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feat(kinematics): higher-order Stewart IK — leg accels & jerks (PR 4) #44

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patman merged 1 commit from patman/uom-stewart-higher-order into main 2026-07-09 23:21:15 +00:00 AGit
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patman commented 2026-06-27 15:56:19 +00:00
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Second- and third-order parallel-mechanism IK: platform_accel_to_leg_accels and platform_jerk_to_leg_jerks. Packed via SpatialAcceleration/SpatialJerk::to_si_6, re-wrapped as homogeneous [Acceleration;6]/[Jerk;6]. Gated by finite-difference proptests differentiating the trusted forward model through advance_rigid_body. NEEDS EXPERT MATH REVIEW. Stacks on #43.

Second- and third-order parallel-mechanism IK: platform_accel_to_leg_accels and platform_jerk_to_leg_jerks. Packed via SpatialAcceleration/SpatialJerk::to_si_6, re-wrapped as homogeneous [Acceleration;6]/[Jerk;6]. Gated by finite-difference proptests differentiating the trusted forward model through advance_rigid_body. NEEDS EXPERT MATH REVIEW. Stacks on #43.
platform_accel_to_leg_accels and platform_jerk_to_leg_jerks: second- and
third-order parallel-mechanism IK. l-ddot = J*A + Jdot*V (and one more
derivative for jerk), packed via SpatialAcceleration/SpatialJerk::to_si_6 and
re-wrapped as homogeneous [Acceleration;6]/[Jerk;6]. Gated by finite-difference
proptests that differentiate the trusted forward model through advance_rigid_body.

NEEDS EXPERT MATH REVIEW.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman changed target branch from patman/uom-typed-integrator to main 2026-07-09 23:21:14 +00:00
patman merged commit 8373cca6d1 into main 2026-07-09 23:21:15 +00:00
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