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docs(roadmap): add the SE(2) transform spec (item 66) - #363

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docs(roadmap): add the SE(2) transform spec (item 66)#363
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@gabrielfrasantos gabrielfrasantos commented Oct 24, 2026

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Adds the spec for item 66, math::SE2Transform, under roadmap/math/SE2Transform/ (implementation.md, tests.md, explanation.md). Every robotics-toolbox-cpp wheeled-robot item (W1–W10) and planar odometry (F1) builds on it.

  • Same linear-first ordering as item 53: twists (vx, vy, ω), wrenches (fx, fy, τ).
  • The rotation is stored as a unit complex number (cos θ, sin θ), so composition, Apply and Inverse use no trigonometry.
  • Exp/Log use item 53's series threshold (|φ| < 0.1). Log stays finite on the whole (−π, π] branch.
  • Normalized for integrated poses; ToSE3 for mobile manipulators; PoseError is the base-frame error, as in item 53.

Test vectors were checked in double precision: Exp matches a 3×3 matrix exponential to 8e-10 over 2000 random twists, and Exp(Log(T)) round-trips to 6e-10.

ROADMAP.md: item 66 now links its spec, and its "Reuses" line points to item 53, since the spec never uses item 54. roadmap/README.md: index entry added.

Generated by Claude Code

@claude
docs(roadmap): add the SE(2) transform spec (item 66)
8eca15f 
Planar counterpart of item 53 for robotics-toolbox-cpp's wheeled
family, with the same linear-first ordering: twists (vx, vy, ω),
wrenches (fx, fy, τ). The rotation is stored as a unit complex number,
so composition, Apply and Inverse need no trigonometry. Exp/Log use
item 53's 0.1 series threshold; Log is finite on the whole (−π, π]
branch. Normalized handles drift in integrated poses; ToSE3 lifts the
pose for mobile manipulators.

The test vectors were checked in double: Exp matches a 3×3 matrix
exponential to 8e-10 over 2000 random twists, and Exp(Log(T))
round-trips to 6e-10.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
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✅⚠️MegaLinter analysis: Success with warnings

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[ERROR] file://doc/filters/solvers/DiscreteAlgebraicRiccatiEquation.md (at 134:3) | File not found. Check if file exists and path is correct

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[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 148 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`
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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: 507]
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 21453)

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@sonarqubecloud

sonarqubecloud Bot commented Oct 24, 2026

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Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

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

See analysis details on SonarQube Cloud

@gabrielfrasantos gabrielfrasantos mentioned this pull request Oct 24, 2026
Merged
@gabrielfrasantos
gabrielfrasantos merged commit 63c9b91 into main Oct 24, 2026
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@gabrielfrasantos
gabrielfrasantos deleted the claude/peaceful-hawking-7sef6o branch October 24, 2026 09:25
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2 participants

@gabrielfrasantos @claude