.sim.ScenarioRunner

Runs ticks fixed-timestep sim ticks against timer, writing everything PsiKit logs to rlogPath.

runIsComplete() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

The run produced every frame it was asked for.

RunResult - Class in org.horizon36596.simloop.loop

One finished sim run, read back off disk so it can be scored.

RunResult.MetricNotFoundException - Exception in org.horizon36596.simloop.loop

Thrown when a metric names a key the run never logged.

RunResult.MetricNotNumericException - Exception in org.horizon36596.simloop.loop

Thrown when a metric's logged value is not a number.

S

safeStopAtEnd(String, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: the robot comes to a safe stop when the run ends — as far as a log can tell.

scaleRange(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

scenarioName() - Method in class org.horizon36596.simloop.loop.Objective

The scenario this objective is measured over.

scenarioName() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns which scenario this was measured over.

ScenarioRunner - Class in org.horizon36596.simloop.sim

Runs one headless sim scenario end-to-end: owns the entire PsiKit lifecycle (sim-harness §2-3) and the fixed-timestep tick loop, so a test does not hand-write it (BACKLOG "scenario runner" / area B).

ScenarioRunner.ScenarioBody - Interface in org.horizon36596.simloop.sim

One scenario's per-tick behavior: command the robot, advance its fake hardware/plants, log fields.

score() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

The score to beat.

score() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns what the scorer made of that run.

score(int, String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Release a held piece into a scoring location, leaving it PossessionState.SCORED and out of play for the rest of the run.

score(RunResult) - Method in class org.horizon36596.simloop.loop.Scorer

Scores one finished run.

SCORED - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Released into a scoring location and out of play.

Scorer - Class in org.horizon36596.simloop.loop

Turns a finished run into one number, plus the breakdown that number came from (docs/process/scorer-interface.md §1, §8).

Scorer(Objective, List<Guardrail>) - Constructor for class org.horizon36596.simloop.loop.Scorer

Builds a scorer from one objective and the envelope terms that can disqualify a run.

Scorer.Score - Class in org.horizon36596.simloop.loop

One run's score: the total, and every term that produced it.

setCurrentAlert(double, CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setCurrentAlert(double, CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Which way a positive power turns the horn.

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setDirection(Servo.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Sets the direction.

setEncoderMeasuringAnotherMechanism(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Tell this port that the encoder plugged into it is counting a DIFFERENT mechanism than this motor drives, and say what that encoder reads right now.

setEncoderPosition(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Inject the mechanism's current position (in encoder ticks) — the harness calls this each tick with plant.getPosition() * ticksPerUnit.

setHealthStatus(HardwareDeviceHealth.HealthStatus) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setI2cAddr(I2cAddr) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setI2cAddress(I2cAddr) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setJointAngleRadians(String, double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set one revolute joint's angle, measured in radians from the pose the mechanism is drawn in in CAD — so 0 always draws the CAD pose (B13v Contract clause 3), and the sign follows the right-hand rule about the joint's rotation axis.

setJointExtensionInches(String, double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set one linear stage's extension along its own travel axis.

setLogging(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setLoggingTag(String) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setMeasuredShaftSpeedFraction(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Tell this motor how fast its shaft is REALLY turning, as a fraction of free speed in [-1, 1], when something outside the motor decides that — a mechanism plant's end-stop, or a jam.

setMode(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMode(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Sets the run mode, with the one effect a real controller has that a robot can see from the outside.

setMode(DigitalChannel.Mode) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

setMode(DigitalChannelController.Mode) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Deprecated.

setMotorDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMotorDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setMotorEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMotorEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setMotorType(MotorConfigurationType) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMotorType(MotorConfigurationType) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setPIDCoefficients(DcMotor.RunMode, PIDCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPIDCoefficients(DcMotor.RunMode, PIDCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setPose(double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Teleport the integrated pose (e.g.

setPose(double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Teleports the pose, for a test that needs to start somewhere other than the origin.

setPosition(double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

setPosition(double) - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Teleport the state to a known start (e.g.

setPosition(double) - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Teleport the joint to a known start (e.g.

setPositionPIDFCoefficients(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPositionPIDFCoefficients(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Command a speed in [-1, 1]: negative is one way, positive the other, 0.0 is stopped.

