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T accumulates ordinary floating-point roundoff through the loop's repeated T = T @ new_T composition. After enough iterations this can drift just outside ishom2()'s orthonormality tolerance, causing downstream SE2(T) construction to silently misinterpret the matrix as an [x, y, theta] vector instead of raising a clear error (a separate SE2.__init__ issue, not addressed here). Restore exact orthonormality with trnorm2() before returning, as its own docstring describes for exactly this situation.
The sphinx job unconditionally ran (and tried to publish to gh-pages) on every PR, including ones whose branch lives in a fork -- even the author's own fork (e.g. #198). GitHub Actions always issues a read-only GITHUB_TOKEN for pull_request-triggered runs when the head repo differs from the base repo, so the gh-pages push step there fails by design, regardless of repo/workflow permission settings. There was already a commented-out attempt at this exact guard inside sphinx.yml itself (`if: github.event_name != 'pull_request'`), but it could never have worked there: sphinx.yml is invoked via `workflow_call`, and github.event_name inside a called workflow is always "workflow_call", never the original triggering event. Moving the condition to the caller job in master.yml (which does see the real triggering event) is what actually works -- removed the dead comment from sphinx.yml accordingly. This also means PR runs no longer spend ~10+ minutes building docs that were never going anywhere, and unreviewed PR content never reaches the live public docs site.
Project principal-point displacement onto the common normal of unit directions, with a scalar perpendicular-distance fallback for parallel lines. Cover intersecting, coincident and skew lines, direction rescaling, operand reversal and the parallel tolerance. AI assistance: prepared with Codex; validation executed locally.
Python 3.10 imports Self from typing_extensions. Require the first release that provides it so dependency resolution cannot silently install an incompatible older version. Assisted-by: OpenAI Codex Signed-off-by: 李永祺 <doribelove@gmail.com>
taughz
added this pull request to stack #247
October 11, 2026 16:04
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Do not merge this PR. It is a hub for integration testing the open PR backlog against Core (internal RAI software). The branch stages the PRs listed below, one
--no-ffmerge commit per PR in merge order, so they can be tested together. Once Core tests pass, the individual PRs are approved and merged tomasterin this order (ticking them off here), and this hub is closed.The branch is rebuilt (force-pushed) whenever a contained PR changes or lands on
master. Do not usegh stack sync,gh stack rebase, orgh stack mergeon this stack: rebasing flattens the per-PR merge commits, and merging would land the hub itself.Stack: this PR (high priority) -> #246 (backlog, stacked on top).
Core tested: no
Contained PRs (merge order)
High-impact, small-diff fixes. #222 goes first because it fixes the
sphinxCI failure on fork PRs.