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feat(cam): jerk-first 1-DOF trajectory primitive on the typed foundation #45

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patman merged 1 commit from patman/cam-plan into main 2026-07-09 23:21:17 +00:00 AGit
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patman commented 2026-06-27 16:04:55 +00:00
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New cam-plan crate (CAM/plan) — the precompute/CAM-side seed of the build-out. Kinematic1d advances position+velocity+acceleration under a constant commanded jerk via closed-form integration, in the dimension-checked uom dim currency with boundary newtypes at the edges. Design intent #1 (jerk commanded, position derived) + the three-layer typed pattern. Scalar per-axis counterpart to motion::advance_rigid_body, not a replacement. Proptests: constant-jerk time-semigroup, uniform-motion degenerate case, polynomial match. Stacks on #43 (needs the typed units foundation; predates main). Architecture note: placed at top-level CAM/ per the existing prototype convention — open to relocation under review.

New cam-plan crate (CAM/plan) — the precompute/CAM-side seed of the build-out. Kinematic1d advances position+velocity+acceleration under a constant commanded jerk via closed-form integration, in the dimension-checked uom dim currency with boundary newtypes at the edges. Design intent #1 (jerk commanded, position derived) + the three-layer typed pattern. Scalar per-axis counterpart to motion::advance_rigid_body, not a replacement. Proptests: constant-jerk time-semigroup, uniform-motion degenerate case, polynomial match. Stacks on #43 (needs the typed units foundation; predates main). Architecture note: placed at top-level CAM/ per the existing prototype convention — open to relocation under review.
New cam-plan crate (CAM/plan) — the precompute/CAM-side seed of the build-out.
Kinematic1d advances position+velocity+acceleration under a constant commanded
jerk via closed-form integration, run in the dimension-checked uom `dim`
currency with boundary newtypes at the edges. Embodies design intent #1 (jerk
commanded, position derived) and the three-layer typed pattern. Scalar per-axis
counterpart to motion::advance_rigid_body, not a replacement. Proptests:
constant-jerk time-semigroup, uniform-motion degenerate case, polynomial match.

Stacks on #43 (needs the typed units foundation; predates main).

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman force-pushed patman/cam-plan from 6f6f661bbd to c2d0aea9bf 2026-06-27 16:42:53 +00:00 Compare
patman force-pushed patman/cam-plan from c2d0aea9bf to 421d71d117 2026-06-27 16:48:20 +00:00 Compare
patman changed target branch from patman/uom-typed-integrator to main 2026-07-09 23:21:16 +00:00
patman merged commit a2523b23a0 into main 2026-07-09 23:21:17 +00:00
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