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feat(motion_profiles): add polynomial, trapezoidal and S-curve profiles - #356
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gabrielfrasantos merged 5 commits intoOct 23, 2026
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| Descriptor | Linter | Files | Fixed | Errors | Max errors | Warnings | Elapsed time |
|---|---|---|---|---|---|---|---|
| ✅ ACTION | actionlint | 7 | 0 | 0 | 0.73s | ||
| ✅ CPP | clang-format | 456 | 11 | 0 | 0 | 4.22s | |
| ✅ CPP | cppcheck | 456 | 0 | 0 | 9.32s | ||
| ✅ DOCKERFILE | hadolint | 1 | 0 | 0 | 0.49s | ||
| ✅ JSON | jsonlint | 8 | 0 | 0 | 0.1s | ||
| ✅ JSON | prettier | 8 | 8 | 0 | 0 | 0.49s | |
| markdownlint | 156 | 2 | 148 | 0 | 3.54s | ||
| ✅ MARKDOWN | markdown-table-formatter | 156 | 12 | 0 | 0 | 0.36s | |
| lychee | 267 | 19 | 0 | 24.64s | |||
| ✅ YAML | prettier | 12 | 3 | 0 | 0 | 0.61s | |
| ✅ YAML | yamllint | 12 | 0 | 0 | 0.61s |
Detailed Issues
⚠️ SPELL / lychee - 19 errors
📝 Summary
---------------------
🔍 Total..........591
🔗 Unique.........450
✅ Successful.....560
⏳ Timeouts.........0
🔀 Redirected.....154
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........19
⛔ Unsupported.....19
Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 37:21) | Rejected status code: 403 Forbidden
Errors in CHANGELOG.md
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/1 (at 206:31) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/13 (at 220:7) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/15 (at 215:18) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/18 (at 205:62) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/24 (at 210:19) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/4 (at 214:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/6 (at 212:53) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/7 (at 209:32) | Rejected status code: 404 Not Found
Errors in doc/filters/active/AhrsMadgwickMahony.md
[ERROR] file://doc/filters/ComplementaryFilter.md (at 131:3) | File not found. Check if file exists and path is correct
Errors in doc/filters/active/ExtendedKalmanFilter.md
[ERROR] file://doc/dynamics/EulerLagrange.md (at 130:3) | File not found. Check if file exists and path is correct
Errors in doc/filters/active/KalmanFilter.md
[ERROR] file://doc/filters/controllers/Lqr.md (at 114:77) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Lqr.md (at 133:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Pid.md (at 135:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/solvers/DiscreteAlgebraicRiccatiEquation.md (at 134:3) | File not found. Check if file exists and path is correct
Errors in doc/performance-optimization/README.md
[403] https://developer.arm.com/documentation/100166/latest/ (at 472:3) | Rejected status code: 403 Forbidden
[403] https://developer.arm.com/documentation/dui0473/latest (at 474:3) | Rejected status code: 403 Forbidden
Errors in README.md
[ERROR] file:///releases/latest (at 39:14) | File not found. Check if file exists and path is correct
[404] https://embedded-pro.github.io/embedded-dsp-control/ (at 38:1) | Rejected status code: 404 Not Found
Hint: Followed 154 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
Hint: You can configure accepted/rejected response codes with `-a` or `--accept`
⚠️ MARKDOWN / markdownlint - 148 errors
.claude/agents/algo-implementer.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Read `AGENTS.md` and `roadmap/..."]
.claude/agents/executor.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.claude/agents/orchestrator.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Triage requests and route to t..."]
.claude/agents/planner.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.claude/agents/reviewer.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.claude/agents/unit-tester.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Read `AGENTS.md`, `.github/ins..."]
.github/agents/algo-implementer.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "You deploy ONE algorithm at a ..."]
.github/agents/executor.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/orchestrator.agent.md:21 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Triage requests and route to t..."]
.github/agents/planner.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/reviewer.agent.md:14 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/unit-tester.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "You add or extend the unit tes..."]
.github/instructions/numerical-cpp.instructions.md:76:401 error MD013/line-length Line length [Expected: 400; Actual: 423]
.github/prompts/orchestrate.prompt.md:8:401 error MD013/line-length Line length [Expected: 400; Actual: 496]
.github/prompts/orchestrate.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Analyze the following task for..."]
.github/prompts/unit-test.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Author (or extend) the unit te..."]
