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feat(cam): rest-to-rest S-curve profile solver #49

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patman merged 10 commits from patman/cam-scurve into main 2026-07-09 23:27:39 +00:00 AGit
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patman commented 2026-07-03 21:22:30 +00:00
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Seven-phase jerk-limited S-curve duration solving on top of #45: signed displacement + typed motion limits in, a JerkSegment schedule out. Closed-form casework (Biagiotti & Melchiorri 2008 §3.4) in the dim currency; overflow-poisoned solves return PlanError::UnrepresentableProfile instead of Ok. Stacked on patman/cam-plan.

Seven-phase jerk-limited S-curve duration solving on top of #45: signed displacement + typed motion limits in, a JerkSegment schedule out. Closed-form casework (Biagiotti & Melchiorri 2008 §3.4) in the dim currency; overflow-poisoned solves return PlanError::UnrepresentableProfile instead of Ok. Stacked on patman/cam-plan.
Solve the seven constant-jerk phase durations for a signed displacement
under typed velocity/acceleration/jerk limits (Biagiotti & Melchiorri
2008, §3.4, rest-to-rest form). Closed-form casework in the dim
currency; overflow-poisoned solves are rejected, never returned as Ok.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman changed target branch from patman/cam-plan to main 2026-07-09 23:21:17 +00:00
merge: main into cam-scurve (stale-generation cam-plan content in trunk)
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patman merged commit d32de0d264 into main 2026-07-09 23:27:39 +00:00
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