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feat(math): add SE2Transform (NT66) - #366

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claude/se2-transform-nt66
Nov 5, 2026
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feat(math): add SE2Transform (NT66)#366
gabrielfrasantos merged 2 commits into
mainfrom
claude/se2-transform-nt66

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@gabrielfrasantos gabrielfrasantos commented Nov 5, 2026

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Deploys roadmap item 66: a planar rigid transform with the twist and wrench algebra of item 53, reduced to the plane. It unblocks robotics-toolbox-cpp's mobile, odometry and localization items (F1, W1–W10, M24, E2).

What ships

  • numerical/math/SE2Transform.hpp, with the coverage instantiation in SE2Transform.cpp.
    • Stores the rotation as a unit complex number (cos θ, sin θ) plus a translation.
    • Provides Identity, FromPose, Pose, Heading, Rotation, a hidden-friend operator*, Inverse, Apply and Rotate.
    • Also Homogeneous, Adjoint, TransformTwist, TransformWrench, Normalized, ToSE3, Exp, Log and PoseError.
    • Adds the Vector2 and Matrix2 aliases.
    • Linear-first ordering, as in SE3Transform.
    • Exp and Log switch to Taylor series below |φ| = 0.1. Log stays finite on (−π, π].
  • numerical/math/test/TestSE2Transform.cpp: the 16 cases from tests.md.
  • doc/math/SE2Transform.md, plus rows in doc/math/README.md and the README.md Documentation table.
  • Removes roadmap/math/SE2Transform/, the item-66 row and section in ROADMAP.md, and its entry in the roadmap/README.md index.

Spec deviation

  • log_at_half_turn_is_finite builds the half turn directly as {cos, sin} = {−1, 0}, not as FromPose(1, 0, π). In float, sin(π_f) ≈ −8.7e-8, so FromPose gives a heading just above −π, while the spec's expected value was computed in double. The direct form tests the spec's edge case: at a heading of exactly π, the branch returns +π.

Verification

  • host-single-Debug: numerical.math_test passes 601/601, including all 16 new cases.
  • Coverage build (EMIL_ENABLE_COVERAGE=On): 100 % merged line coverage on SE2Transform.hpp.
  • clang-format --dry-run --Werror passes.
  • Clang -Wall -Wextra -Werror -Wshadow with NUMERICAL_TOOLBOX_COVERAGE_BUILD passes.
  • scripts/validate-docs.py passes.
  • Not run locally: the full host preset (Qt simulator), QEMU targets, cppcheck, SonarCloud.

Generated by Claude Code

@claude
feat(math): add SE2Transform (NT66)
557af3a 
Planar rigid transform with the rotation stored as a unit complex
number: composition, closed-form inverse, adjoint and twist/wrench maps,
arc-exact Exp with a series below |phi| = 0.1, singularity-free Log on
(-pi, pi], short-way PoseError, renormalisation and ToSE3. Linear-first
ordering as in SE3Transform.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_014WUWh44uw7k4JjMd6YkAwN
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✅⚠️MegaLinter analysis: Success with warnings

Descriptor Linter Files Fixed Errors Max errors Warnings Elapsed time
✅ ACTION actionlint 7 0 0 0.79s
✅ CPP clang-format 479 9 0 0 4.69s
✅ CPP cppcheck 479 0 0 9.23s
✅ DOCKERFILE hadolint 1 0 0 0.47s
✅ JSON jsonlint 8 0 0 0.13s
✅ JSON prettier 8 8 0 0 0.4s
⚠️ MARKDOWN markdownlint 154 2 165 0 3.71s
✅ MARKDOWN markdown-table-formatter 154 12 0 0 0.35s
⚠️ SPELL lychee 265 18 0 40.15s
✅ YAML prettier 12 3 0 0 0.71s
✅ YAML yamllint 12 0 0 0.76s

Detailed Issues

⚠️ SPELL / lychee - 18 errors 
📝 Summary
---------------------
🔍 Total..........613
🔗 Unique.........457
✅ Successful.....583
⏳ Timeouts.........0
🔀 Redirected.....155
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........18
⛔ Unsupported.....18

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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/12 (at 221:8) | 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
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[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/4 (at 214:34) | 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

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[ERROR] file://doc/dynamics/EulerLagrange.md (at 130:3) | File not found. Check if file exists and path is correct

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[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 155 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 - 165 errors 
rror 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..."]
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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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@claude
docs(math): wrap long SE2Transform doc lines
81b598a 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_014WUWh44uw7k4JjMd6YkAwN
@sonarqubecloud

sonarqubecloud Bot commented Nov 5, 2026

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Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
98.5% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@gabrielfrasantos
gabrielfrasantos merged commit dc147fb into main Nov 5, 2026
14 checks passed
@gabrielfrasantos
gabrielfrasantos deleted the claude/se2-transform-nt66 branch November 5, 2026 15:03
@embedded-releaser-app embedded-releaser-app Bot mentioned this pull request Nov 5, 2026
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@gabrielfrasantos @claude