Testing/hanksville comp 2026

[targed]

Description

This is the branch we used at URC 2026, where we got an 86/100 on Autonomy. It has a few minor changes, adjustments, bug fixes, and improvements.

Changes Made

• Changed search pattern to be a double spiral instead of going back on itself so it would cover more area in the search radius
• Added a new custom-trained model with the added photos from Tucumcari

How It Works

• Adjusted the sin and cos periods of the search pattern
• Took a bunch of photos in Tucumcari, annotated them, and trained a new model on them

Testing

• This code is competition-tested and proven

Known Issues (if applicable)

There is an issue where, if there is a search radius of 0, the new search pattern will segfault when it reaches the end of the path, but that can be fixed in this PR.

[gemini-code-assist]

Code Review

This pull request refines the search pattern completion condition in SearchPatternState.cpp and updates path splicing logic in StuckState.cpp by moving flag assignments and adding size checks. The review comments identify critical issues in StuckState.cpp, including potential iterator out-of-bounds errors due to incorrect iterator increments and a potential segmentation fault when calling std::prev on a begin iterator. Code suggestions are provided to resolve these issues.

Important

The consumer version of Gemini Code Assist on GitHub is being sunset. Starting June 18, 2026, new organization installations will be blocked, and all code review activity will officially cease on July 17, 2026.
For more details on the timeline and next steps, please review the Help Documentation.

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 0 complexity · 2 duplication

Metric	Results
Complexity	0
Duplication	2

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