Bearing

TODO:

• [ ] Add page-specific notes for research-and-math/geometry/bearing.md after inspecting the real project files.
• [ ] Cross-link Bearing to the most relevant code, data, testing, and safety pages.
• [ ] Define the concept with the exact project use case.
• [ ] List formulas, units, inputs, and outputs.
• [ ] Map the concept to the source file or runtime behavior using it.
• [ ] Add a small worked example using project-style values.
• [ ] Add numerical edge cases or assumptions.
• [ ] Add how to test the implementation against expected results.
• [ ] Add the exact source path, artifact path, or hardware component name.
• [ ] Add the command or procedure needed to reproduce the result.
• [ ] Add expected inputs and outputs.
• [ ] Add the settings, flags, constants, or calibration values that control it.
• [ ] Add known failure modes and how they appear in logs, video, or field behavior.
• [ ] Add validation steps and pass/fail criteria.
• [ ] Add links to related pages that a public reader should follow next.