- Extracts yawFromDelta helper to standardize rotation math - Removes incorrect PI/2 offset causing reverse-facing vehicles - Accounts for direction sign in shuttle vehicle rotation - Adds vehicleOrientations() for test validation
- Extracts yawFromDelta helper to standardize rotation math - Removes incorrect PI/2 offset causing reverse-facing vehicles - Accounts for direction sign in shuttle vehicle rotation - Adds vehicleOrientations() for test validation