Zeerekahmad/projection fix and stack - #7
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Footprint is now computed in the C++ projectors and exposed via pybind so projecting a trajectory yields the vehicle outline at each step (single body for bicycle/differential, front + rear for articulated, folding about the articulation angle). Dimensions live on the projectors; models stay pure kinematics. Unset/invalid dims -> empty footprint, never throws. - Articulated base_link/pose is now the articulation joint (integration still runs at the rear axle); footprints gain front/rear overhang beyond the axles - Rename k-style constants to ALL_CAPS; normalizeAngle via std::remainder - Explorer: consume projected footprints; show only the longest (highest-vel) lattice subplot; 16:9 landscape plots constrained to 2/3-width columns - Conservative test trim (bindings tests -> surface checks; C++ owns geometry) and small app cleanup (hoist vel_options, shared single-trajectory render) Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> Bugfixes, cleanup, corrections, simplification Switch to passing in footprints rather than something more specialized
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