[TomCC7]

Existing gradient, Voronoi, inflation, smoothing, overlay and offline rectangle/XML algorithms now accept generated OccupancyGrid values. Each returns the same kind of value it receives, so current legacy callers keep their behavior while generated consumers can migrate independently. Generated results copy the complete Header and MapMetaData, including a map-load timestamp distinct from the source timestamp.

Parent: #4669. Part of the message encoding refactor.

Files	Change
Existing operations module	Shared internal access/result construction, retaining the input's value type and independent generated metadata
Gradient, inflation, extrusion	Use the shared accessors; existing numeric algorithms and XML conventions retained
One adjacent contract test	Zero/negative/epoch source times, CDR round trips, metadata ownership, exact costs and existing/generated numerical equivalence
Workflow	Installed-production provenance checks, focused generated cases and four strict production files

Run this against the proposal's installed main package:

import numpy as np
from dimos.messages.builtin_interfaces.msg import Time
from dimos.messages.std_msgs.msg import Header
from dimos.msgs.occupancy import occupancy_from_array, occupancy_view
from dimos.mapping.occupancy.gradient import gradient

grid = occupancy_from_array(
    np.array([[-1, 0, 0], [0, 100, 0], [0, 0, 0]], dtype=np.int8),
    resolution=0.25, header=Header(frame_id="map", stamp=Time(sec=0, nanosec=1)),
)
cost = gradient(grid, max_distance=0.5)
assert occupancy_view(cost)[0, 0] == -1
assert occupancy_view(cost)[0, 1] == 50
assert cost.header.stamp.nanosec == 1

From a prepared checkout, python -m pytest --noconftest -o addopts='' -q dimos/mapping/occupancy/test_generated_operations.py runs 21 cases without assets or hardware.

Validation: 68 source checks pass, including the unchanged pixel/XML golden regressions and retained historical pointcloud case; 61 installed-main-wheel checks pass with actual production modules asserted to come from site-packages (one source-data lookup case deselected). Seven existing project golden archives were fetched from LFS, each OID/hash/size verified and safely extracted. Four production files pass strict typing, applicable hooks pass, normal main wheel and default 198-package pip check pass. Wheel SHA256 7364348a02ce3a2455662f88ba55520e28d6bdba5e1c8084e3ed1249fb43b8ef.

Default mapping/navigation producers and runtime encoding are not switched in this layer; legacy class retirement follows verified consumer migration. XML scene generation was tested as text only; no simulator/hardware run, benchmark investigation or CI polling.