[gabrielfrasantos]

Wave 5 of the roadmap: eight ★★★ items, one commit each. Every commit adds the header, its coverage instantiations, the spec's tests, a doc page and the index rows, and deletes the spec from roadmap/. 27 specs remain.

Commit	Item	Module	Summary
c48c944	P4 SelfCollision	planning	Capsule per link on the FrameChain; minimum signed distance, attaining pair, allowed-pair bit matrix, margin flag
da79aeb	M15 ProductOfExponentials	kinematics	Screw-axis FK, space Jacobian, conversion to geometric Jacobian, FrameChain output
77795d7	M31 CoriolisMatrixAndRegressor	dynamics	Modified RNEA (Christoffel C), CoriolisMatrix (C, Cᵀq̇), InertialRegressor / ChainInertialRegressor (10 params per link)
ec48168	M16 MomentumObserver	dynamics	Generalized-momentum residual on M29 + M31 Cᵀq̇, per-joint collision thresholds
f176e36	M22 DynamicParameterIdentification	dynamics	M31 regressor rows into upstream IncrementalQrLeastSquares; base-parameter rank and directions
8141e78	M13 PoseInverseKinematics	kinematics	Upstream Levenberg–Marquardt on the weighted SE(3) log error, manipulability-adaptive damping, step and joint-limit clamping
755b179	M17 ImpedanceControl	controllers/manipulator	Passive Jᵀ(Ke + Dė) + g and inertia-shaping variants; ships the shared TaskError.hpp for M18/M19
94c27ef	P3 GridSearch	planning	A*/Dijkstra on bounded 2-D/3-D grids, indexed binary heap with decrease-key, octile heuristic

Notable changes

• SpatialInertia.hpp gains the spatial motion/force algebra used by M31: SpatialMotion, MotionCross, ForceCross, Apply and TransformMotionToChild.
• New links between targets:
  • robotics.planning → robotics.kinematics
  • robotics.dynamics → numerical.estimators
  • robotics.kinematics → numerical.optimization
  • robotics.controllers.manipulator → robotics.kinematics, numerical.solver
• The controllers/manipulator test target now links robotics.kinematics_test_doubles.
• roadmap/README.md now uses OperationalSpaceControl as its canonical example, because ImpedanceControl shipped. The M18/M19 specs point at the shipped TaskError.hpp, and the SlotineLi spec points at the shipped M31 headers.

Spec deviations

• M16: the fixture uses heavier rods (2 kg × 1 m, 1.5 kg × 0.8 m). With the spec's K_O·dt = 0.05, the light-rod discretization residual exceeded 1e-2. The Cᵀq̇ test bounds the residual at 5 % of the |Cᵀq̇ − Cq̇| drift (about 6.6 N·m at q̇ = (3, −4)), not at an absolute value.
• M22: IdentificationResult mirrors the upstream LeastSquaresResult, with rowSpace renamed to baseDirections.
• M13: PoseIkProblem and ManipulabilityDamping are instantiated for coverage as well. λ₀ > 0 is not asserted, because the spec's own stale-error test uses λ₀ = 0.
• M17: jacobian_transpose_maps_wrench uses the non-symmetric J = [[1, 0.5], [0, 2]] instead of a diagonal one, so Jᵀ and J give different results.
• P3:
  • PascalCase enumerators (Faces/Full, AStar/Dijkstra).
  • The coverage instantiations are <float, 8, 6> and <float, 3, 3, 3>, plus the Search member template for a function-reference cost, to match the tests. The spec named <64, 64> and <16, 16, 16>, which the tests never use.
  • The 3-D test uses a free cost function instead of a lambda.

Verification

• host-single-Debug and coverage ctest: 5/5 suites pass.
• Merged line coverage is 100 % on every new header. CoriolisMatrix::TransposeTimesVelocity is now covered by the M16 tests.
• clang-format --dry-run --Werror and a Clang -Wall -Wextra -Werror syntax check pass on the coverage sources.
• scripts/validate-docs.py passes, no doc line is over 400 characters, and the tables are aligned.
• Not run locally: Qt host preset, MSVC, cppcheck, SonarCloud.

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✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.42s
✅ CPP	clang-format	120	0	0		0	0.95s
✅ CPP	cppcheck	120		0		0	1.7s
✅ DOCKERFILE	hadolint	1		0		0	0.39s
✅ JSON	jsonlint	8		0		0	0.08s
✅ JSON	prettier	8	2	0		0	0.3s
✅ MARKDOWN	markdownlint	136	0	0		0	1.51s
✅ MARKDOWN	markdown-table-formatter	136	0	0		0	0.18s
⚠️ SPELL	lychee	179		2		0	2.31s
✅ YAML	prettier	12	0	0		0	0.36s
✅ YAML	yamllint	12		0		0	0.37s

Detailed Issues

⚠️ SPELL / lychee - 2 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........255
🔗 Unique.........101
✅ Successful.....243
⏳ 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 125:169) | 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.
Hint: You can configure accepted/rejected response codes with `-a` or `--accept`

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Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
98.8% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud