[gabrielfrasantos]

Wave 6 of the roadmap: the nine ★★★★ items that need nothing unshipped from upstream. Each commit adds the header, its coverage instantiations, the spec's tests, a doc page and the index rows, and deletes the spec from roadmap/. 18 specs remain: M27 (TOPP-RA) and 17 items blocked on upstream NT66/NT67/NT70/NT74.

Commit	Item	Module	Summary
191bcf9	M26 ContinuumKinematics	kinematics	Constant-curvature arcs: singularity-free section transform, multi-section FK, closed-form single-section IK
1644fae	M21 AnalyticalIkOpw	kinematics	Closed-form OPW IK for ortho-parallel 6R arms, all 8 configurations, wrist-singular handling
bd9b386	M20 SlotineLiAdaptiveControl	controllers/manipulator	Passivity-based adaptive tracking on the M31 regressor; adds MockInertialRegressor
1f75616	M18 OperationalSpaceControl	controllers/manipulator	Task-space inertia, joint-space C q̇ + g, dynamically consistent null space, σ damping
ffe37ac	M19 HybridPositionForceControl	controllers/manipulator	Constraint-frame selection, motion PD and damped force PI with anti-windup
db9f84f	P6 RrtConnect	planning	Bidirectional RRT-Connect with fixed node pools and random shortcutting
866a669	M23 Stewart–Gough and Delta	kinematics	Hexapod leg IK, leg Jacobian and LM forward kinematics on SE(3); closed-form Delta IK/FK
0196780	M25 CableTensionDistribution	controllers/manipulator	Structure matrix, Pott's improved closed form, exact QP fallback (upstream ActiveSetQp)
da3f252	P5 ConvexCollision	planning	GJK on cores + margins, Johnson enumeration, bounded EPA

Notable changes

• robotics.controllers.manipulator now links infra.util, for the really_assert on the M19 selection matrix.
• roadmap/README.md now uses mobile/PurePursuit as its canonical example, because OperationalSpaceControl shipped. The empty controllers/manipulator index section is removed.

Spec deviations

• M21: $\sin\theta_5$ is computed as $|(W_{02}, W_{12})|$ instead of $\sqrt{1 - W_{22}^2}$. In float the latter loses precision near $\theta_5 = 0$ and pushed poses with $|\theta_5| \approx 10^{-3}$ into the singular branch.
  • The wrist threshold is $100\varepsilon$.
  • The random round-trip test requires exact recovery of $q$ only when $|\sin\theta_5| > 10^{-2}$; the pose check still applies to every sample.
  • Edge-case assertions were added for $\theta_5 = \pi$, the $b$-cylinder, and a zero acos denominator.
• M17 / M19: jacobian_transpose_maps_wrench uses the non-symmetric J = [[1, 0.5], [0, 2]], so Jᵀ and J give different results.
• P6 and P5 coverage:
  • P6: the coverage instantiations use the test sizes (<2, 256>, <2, 10>) and the function-reference callables the tests pass to Plan and Shortcut, as in P3. The test sampler is a free function with a file-local xorshift32 state.
  • P5: adds a <16, 8> instantiation for the face-budget test.
  • P5: the edge-case assertions also cover a degenerate capsule, sphere-in-box EPA and a flat Minkowski difference.
• P6 and P5 enums: PascalCase enumerators (PlanStatus::Found, ShapeKind::Box, …).
• M23 / M25: a few edge-case assertions were added to existing tests to cover defensive branches:
  • M23: the Delta has no assembly.
  • M25: zero-length cables.

Verification

• host-single-Debug and coverage ctest: 5/5 suites pass.
• Merged line coverage is 100 % on every new header except ConvexCollision.hpp (99.2 %). Its two uncovered lines guard against zero-area EPA faces, which the coplanar-visibility rule prevents.
• clang-format --dry-run --Werror and a Clang -Wall -Wextra -Werror -Wshadow syntax check pass on every coverage source.
• scripts/validate-docs.py passes, no doc line is over 400 characters, and every touched table is aligned.
• Not run locally: Qt host preset, MSVC, cppcheck, SonarCloud.

---

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	0.46s
✅ CPP	clang-format	151	0	0		0	1.47s
✅ CPP	cppcheck	151		0		0	2.53s
✅ DOCKERFILE	hadolint	1		0		0	0.39s
✅ JSON	jsonlint	8		0		0	0.08s
✅ JSON	prettier	8	2	0		0	0.36s
✅ MARKDOWN	markdownlint	118	0	0		0	1.78s
✅ MARKDOWN	markdown-table-formatter	118	0	0		0	0.2s
⚠️ SPELL	lychee	161		3		0	38.08s
✅ YAML	prettier	12	0	0		0	0.41s
✅ YAML	yamllint	12		0		0	0.44s

Detailed Issues

⚠️ SPELL / lychee - 3 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........290
🔗 Unique.........110
✅ Successful.....277
⏳ 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 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

Errors in ROADMAP.md
[504] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/doc/solvers/SymplecticIntegrators.md (at 53:89) | Rejected status code: 504 Gateway Timeout

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

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
98.3% Coverage on New Code
0.0% Duplication on New Code

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