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feat(solvers): support wide matrices in SVD; add roadmap items 53–65 - #353

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feat(solvers): support wide matrices in SVD; add roadmap items 53–65#353
gabrielfrasantos merged 4 commits into
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@gabrielfrasantos gabrielfrasantos commented Oct 23, 2026

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Summary

Moves the generic algorithms out of robotics-toolbox-cpp's roadmap and into this one, and fixes the SVD restriction that robotics specs had to work around. The robotics side is in embedded-pro/robotics-toolbox-cpp (branch claude/peaceful-hawking-7sef6o); it refers to these items as NT53–NT65.

Code

  • SingularValueDecomposition now accepts Rows < Cols. It factors the transpose internally and swaps the factors. The thin factors are U: Rows×k, V: Cols×k, k = min(Rows, Cols) (SingularValueCount). Tall and square instantiations keep their types. PseudoInverse and SolveLeastSquares return the minimum-norm solution for underdetermined systems. Adds 4 tests, a <float, 3, 4> coverage instantiation, and doc updates.

Roadmap (specs only, no code)

  • build(deps): bump github/codeql-action from 3.28.16 to 4.30.8 #53 SE3Transform: now the only SE(3) spec, with 6-vectors ordered linear part first: twists (v; ω), wrenches (f; n). robotics-toolbox-cpp had its own copy with the opposite ordering. This also adds PoseError and an SO(3) log that stays accurate near 0 and π.
  • Master-list items 54–65:
    • AngleUtilities, TridiagonalSolver and CubicSpline (math)
    • PolynomialProfile, TrapezoidalProfile and SCurveProfile (new motion_profiles module)
    • FrictionCompensation (controllers)
    • SymplecticIntegrators, DampedPseudoInverse and ActiveSetQp (solvers)
    • IncrementalQrLeastSquares (estimators/offline)
    • LevenbergMarquardt (optimization)
  • Removes the stale MomentumObserver (M16) and DynamicParameterIdentification (M22) index entries, which robotics-toolbox-cpp owns, and fixes the broken canonical-example link.

Verification

  • numerical.solvers_test 157/157 and numerical.estimators.offline_test 43/43 pass (host-single-Debug).
  • The coverage instantiation TU compiles with NUMERICAL_TOOLBOX_COVERAGE_BUILD.
  • clang-format --dry-run --Werror is clean on the changed sources.
  • Reference values in the new specs were recomputed with python3/numpy.

Merge order

Merge this first. The robotics PR's M11/M14 specs depend on the wide-matrix SVD and link to these specs on main, and its numerical-toolbox pin gets bumped to the merge commit afterwards.

Generated by Claude Code

claude added 3 commits October 23, 2026 14:23
@claude
feat(solvers): support wide matrices in SingularValueDecomposition
03e72dd 
SingularValueDecomposition required Rows >= Cols, so callers with a
wide matrix (a 6×N task Jacobian with N > 6, an underdetermined
system) had to decompose the transpose and swap the factors by hand.

A wide matrix is now factored through its transpose: the tall
Golub–Kahan path runs on Aᵀ = U'ΣV'ᵀ and U() / V() return V' / U'.
The thin factors are U: Rows×k and V: Cols×k with k = min(Rows, Cols)
(SingularValueCount); tall and square instantiations keep their
existing types. PseudoInverse and SolveLeastSquares return the
minimum-norm solution for underdetermined systems.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
@claude
docs(roadmap): make SE3Transform (#53) the single SE(3) spec, linear-…
709498e 
…first

roadmap/math/SE3Transform was left behind when the manipulator stack
moved to robotics-toolbox-cpp (#213), and robotics-toolbox-cpp grew its
own SE(3) spec with the opposite 6-vector ordering. Both carried the
robotics item id M6.

Keep one spec here, as master-list item 53, with robotics-toolbox-cpp's
ordering — twists (v; ω), wrenches (f; n), the ordering of a
linear-rows-first Jacobian and of Sophus/manif tangents — and its
content: Rotate, TransformTwist/TransformWrench, an SO(3) log that is
safe near 0 and π, and the log-map PoseError its controllers and pose
IK consume.