CHANGELOG.md:26 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:38 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:52 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:64 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:133 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Miscellaneous"]
CHANGELOG.md:151 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:179 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "⚠ BREAKING CHANGES"]
CHANGELOG.md:183 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:195 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:202 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:218 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
doc/analysis/Decibels.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 637]
doc/analysis/GoertzelAlgorithm.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 492]
doc/analysis/GoertzelAlgorithm.md:107:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/analysis/HilbertTransform.md:31:34 error MD056/table-column-count Table column count [Expected: 2; Actual: 4; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD056/table-column-count Table column count [Expected: 2; Actual: 6; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:104:17 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:38 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:45 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/SignalDetectors.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 481]
doc/control_analysis/FrequencyResponse.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 469]
doc/control_analysis/README.md:11:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:11:147 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:53 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:172 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/RootLocus.md:69 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/control_analysis/TransferFunctionStateSpace.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 589]
doc/controllers/Feedforward2Dof.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 627]
doc/controllers/FrictionCompensation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 420]
doc/controllers/FrictionCompensation.md:29:401 error MD013/line-length Line length [Expected: 400; Actual: 406]
doc/controllers/FrictionCompensation.md:44:401 error MD013/line-length Line length [Expected: 400; Actual: 436]
doc/controllers/GainScheduledController.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 454]
doc/controllers/LeadLagCompensator.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 639]
doc/controllers/Lqg.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 428]
doc/controllers/SaturationRateLimiter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/controllers/SaturationRateLimiter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 477]
doc/estimators/ExpectationMaximization.md:104:103 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/estimators/LmsAdaptiveFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 547]
doc/estimators/README.md:11:122 error MD056/table-column-count Table column count [Expected: 2; Actual: 3; Too many cells, extra data will be missing]
doc/estimators/README.md:11:122 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/AhrsMadgwickMahony.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 538]
doc/filters/active/AhrsMadgwickMahony.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 554]
doc/filters/active/AlphaBetaFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 419]
doc/filters/active/AlphaBetaFilter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/filters/active/KalmanSmoother.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 421]
doc/filters/active/KalmanSmoother.md:111:28 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:61 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:110 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:11:401 error MD013/line-length Line length [Expected: 400; Actual: 468]
doc/filters/active/UnscentedKalmanFilter.md:149:65 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:149:153 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:25 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:43 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:51 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:96 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/AngleUtilities.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 603]
doc/math/AngleUtilities.md:58:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/math/GivensRotation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 429]
doc/math/HouseholderTransform.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 455]
doc/math/MatrixExponential.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 555]
doc/math/MatrixNorms.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 452]
doc/math/MatrixNorms.md:42:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:43:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:44:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:45:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:46:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/StepResponseMetrics.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 514]
doc/math/StepResponseMetrics.md:61 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/motion_profiles/SCurveProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/motion_profiles/SCurveProfile.md:53:401 error MD013/line-length Line length [Expected: 400; Actual: 480]
doc/motion_profiles/TrapezoidalProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 474]
doc/nonlinear_control/BacksteppingControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 594]
doc/nonlinear_control/FeedbackLinearization.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 533]
doc/nonlinear_control/FeedbackLinearization.md:15:401 error MD013/line-length Line length [Expected: 400; Actual: 491]
doc/nonlinear_control/ModelReferenceAdaptiveControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 587]
doc/nonlinear_control/README.md:9:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:9:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:270 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/regularization/Regularization.md:100:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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/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/solvers/SymplecticIntegrators.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 486]
doc/solvers/SymplecticIntegrators.md:35:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/solvers/SymplecticIntegrators.md:63:401 error MD013/line-length Line length [Expected: 400; Actual: 431]
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:17:401 error MD013/line-length Line length [Expected: 400; Actual: 446]
