[Afloat16]

Problem

Vehicle simulation computes travelled distance with a norm, so reverse motion produces positive odometry. Feeding that odometry into the existing vehicle state transition predicts forward motion, breaking estimator prediction when a vehicle reverses.

Change

Project the translation increment onto the vehicle's heading before the state update to retain its sign. This uses the actual limited motion and handles differential steering even when one wheel moves forward while the vehicle reverses. The odometry docstring now explicitly describes signed distance.

The regression covers Bicycle, Unicycle and DiffSteer, with forward controls, reversing controls, nonzero heading and opposite wheel directions. It verifies that returned odometry reconstructs the actual next pose through VehicleBase.f.

Validation

• Original source: all 4 reverse cases failed; the 4 forward controls passed.
• PYTHONPATH=src python -m pytest tests/test_vehicle_estimators.py -q: 55 passed, 30 subtests passed.
• The regression module passes Ruff.
• git diff --check passed.

This corrects the sign of reverse odometry and consequently changes estimator trajectories for reversing vehicles.

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 0 complexity · 0 duplication

Metric	Results
Complexity	0
Duplication	0

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