Also drop the stale MomentumObserver (M16) and
DynamicParameterIdentification (M22) index entries, which
robotics-toolbox-cpp owns, and point the canonical worked example at a
spec that exists.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
@claude
docs(roadmap): add generic building blocks 54–65 from robotics-toolbo…
83dab0a 
…x-cpp

robotics-toolbox-cpp's roadmap specified several algorithms that are
not robotics-specific. They move here as master-list items, specified
in the usual three files, and robotics-toolbox-cpp references them as
NT<n>:

- 54 AngleUtilities (math): wrap, shortest difference, unwrap.
- 55/56/60 PolynomialProfile, TrapezoidalProfile, SCurveProfile
  (motion_profiles, new): the scalar motion profiles, moved whole.
- 57 FrictionCompensation (controllers): Coulomb + viscous + Stribeck,
  moved whole.
- 58 SymplecticIntegrators (solvers): semi-implicit Euler, Verlet.
- 59 TridiagonalSolver (math) and 61 CubicSpline (math): the Thomas
  solve and the vector-valued spline behind the joint-space spline.
- 62 DampedPseudoInverse (solvers): damped inverse and exact
  null-space projector from one SVD.
- 63 IncrementalQrLeastSquares (estimators/offline): streaming Givens
  QR with a rank-revealing solve.
- 64 LevenbergMarquardt (optimization): damped Gauss–Newton with a
  retraction and a pluggable damping policy.
- 65 ActiveSetQp (solvers): Goldfarb–Idnani dense convex QP.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
@gabrielfrasantos gabrielfrasantos mentioned this pull request Oct 23, 2026
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✅⚠️MegaLinter analysis: Success with warnings

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Hint: Followed 152 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
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doc/regularization/Regularization.md:100:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/ActiveDisturbanceRejection.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 699]
doc/robust_control/ActiveDisturbanceRejection.md:85:401 error MD013/line-length Line length [Expected: 400; Actual: 575]
doc/robust_control/ActiveDisturbanceRejection.md:93:401 error MD013/line-length Line length [Expected: 400; Actual: 622]
doc/robust_control/DisturbanceObserver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/robust_control/README.md:12:259 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/SlidingModeControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 644]
doc/solvers/ConditionNumber.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 461]
doc/solvers/ConditionNumber.md:51:401 error MD013/line-length Line length [Expected: 400; Actual: 425]
doc/solvers/JacobiEigenSolver.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 443]
doc/solvers/JacobiEigenSolver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 609]
doc/solvers/JacobiEigenSolver.md:45:401 error MD013/line-length Line length [Expected: 400; Actual: 427]
doc/solvers/README.md:16:163 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:17:163 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:18:167 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:19:184 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:20:184 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/RungeKuttaIntegrators.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/solvers/SpectralRadius.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 665]
doc/windowing/window.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 415]
README.md:1 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "[![Quality Gate Status](https:..."]
README.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 442]
README.md:19:327 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:20:211 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:21:303 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:22:284 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:23:446 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:25:140 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:26:174 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:27:363 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:28:158 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:29:205 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
roadmap/README.md:11 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]

(Truncated to last 20000 characters out of 23381)

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github-actions[bot]
github-actions Bot reviewed Oct 23, 2026
View reviewed changes
Comment thread ROADMAP.md Resolved
@claude
docs(roadmap): align the master-list table columns
28dbcd0 
Apply markdown-table-formatter's layout for the narrower
Target module column.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
@sonarqubecloud

sonarqubecloud Bot commented Oct 23, 2026

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Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
96.5% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@gabrielfrasantos
gabrielfrasantos merged commit adfc10d into main Oct 23, 2026
14 of 16 checks passed
@gabrielfrasantos
gabrielfrasantos deleted the claude/peaceful-hawking-7sef6o branch October 23, 2026 14:44
@embedded-releaser-app embedded-releaser-app Bot mentioned this pull request Oct 20, 2026
Open
@gabrielfrasantos gabrielfrasantos mentioned this pull request Oct 23, 2026
Merged
gabrielfrasantos added a commit to embedded-pro/robotics-toolbox-cpp that referenced this pull request Oct 23, 2026
@gabrielfrasantos @claude
build: bump numerical-toolbox to adfc10d (#26)
03afbe1 
Picks up embedded-pro/numerical-toolbox-cpp#353: wide-matrix
SingularValueDecomposition, which the M11 and M14 specs now rely on,
and the NT53–NT65 roadmap specs that ROADMAP.md links to.


Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx

Co-authored-by: Claude <noreply@anthropic.com>
This was referenced Oct 23, 2026
Merged
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@gabrielfrasantos @claude