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands power in [-1, 1], and re-enables the motor channel unless the run mode is DcMotor.RunMode.STOP_AND_RESET_ENCODER.

setPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Deprecated.

setPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Deprecated.

setSimulatedInputState(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Drive the wire, as the physical world would.

setState(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Write the output bit, as robot code driving an LED or a signal line would.

setTargetPosition(int) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setTargetPosition(int) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Stores the RUN_TO_POSITION target, in encoder ticks, and does nothing else with it.

setTargetPositionTolerance(int) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setTargetPositionTolerance(int) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setTotalTravelInches(double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set the whole mechanism's extension, splitting it across the linear stages in proportion to how much travel each has.

setUserConfiguredName(String) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setVelocity(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setVelocity(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands a shaft velocity in encoder ticks per second, reproducing what LynxDcMotorController.setMotorVelocity does around the command: it switches the run mode to DcMotor.RunMode.RUN_USING_ENCODER unless the motor is already in a mode that accepts a velocity, and it enables the motor channel.

setVelocity(double, AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setVelocity(double, AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands a shaft velocity given as an angular rate, converted through this port's configured CPR exactly as LynxDcMotorController.setMotorVelocity(int, double, AngleUnit) converts it, then handed to FakeMotor.setVelocity(double).

setVelocityPIDFCoefficients(double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setVelocityPIDFCoefficients(double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setVoltage(double) - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Sets the voltage this input reports from now on.

setVoltage(double) - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Sets the voltage this sensor reports from now on, for a test that wants brown-out behaviour.

setZeroPowerBehavior(DcMotor.ZeroPowerBehavior) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setZeroPowerBehavior(DcMotor.ZeroPowerBehavior) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

SimRobotConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the device registry the core needs to build a FakeHardwareMap that mirrors the real robot configuration (architecture §3, domain R7).

status() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns whether this term was checked and fine, checked and broken, or not checkable at all.

stopReport(StopReport.ScenarioReplayer) - Method in class org.horizon36596.simloop.loop.LoopDriver

Stop the loop and report — replaying the best candidate's scenario first, and reporting a determinism failure instead of a score if the two runs differ.

StopReport - Class in org.horizon36596.simloop.loop

What the loop says when it is stopped: the best answer it found, and proof that the answer reproduces.

StopReport.Reproduction - Enum Class in org.horizon36596.simloop.loop

How the second run of the best candidate's scenario came out.

StopReport.ScenarioReplayer - Interface in org.horizon36596.simloop.loop

Runs one accepted candidate's scenario again, from the top, and returns the fresh RLOG.

T

TESTS_GREEN - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

The build's tests passed.

testsGreen() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

What the caller said about the verify command.

text() - Method in class org.horizon36596.simloop.loop.Milestone

The milestone as a block of text: why it fired, what changed in the candidate's own words, and both breakdowns side by side.

text() - Method in class org.horizon36596.simloop.loop.StopReport

The report as a block of text.

tick(double) - Method in interface org.horizon36596.simloop.sim.ScenarioRunner.ScenarioBody

Called once per sim tick, after FakeTimer.advance(double) and Logger.periodicBeforeUser() and before Logger.periodicAfterUser(long, long).

ticksPerInch() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the encoder ticks per inch of wheel travel.

time() - Method in class org.horizon36596.simloop.sim.FakeTimer

Current simulation time.

timeConstant() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

First-order time constant (s, > 0): how quickly the actuator's speed catches up with a commanded power step.

timeConstant() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

First-order time constant (s, > 0): the single pole of the mechanism's response.

toString() - Method in class org.horizon36596.simloop.field.GamePiece

toString() - Method in class org.horizon36596.simloop.field.TriggerVolume

toString() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

toString() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

toString() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

toString() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The same text as Gate.Verdict.explain().

toString() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

toString() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

toString() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

A one-line status, deliberately shorter than Gate.Verdict.toString().

toString() - Method in class org.horizon36596.simloop.loop.Milestone

toString() - Method in class org.horizon36596.simloop.loop.Objective.Budget

toString() - Method in class org.horizon36596.simloop.loop.Scorer.Score

toString() - Method in class org.horizon36596.simloop.loop.StopReport

toString() - Method in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

toString() - Method in class org.horizon36596.simloop.viz.RobotVector3

total() - Method in class org.horizon36596.simloop.loop.Scorer.Score

The headline number: objective − Σ penalties, oriented so bigger is better.

totalPenalty() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns everything the guardrails charged, summed, in the objective's own units.

trackWidth() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the left-right wheel center-to-center distance, in inches.

