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feat(cam-blend): eta^3-spline G3 blend construction with numeric certificates #74

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patman merged 1 commit from patman/eta3-blend into main 2026-07-12 14:32:38 +00:00 AGit
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patman commented 2026-07-12 06:25:08 +00:00
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New standalone crate CAM/blend: septic-polynomial G3 (position/tangent/
curvature/curvature-rate) blend construction per Piazzi, Guarino Lo
Bianco & Romano, "eta^3-Splines for the Smooth Path Generation of
Wheeled Mobile Robots," IEEE Trans. Robotics 23(5):1089-1095, 2007,
DOI 10.1109/TRO.2007.903816 (eqs. 4-19), plus numeric certificates
(arc length with an honest quadrature bound, curvature/curvature-rate
extrema, deviation from a reference polyline). Geometry only - no
cam-geom dependency and no cam-clear/cam-drive integration; splicing
blends into host Line/Arc contours is a later wave.

Co-authored-by: patman-assist patrick-ai@kgroo.co

New standalone crate CAM/blend: septic-polynomial G3 (position/tangent/ curvature/curvature-rate) blend construction per Piazzi, Guarino Lo Bianco & Romano, "eta^3-Splines for the Smooth Path Generation of Wheeled Mobile Robots," IEEE Trans. Robotics 23(5):1089-1095, 2007, DOI 10.1109/TRO.2007.903816 (eqs. 4-19), plus numeric certificates (arc length with an honest quadrature bound, curvature/curvature-rate extrema, deviation from a reference polyline). Geometry only - no cam-geom dependency and no cam-clear/cam-drive integration; splicing blends into host Line/Arc contours is a later wave. Co-authored-by: patman-assist <patrick-ai@kgroo.co>
feat(cam-blend): eta^3-spline G3 blend construction with numeric certificates
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New standalone crate CAM/blend: septic-polynomial G3 (position/tangent/
curvature/curvature-rate) blend construction per Piazzi, Guarino Lo
Bianco & Romano, "eta^3-Splines for the Smooth Path Generation of
Wheeled Mobile Robots," IEEE Trans. Robotics 23(5):1089-1095, 2007,
DOI 10.1109/TRO.2007.903816 (eqs. 4-19), plus numeric certificates
(arc length with an honest quadrature bound, curvature/curvature-rate
extrema, deviation from a reference polyline). Geometry only - no
cam-geom dependency and no cam-clear/cam-drive integration; splicing
blends into host Line/Arc contours is a later wave.

Co-authored-by: patman-assist <patrick-ai@kgroo.co>
patman changed target branch from patman/snap-units to main 2026-07-12 14:32:36 +00:00
patman merged commit 5288031c02 into main 2026-07-12 14:32:38 +00:00
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common/dirac math library

  
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