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docs(cam-clear): pin the convex/concave arc convention, P3 resolved #141

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patman merged 3 commits from patman/island-docs-pin into patman/island-cert-margin 2026-08-24 02:25:51 +00:00 AGit
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patman commented 2026-08-21 00:58:08 +00:00
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Island lane housekeeping. Updates the stale is_convex_envelope_arc "flagged for review" comment to cite the design addendum empirical resolution of P3 (sweep<0 => convex). Docs-only, verified zero non-comment lines in the diff. Opus review PASS.

Island lane housekeeping. Updates the stale is_convex_envelope_arc "flagged for review" comment to cite the design addendum empirical resolution of P3 (sweep<0 => convex). Docs-only, verified zero non-comment lines in the diff. Opus review PASS.
docs(cam-clear): pin the convex/concave arc convention, P3 resolved
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0b0b3f01bc 
`is_convex_envelope_arc`'s doc still said the `sweep`-sign convention was
"a documented implementation choice, not verified against `cam_geom`
internals — flagged for review". That is stale: the island-clearing
design's P3 / ID-14 was resolved empirically by the 2026-07-26 addendum and
by I-c's direct exercise of the concave branch against the exact
`StockState::engagement` oracle, which agrees to ~6e-6 rad.

Replaces the stale flag with the resolution and, more usefully, states the
operative rule the addendum derived: route by winding, never by a
hand-applied "this is an island pass" label. An island *orbit* cuts away
from the island, which makes it the convex case; hand-labelling it concave
under-counts engagement by a few tenths of a radian — an unsafe
certificate.

Documentation only; no behavior change. `is_convex_envelope_arc` and
`arc_engagement` are byte-identical to main across this entire stack.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
chore: normalize comments
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75e23e0b62 
Co-authored-by: patman-assist <patrick-ai@kgroo.co>
style: rustfmt --edition 2024 drift fix
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CI / build-test (pull_request) Successful in 9m2s
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0e8f914914 
Reformats files that predate the runner's current rustfmt; no code changes.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman merged commit 166e5b2c30 into patman/island-cert-margin 2026-08-24 02:25:51 +00:00
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