TriggerVolume - Class in org.horizon36596.simloop.field

A rectangular region bolted to the robot that decides whether a game piece is close enough to be acquired — the "mouth" of an intake, expressed as geometry instead of contact physics (domain R6).

TriggerVolume(String, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.TriggerVolume

Validates and stores one robot-relative rectangle.

tryAcquire(TriggerVolume, boolean) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Take every loose piece that volume overlaps, up to the remaining capacity — but only while mechanismRunning is true.

tryGet(Class<? extends T>, String) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

The SDK's own tryGet, minus the one line of it that cannot run off a robot.

U

unavailableReason() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Why the last-best could not be produced.

unknown(String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Could not be checked from this run.

UNKNOWN - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Could not be checked.

UNKNOWN - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Could not be checked from this run.

unknownCount() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns how many envelope terms could not be checked.

unknowns() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Names of every envelope term that could not be checked from this run.

unreproducedScoreForDiagnosis() - Method in class org.horizon36596.simloop.loop.StopReport

The best score whether or not it reproduced, for diagnosis only, or null when there was never one.

unstated() - Static method in class org.horizon36596.simloop.loop.Objective.Budget

No budget given.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

update(double) - Method in interface org.horizon36596.simloop.fakehardware.FakeDevice

Advance this device's kinematic state by deltaTime seconds.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

update(double) - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Integrate the pose one tick from the motors' current modelled PHYSICAL wheel velocities (ticks/s -> in/s), each corrected for how that motor is physically mounted.

update(double) - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Advance the mechanism one tick from the motor's current commanded power (fakehardware-plant §2).

update(double) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Advance every degree of freedom by deltaTime seconds, in registration order.

update(double) - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Advance this degree of freedom by deltaTime seconds, reading whatever command its own actuator currently holds.

update(double) - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Advance the joint one tick toward the servo's current commanded position.

updateAll(double) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Advances every registered fake device's plant by one harness tick.

updateRobotPose(double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Record where the robot is for this tick and carry every held piece to it.

V

value(RunResult) - Method in class org.horizon36596.simloop.loop.Objective

The objective's contribution to the score, oriented so that bigger is better.

valueA - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

The value the first run logged under RlogDecodedCompare.Mismatch.key, rendered the way PsiKit renders it.

valueB - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

The value the second run logged under RlogDecodedCompare.Mismatch.key, rendered the way PsiKit renders it.

valueOf(String) - Static method in enum class org.horizon36596.simloop.field.PossessionState

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Clause

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Fact

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Outcome

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Guardrail.Status

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Milestone.Reason

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Objective.Direction

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

Returns the enum constant of this class with the specified name.

values() - Static method in enum class org.horizon36596.simloop.field.PossessionState

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Clause

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Fact

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Outcome

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Guardrail.Status

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Milestone.Reason

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Objective.Direction

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

Returns an array containing the constants of this enum class, in the order they are declared.

verdict() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

The gate's full verdict, accepted or not.

verdicts() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns every guardrail's verdict, in the order they were applied.

violated(String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Checked, and broken.

VIOLATED - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; the invariant is broken.

violations() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the names of every envelope term that was checked and found broken.

W

waitForWriteCompletions(I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

wheelBase() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the front-back wheel center-to-center distance, in inches.

wheelMountingSigns() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Which way each drive motor is physically bolted in, as a sign per wheel in [frontLeft, frontRight, backLeft, backRight] order: +1 when a positive shaft rotation drives that corner of the chassis forward, -1 when it drives it backward because the motor is mounted facing the other way.

wheelRadius() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the drive wheel radius, in inches.

withinBound(String, double, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: an actuator is never commanded past its configured bound.

write(byte[]) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(byte[], I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(int, byte[]) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(int, byte[], I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, int, I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

X

x - Variable in class org.horizon36596.simloop.viz.RobotVector3

Robot-right component.

Y

y - Variable in class org.horizon36596.simloop.viz.RobotVector3

Robot-forward component.

Z

z - Variable in class org.horizon36596.simloop.viz.RobotVector3

Up component.

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