[gabrielfrasantos]

Adds spec triplets (implementation.md, tests.md, explanation.md) for planar odometry and the whole wheeled family, in two new modules.

roadmap/mobile/

• PlanarOdometry (F1): exact SE(2) arc integration and the odometry increment used by E1/E4.
• DifferentialDrive (W1): wheel-speed limits that preserve curvature; ScaleToLimit is shared with W4.
• CarLikeKinematics (W2): kinematic bicycle, angle and rate limits, Ackermann wheel angles.
• OmnidirectionalKinematics (W3): N Swedish wheels; least-squares forward map plus a slip residual.
• SkidSteerKinematics (W4): ICR model with a closed-form ICR estimator.
• PurePursuit (W5): speed-scheduled look-ahead, monotone progress, and the bounded PlanarPath polyline.
• StanleyController (W6) and KanayamaController (W7).

roadmap/planning/

• DubinsPath (W8): the shared CarPath type, with float-safe existence tests.
• DynamicWindowApproach (W9): closed-form arc clearance to laser-scan points.
• ReedsSheppPath (W10): 8 base formulas plus symmetries, 44 evaluations.

Roadmap changes

• Reeds–Shepp is split out of W8 into a new W10.
• W9 no longer depends on P1.
• W6 depends on W5 for the path.
• M24 takes its base pose from NT66 and its wheel speeds from W1.
• NT53–NT65 have shipped upstream, so their links now point to the upstream docs; the old spec folders are gone. The table notes they need a pin at or after 1f6d717. This PR does not bump the pin.

Everything builds on NT66 math::SE2Transform, whose spec is in embedded-pro/numerical-toolbox-cpp#363. The [nt66] link resolves once that PR merges.

Validation. Every reference value in the test plans was checked in Python, in double precision and, where rounding matters, in float32:

• W5–W7 closed-loop runs.
• Every Dubins and Reeds–Shepp candidate integrated to its goal (worst endpoint error 5e-11); Reeds–Shepp length ≤ Dubins length and symmetric over 20 000 random pairs.
• DWA scoring margins.

One float edge case is now part of the W8 spec: for an exact single-arc goal, a strict p² ≥ 0 test drops every CSC word and returns a path five times too long. The spec uses a tolerance ε = 1e-5, and a test covers it.

---

Generated by Claude Code

[github-actions]

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.39s
✅ CPP	clang-format	35	0	0		0	0.52s
✅ CPP	cppcheck	35		0		0	0.64s
✅ DOCKERFILE	hadolint	1		0		0	0.39s
✅ JSON	jsonlint	8		0		0	0.06s
✅ JSON	prettier	8	2	0		0	0.29s
✅ MARKDOWN	markdownlint	149	0	0		0	1.41s
✅ MARKDOWN	markdown-table-formatter	149	0	0		0	0.15s
⚠️ SPELL	lychee	183		3		0	3.19s
✅ YAML	prettier	12	0	0		0	0.35s
✅ YAML	yamllint	12		0		0	0.42s

Detailed Issues

⚠️ SPELL / lychee - 3 errors

📝 Summary
---------------------
🔍 Total..........134
🔗 Unique..........68
✅ Successful.....121
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........3
⛔ Unsupported......3

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 ROADMAP.md
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE2Transform/implementation.md (at 61:89) | Rejected status code: 404 Not Found

Errors in roadmap/README.md
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/SE2Transform/implementation.md (at 30:28) | Rejected status code: 404 Not Found

Hint: Followed 5 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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Quality Gate passed

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