feat: mobile wave roadmap items (F1, W1–W10, E2, M24)

CMakeLists.txt

@@ -47,7 +47,7 @@ if (NOT TARGET numerical.math)
     FetchContent_Declare(
         numerical_toolbox
         GIT_REPOSITORY https://github.com/embedded-pro/numerical-toolbox-cpp.git
-        GIT_TAG        63c9b91f4f6f1b306bc15fbf59d01a106da02697 # main
+        GIT_TAG        dc147fb8672e983e5935290b94cc45ff00cbee29 # main
     )
 
     set(NUMERICAL_TOOLBOX_ENABLE_OPTIMIZATIONS ${ROBOTICS_TOOLBOX_ENABLE_OPTIMIZATIONS} CACHE BOOL "" FORCE)

README.md

@@ -3,10 +3,10 @@
 ## Overview
 
 This library provides robotics algorithms — today robot-manipulator kinematics, rigid-body dynamics,
-trajectory generation and manipulator control; mobile, aerial, legged and marine robots are on the
-[roadmap](ROADMAP.md) — designed for robust and efficient real-time use on resource-constrained
-embedded systems (no heap, deterministic, float-only). It builds on the shared
-numerical primitives (linear algebra, solvers, controllers) provided by
+trajectory generation, manipulator control, motion planning, wheeled mobile robots and occupancy-grid
+mapping; aerial, legged and marine robots are on the [roadmap](ROADMAP.md) — designed for robust and
+efficient real-time use on resource-constrained embedded systems (no heap, deterministic, float-only).
+It builds on the shared numerical primitives (linear algebra, solvers, controllers) provided by
 [numerical-toolbox-cpp](https://github.com/embedded-pro/numerical-toolbox-cpp), which it consumes
 via CMake `FetchContent`.
 
@@ -35,13 +35,15 @@ project already defines those targets. Includes are namespaced by domain, e.g.
 
 ## Documentation
 
-| Category                                                     | Description                                                                                                                                                                                                                                                                                                                        |
-|--------------------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
-| [Kinematics](doc/kinematics/README.md)                       | Forward Kinematics, Chain Pose Kinematics, Denavit-Hartenberg Parameters, Geometric Jacobian, Manipulability Index, Product of Exponentials, Redundancy Resolution, Inverse Kinematics (Damped Least Squares), Pose Inverse Kinematics, Analytical Inverse Kinematics (OPW), Continuum Kinematics, Parallel Manipulator Kinematics |
-| [Dynamics](doc/dynamics/README.md)                           | Euler-Lagrange, Newton-Euler, Recursive Newton-Euler (RNEA), Articulated Body Algorithm (ABA), Chain Dynamics Model, Composite Rigid Body Algorithm (CRBA), Coriolis Matrix and Inertial Regressor, Dynamic Parameter Identification, Forward-Dynamics Integration, Generic Joint Link, Generalized-Momentum Observer              |
-| [Planning](doc/planning/README.md)                           | Primitive Distance Queries, Artificial Potential Fields, Self-Collision Checking, Convex Collision (GJK and EPA), Grid Search (A* and Dijkstra), RRT-Connect                                                                                                                                                                       |
-| [Trajectory](doc/trajectory/README.md)                       | Cubic Spline Trajectory, Cartesian Path with SLERP Orientation                                                                                                                                                                                                                                                                     |
-| [Manipulator Control](doc/controllers/manipulator/README.md) | PD Control with Gravity Compensation, Computed-Torque Control, Impedance Control, Operational-Space Control, Hybrid Position/Force Control, Slotine–Li Adaptive Control, Cable Tension Distribution                                                                                                                                |
+| Category                                                     | Description                                                                                                                                                                                                                                                                                                                      |
+|--------------------------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
+| [Kinematics](doc/kinematics/README.md)                       | Forward Kinematics, Chain Pose Kinematics, Denavit-Hartenberg Parameters, Geometric Jacobian, Manipulability Index, Product of Exponentials, Redundancy Resolution, Inverse Kinematics (DLS), Pose Inverse Kinematics, Analytical IK (OPW), Continuum Kinematics, Parallel Manipulator Kinematics, Mobile-Manipulator Kinematics |
+| [Dynamics](doc/dynamics/README.md)                           | Euler-Lagrange, Newton-Euler, Recursive Newton-Euler (RNEA), Articulated Body Algorithm (ABA), Chain Dynamics Model, Composite Rigid Body Algorithm (CRBA), Coriolis Matrix and Inertial Regressor, Dynamic Parameter Identification, Forward-Dynamics Integration, Generic Joint Link, Generalized-Momentum Observer            |
+| [Planning](doc/planning/README.md)                           | Primitive Distance Queries, Artificial Potential Fields, Self-Collision Checking, Convex Collision (GJK and EPA), Grid Search (A* and Dijkstra), RRT-Connect, Dubins Shortest Paths, Dynamic Window Approach, Reeds–Shepp Shortest Paths                                                                                         |
+| [Trajectory](doc/trajectory/README.md)                       | Cubic Spline Trajectory, Cartesian Path with SLERP Orientation                                                                                                                                                                                                                                                                   |
+| [Mobile Robots](doc/mobile/README.md)                        | Planar Odometry, Differential-Drive Kinematics, Car-Like Kinematics, Omnidirectional Kinematics, Skid-Steer Kinematics, Pure-Pursuit Path Tracking, Kanayama Trajectory Tracking, Stanley Path Tracking                                                                                                                          |
+| [Localization & Mapping](doc/localization/README.md)         | Occupancy-Grid Mapping                                                                                                                                                                                                                                                                                                           |
+| [Manipulator Control](doc/controllers/manipulator/README.md) | PD Control with Gravity Compensation, Computed-Torque Control, Impedance Control, Operational-Space Control, Hybrid Position/Force Control, Slotine–Li Adaptive Control, Cable Tension Distribution                                                                                                                              |
 
 Each category page lists its algorithms with a brief description and links to the detailed
 documentation.