Input cleanup: remove redundant distance from sliding window #119

New Issue

2026-08-29T19:03:42+02:00

SirStone commented

2026-08-29 19:03:42 +02:00

What to build

Remove the redundant distance entry from the sliding window's last feature group so that distance appears only once in the 91-dimensional ANN input.

The sliding window currently includes distance in its last 3-element group (indices 87-89), making it appear twice in the 91-dim input - once normalized with NormWallDistance=1000.0 inside the window, and once as normDistance(currentDist) as the 91st element.

Acceptance criteria

toInputVec no longer includes normalized distance in the window portion (indices 87-89)
Distance appears only as the sole distance input at index 90
InputDim constant in ann.nim changes from 91 to 90
Unfilled window slots (zeros) semantically represent no data rather than zero distance
Existing when isMainModule self-checks in data.nim still pass
Existing when isMainModule self-checks in ann.nim still pass

Blocked by

None - can start immediately.

Parent

Closes part of #118

## What to build Remove the redundant distance entry from the sliding window's last feature group so that distance appears only once in the 91-dimensional ANN input. The sliding window currently includes distance in its last 3-element group (indices 87-89), making it appear twice in the 91-dim input - once normalized with NormWallDistance=1000.0 inside the window, and once as normDistance(currentDist) as the 91st element. ## Acceptance criteria - toInputVec no longer includes normalized distance in the window portion (indices 87-89) - Distance appears only as the sole distance input at index 90 - InputDim constant in ann.nim changes from 91 to 90 - Unfilled window slots (zeros) semantically represent no data rather than zero distance - Existing when isMainModule self-checks in data.nim still pass - Existing when isMainModule self-checks in ann.nim still pass ## Blocked by None - can start immediately. ## Parent Closes part of #118

SirStone commented

2026-08-29 19:07:22 +02:00

Duplicate of #120. Closing.

SirStone closed this issue

2026-08-29 19:07:22 +02:00

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Reference: SirStone/SirRoboGarage#119