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feat(cam): arbitrary-time profile sampling over jerk segments #55

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patman merged 1 commit from patman/cam-sample into main 2026-07-09 23:28:07 +00:00 AGit
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patman commented 2026-07-04 11:13:25 +00:00
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PR4a of the adaptive-clearing roadmap: sample(initial, segments, t) — kinematic state at any elapsed time within a jerk-segment sequence (whole-phase folds + partial advance in the dim currency). t <= 0 returns the initial state; beyond the total duration it returns the integrate() endpoint (bitwise on the loop-exhaustion path; the exact-boundary rounding caveat is documented). Needed by the viz layer and lookahead. Stacked on patman/cam-scurve (#49).

PR4a of the adaptive-clearing roadmap: sample(initial, segments, t) — kinematic state at any elapsed time within a jerk-segment sequence (whole-phase folds + partial advance in the dim currency). t <= 0 returns the initial state; beyond the total duration it returns the integrate() endpoint (bitwise on the loop-exhaustion path; the exact-boundary rounding caveat is documented). Needed by the viz layer and lookahead. Stacked on patman/cam-scurve (#49).
Add sample(), evaluating the kinematic state at an elapsed time within a
constant-jerk segment sequence: whole phases are folded via the shared
integrator, the remainder is a partial advance inside the containing
phase. t <= 0 yields the initial state; t at or past the total duration
yields the integrate() endpoint exactly.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman changed target branch from patman/cam-scurve to main 2026-07-09 23:28:06 +00:00
patman merged commit dee64bd436 into main 2026-07-09 23:28:07 +00:00
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