roadmap/README.md:11 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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Deploy roadmap item 55 and create the motion_profiles module with the shared TrajectoryState / MotionLimits types. PolynomialProfile solves the closed-form cubic (position + velocity) or quintic (+ acceleration) coefficients once and samples position, velocity, acceleration and jerk by Horner evaluation, with time clamped to [0, tf]. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5
Deploy roadmap item 56: minimum-time trapezoid / triangle plan from (vMax, aMax), plus PlanWithDuration, which keeps aMax and lowers the cruise speed so several axes can finish together. The cruise speed uses the cancellation-free conjugate form of the smaller root, and infeasible durations return nullopt. At and after tf the profile holds the goal at rest; before t = 0 it holds the start. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5
Deploy roadmap item 60: seven-phase rest-to-rest profile planned with the closed-form three-step method of Biagiotti & Melchiorri §3.4 (vMax reached; else aMax reached; else neither). The boundary states are integrated once, and each sample evaluates one constant-jerk cubic. Add math::Cbrt (generic wrapper, no ARM override), which the step-3 branch needs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5
Apply markdown-table-formatter's layout to the tables this tier adds or edits, as suggested by MegaLinter. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5
The qemu-cortex-m4/m7 build presets list their test targets explicitly, so numerical.motion_profiles_test was registered with CTest but never built, and the QEMU jobs failed with "Could not load kernel". Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5
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… symplectic integrators and motion profiles (#355) * feat(math): add angle utilities (wrap, shortest difference, unwrap) Deploy roadmap item 54. WrapToPi maps into (−π, π] (both ±π → +π), WrapToTwoPi into [0, 2π) with a guard so rounding never returns 2π, AngleDifference takes the short way round and UnwrapAngle turns a wrapped measurement into a continuous signal. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * refactor(filters): use math::WrapToPi in ComplementaryFilter Replace the private heading wrap with the shared angle utilities. The result changes only at exactly ±π: the estimate is now reported in (−π, π], so −π maps to +π, matching the library-wide convention. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(math): add tridiagonal (Thomas) solver Deploy roadmap item 59: O(n) factor-once / solve-many solver for tridiagonal systems. Factor stores reciprocal pivots so Solve has no division, and reports a pivot with |p| <= eps * scale (or a size outside [1, MaxSize]) as failure instead of dividing by it. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(controllers): add friction compensation feedforward Deploy roadmap item 57: per-axis Coulomb + viscous + Stribeck friction model, smoothed through zero velocity with tanh(v/eps) and clamped to maxCompensation, to be added to a torque or current command. The spec's "torque ≈ F_s near zero velocity" check is asserted against the model's exact value at v = 10·eps (0.788237): the Stribeck term has already decayed by e^-0.04 there. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(solvers): add symplectic integrators for second-order systems Deploy roadmap item 58: semi-implicit Euler and velocity Verlet (kick-drift-kick) over a new SecondOrderSystem interface. For a conservative plant the energy error stays bounded instead of drifting. The second-order check compares h = 0.1 with h = 0.05 rather than the spec's unspecified small step: at h = 0.01 float32 rounding already dominates the truncation error and the error ratio reads ≈ 5, not 4. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * docs: align markdown tables Apply markdown-table-formatter's layout to the tables this tier adds or edits, as suggested by MegaLinter. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(motion_profiles): add polynomial, trapezoidal and S-curve profiles (#356) * feat(motion_profiles): add module with polynomial point-to-point profile Deploy roadmap item 55 and create the motion_profiles module with the shared TrajectoryState / MotionLimits types. PolynomialProfile solves the closed-form cubic (position + velocity) or quintic (+ acceleration) coefficients once and samples position, velocity, acceleration and jerk by Horner evaluation, with time clamped to [0, tf]. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(motion_profiles): add trapezoidal (LSPB) velocity profile Deploy roadmap item 56: minimum-time trapezoid / triangle plan from (vMax, aMax), plus PlanWithDuration, which keeps aMax and lowers the cruise speed so several axes can finish together. The cruise speed uses the cancellation-free conjugate form of the smaller root, and infeasible durations return nullopt. At and after tf the profile holds the goal at rest; before t = 0 it holds the start. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * feat(motion_profiles): add S-curve (jerk-limited) profile Deploy roadmap item 60: seven-phase rest-to-rest profile planned with the closed-form three-step method of Biagiotti & Melchiorri §3.4 (vMax reached; else aMax reached; else neither). The boundary states are integrated once, and each sample evaluates one constant-jerk cubic. Add math::Cbrt (generic wrapper, no ARM override), which the step-3 branch needs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * docs: align markdown tables Apply markdown-table-formatter's layout to the tables this tier adds or edits, as suggested by MegaLinter. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 * fix(build): build motion_profiles tests in the QEMU presets The qemu-cortex-m4/m7 build presets list their test targets explicitly, so numerical.motion_profiles_test was registered with CTest but never built, and the QEMU jobs failed with "Could not load kernel". Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 --------- Co-authored-by: Claude <noreply@anthropic.com> --------- Co-authored-by: Claude <noreply@anthropic.com>
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Summary
Tier 2 of the roadmap items added in #353: the new
motion_profilesmodule. It has its own CMake target, test target, doc folder, and an entry in the AGENTS.md namespace list. The sharedTrajectoryState/MotionLimitstypes live inMotionProfileTypes.hpp.PlanWithDurationkeeps aMax and lowers the cruise speed for multi-axis sync, using the cancellation-free root.math::Cbrt: a generic wrapper with no ARM override.At and after tf, both limit-driven profiles hold the goal at rest. Before t = 0 they hold the start, including for zero-distance moves. Found while documenting: a zero-distance trapezoid sampled at t < 0 used to report a nonzero acceleration.
Verification
Stack
Stacked on #355 (base:
claude/brave-einstein-5nj7y6-tier1). Merge #355 first; this PR is then retargeted tomain.Generated by Claude Code