COLREGS
Boundary correctness tests for COLREGS classification. These cases probe below, edge, above, and mirrored geometries to catch regressions near rule-transition thresholds.
Stem Mission
The shared COLREGS stem mission uses two vessels, ben and abe; ben is the evaluated ownship. Threshold cases reuse the same stem while moving the geometry just below, at, or above classification boundaries.
Examples
This threshold harness uses alog-backed overlay GIFs instead of raw pMarineViewer captures because the cases differ by small geometry changes and the verdict comes from boundary-specific COLREGS publications. The visuals call out the evidence that makes each case pass.
Case Matrix
head_on_thresh_below_pass
Ben's eight-degree heading offset produces head-on index 10 while the live contact-to-ownship relative bearing remains within 12 degrees of zero.
head_on_thresh_edge_pass
Ben's 12-degree configured heading offset produces CPA index 50 after the live contact-to-ownship relative bearing moves just outside the 12-degree head-on cutoff.
head_on_thresh_above_pass
Ben's 16-degree heading offset produces CPA index 50 with the live contact-to-ownship relative bearing outside the 12-degree cutoff.
head_on_thresh_below_mirror_pass
The mirrored 352-degree heading produces head-on index 10 while the live contact-to-ownship relative bearing remains within 12 degrees of zero.
head_on_thresh_edge_mirror_pass
The mirrored 348-degree heading produces CPA index 50 after the live contact-to-ownship relative bearing moves just outside the 12-degree cutoff.
head_on_thresh_above_mirror_pass
The mirrored 344-degree heading produces CPA index 50 with the live contact-to-ownship relative bearing outside the 12-degree cutoff.
overtaking_thresh_below_pass
A 36-meter port-side offset keeps the live contact-to-ownship relative bearing inside the 112.5–247.5-degree Rule 13 sector and produces overtaking:port index 43.
overtaking_thresh_edge_pass
A 37-meter port-side offset moves the live contact-to-ownship relative bearing above 247.5 degrees and produces giveway:bow index 22.
overtaking_thresh_above_pass
A 38-meter port-side offset remains above the 247.5-degree sector ceiling and produces giveway:bow index 22.
overtaking_thresh_below_mirror_pass
A 38-meter mirrored offset leaves the live contact-to-ownship relative bearing below 112.5 degrees and produces CPA index 50.
overtaking_thresh_edge_mirror_pass
A 37-meter mirrored offset remains below the 112.5-degree sector floor and produces CPA index 50.
overtaking_thresh_above_mirror_pass
A 36-meter mirrored offset moves the live contact-to-ownship relative bearing inside the Rule 13 sector and produces overtaking:starboard index 47.
overtaken_thresh_below_pass
Ben overtakes from a 22-meter port-side offset and the classifier remains in CPA instead of entering standon_ot.
overtaken_thresh_edge_pass
Moving Ben to an 18-meter port-side offset produces standon_ot:port.
overtaken_thresh_above_pass
Moving Ben to a 14-meter port-side offset produces standon_ot:port.
overtaken_thresh_below_mirror_pass
The mirrored 22-meter offset remains in CPA instead of entering standon_ot.
overtaken_thresh_edge_mirror_pass
The mirrored 16.5-meter offset produces standon_ot:starboard.
overtaken_thresh_above_mirror_pass
The mirrored 14-meter offset produces standon_ot:starboard.
giveway_bowdist_below_pass
The below fixture produces index 20 with XCN_BOW_DIST_BEN<10 and XCN_BOW_TURN_GAP_BEN>10, proving neither bow-selection predicate is active.
giveway_bowdist_edge_pass
The edge fixture remains index 20 with bow distance below 10 and turn gap above 10.
giveway_bowdist_above_pass
The above fixture produces index 22 with bow distance above 10 and turn gap above 10, isolating the bow-distance branch.
giveway_bowdist_below_mirror_pass
The rotated below fixture remains index 20 with bow distance below 10 and turn gap above 10.
giveway_bowdist_edge_mirror_pass
The rotated edge fixture remains index 20 with bow distance below 10 and turn gap above 10.
giveway_bowdist_above_mirror_pass
The rotated above fixture produces index 22 with bow distance above 10 and turn gap above 10.
giveway_turngap_below_pass
The diagonal below fixture produces index 20 with bow distance below 10 and turn gap above 10.
giveway_turngap_above_pass
The diagonal above fixture produces index 22 with both bow distance and turn gap below 10, isolating the turn-gap branch.
giveway_turngap_below_mirror_pass
The rotated below fixture produces index 20 with bow distance below 10 and turn gap above 10.
giveway_turngap_above_mirror_pass
The rotated above fixture produces index 22 with both bow distance and turn gap below 10.
standon_unsurebow_below_pass
Eastbound ownship from (-55,-72) against southbound Ben from (10,-18) produces standon:unsure index 38.
standon_unsurebow_edge_pass
Ownship from (-60,-80) against Ben from (10,-30) produces standon:unsure_bow index 36.
standon_unsurebow_above_pass
The execution-far fixture with ownship (-76,-80) and Ben (10,-12) produces standon:bow index 32.
standon_band270_stern_pass
Eastbound ownship against 1.2 m/s southbound Ben from (10,15) produces standon:stern index 30 while the live ownship-to-contact relative bearing is in the source's 270–315-degree band.
standon_band350_unsurebow_pass
Ownship at (-35,-80) against southbound Ben from (10,-70) produces standon:unsure_bow index 36 while the live ownship-to-contact relative bearing is above 350 degrees.
standon_band315_bow_pass
Ownship at (-35,-80) against southbound Ben from (0,-64) produces standon:bow index 32 while the live ownship-to-contact relative bearing is in the source's 315–350-degree band.
standon_southwest_unsurebow_pass
Southwest-bound Ben from (10,-82) produces standon:unsure_bow index 36.
standon_southwest_unsure_pass
Moving southwest-bound Ben to (10,-76) produces standon:unsure index 38.
standon_southwest_stern_pass
Moving southwest-bound Ben to (10,-70) produces standon:stern index 30.
standon_inextremis_range_below_pass
The wide stand-on fixture produces standon:stern index 30 while live contact range remains above the 18-meter max_util_cpa_dist.
standon_inextremis_range_edge_pass
The edge fixture produces standon:inextremis index 31 with live contact range at or below 18 meters.
standon_inextremis_range_above_pass
Moving Ben half a meter produces standon:inextremis index 31 with live contact range at or below 18 meters.
standon_ot_inextremis_range_below_pass
Ben approaches from (-105,-76) and produces standon_ot:port while live contact range remains above 18 meters.
standon_ot_inextremis_range_edge_pass
Moving Ben to (-52,-76) produces standon_ot:inextremis with live contact range at or below 18 meters.
standon_ot_inextremis_range_above_pass
Moving Ben to (-50,-76) produces standon_ot:inextremis with live contact range at or below 18 meters.