[gabrielfrasantos]

First wave of roadmap specs, picked as the cheapest items that need nothing beyond the current numerical-toolbox pin (63c9b91). Each item is one self-contained commit per roadmap/DEPLOYMENT.md: header, coverage .cpp, tests limited to the spec's cases, CMake, doc page and doc-table rows. The same commit deletes the item's roadmap/ spec and its rows in ROADMAP.md and roadmap/README.md.

Items

Commit	Item	Summary
c6d6530	M33 CubicSplineTrajectory	C² joint trajectory through timed via points on math::CubicSpline (NT61). Creates the trajectory module and the shared TrajectoryTypes.hpp (JointTrajectoryState).
e385f73	M28 CompositeRigidBodyAlgorithm	O(n²) mass matrix, exactly symmetric. ABA's private spatial-inertia and wrench transforms move into a shared robotics/dynamics/SpatialInertia.hpp, so ABA and CRBA use one implementation. ABA's public API is unchanged.
0a106a9	P1 PrimitiveDistance	Closed-form closest points and signed distances (point, segment, sphere, capsule, oriented box). Creates the planning module.
f914ff8	M5 PdGravityCompensation	τ = Kp·e − Kd·q̇ + g(q) on the existing EulerLagrangeDynamics interface. Creates controllers/manipulator (target robotics.controllers.manipulator) and a robotics.dynamics_test_doubles target with MockEulerLagrangeDynamics.
736a5aa	M34 ForwardDynamicsIntegrator	ABA exposed as SecondOrderSystem/OdeSystem and stepped by SemiImplicitEuler (NT58) or RungeKutta4.

Changes from the specs

• P1: the spec's tests never call SphereCapsule, so rounded_pairs_subtract_the_radii gets one extra assertion for it.
• M34: the coverage instantiations are <float, 1, RungeKutta4> and <float, 2, SemiImplicitEuler>, not the spec's two 2-link versions. Only the instantiations in the coverage .cpp are measured, and the tests use the 1-link RK4 pendulum.
• roadmap/README.md: its canonical worked example linked to the M5 spec this PR deletes, so it now points to ComputedTorqueControl.
• M5: the simulator's RobotArmSimulator::StepChain is not switched to M34 yet, although the M34 spec suggests it. That change needs the Qt build.

Verification

• host-single-Debug configure, build and ctest: 5/5 test executables pass.
• Coverage build (EMIL_ENABLE_COVERAGE=On, simulator off): 5/5 pass. Merged gcov line coverage of the new headers is 98.7–100%:
  • PrimitiveDistance 98.7%
  • all the others 100%
  • ABA after the refactor 100%
• Margins on the numerical tests:
  • pendulum period error 0.016% (limit 0.5%)
  • RK4 energy drift 1e-7 (limit 1e-4)
  • semi-implicit Euler energy-error ratio 1.37 (limit 2)
  • CRBA columns match RNEA to 7e-9
• python scripts/validate-docs.py passes, the new C++ is formatted with clang-format, and a grep of the new files finds no heap containers, #pragma GCC optimize, plain TEST(, NiceMock or comments.

Not run locally: the host preset with the Qt simulator, cppcheck/clang-tidy, and SonarQube. CI covers these.

Next

Wave 2 needs SE(2) (NT66) built in numerical-toolbox-cpp, then a pin bump, before F1 and W1–W3. Wave 3 (M1, M30, M8+M7, M29) needs nothing upstream.

---

Generated by Claude Code

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✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.68s
✅ CPP	clang-format	53	0	0		0	0.93s
✅ CPP	cppcheck	53		0		0	1.45s
✅ DOCKERFILE	hadolint	1		0		0	0.64s
✅ JSON	jsonlint	8		0		0	0.12s
✅ JSON	prettier	8	2	0		0	0.52s
✅ MARKDOWN	markdownlint	175	0	0		0	2.6s
✅ MARKDOWN	markdown-table-formatter	175	0	0		0	0.24s
⚠️ SPELL	lychee	217		2		0	2.45s
✅ YAML	prettier	12	0	0		0	0.54s
✅ YAML	yamllint	12		0		0	0.65s

Detailed Issues

⚠️ SPELL / lychee - 2 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........165
🔗 Unique..........81
✅ Successful.....153
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........2
⛔ Unsupported......2

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 doc/kinematics/InverseKinematics.md
[ERROR] https://mathweb.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf (at 124:169) | SSL certificate not trusted. Use --insecure if site is trusted

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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[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
98.1% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud