# Intercept geometry (ORCA)

Pure-pursuit is lazy and wastes the speed advantage. Use constant-bearing
decreasing-range (CBDR) lead solution.

Given target speed Vt, our speed Vo (Vo > Vt for intercept), bearing geometry:
solve for lead angle so we arrive at the future point. quadratic in time.

Sprint 42 kt vs a 25 kt contact -> closing fast, but turn radius at 42 kt is the
limiter. planing hull, don't bank into a stuff. cap turn rate, widen the lead.

Non-kinetic: once alongside, match course/speed, shoulder. CEDAR maneuver policy
needs an "escort" mode distinct from "avoid". flagged to Priya.