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patman/KGROO

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New pull request

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

#44 by patman was merged 2026-07-09 23:21:15 +00:00

feat(units): typed vector MulDt/DivDt + dimension-checked advance_rigid_body

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Details

#43 by patman was merged 2026-07-09 23:20:31 +00:00

feat(units): typed quaternion rotation siblings + LengthVec3::direction

#42 by patman was merged 2026-07-09 23:11:50 +00:00

feat(units): SI-array seam (SpatialSi6 + to_si_3/6), Stewart IK onto it

#41 by patman was merged 2026-07-09 23:11:48 +00:00

refactor(units): vec3_homogeneous_ops! macro — single-source Vec3 boilerplate

#40 by patman was merged 2026-07-09 23:11:42 +00:00

test(units): trybuild compile-fail cases for dimensional errors

#39 by patman was merged 2026-07-09 23:11:25 +00:00

feat(units): typed angular Δt helpers (MulDt/DivDt)

#38 by patman was merged 2026-07-09 23:11:23 +00:00

feat(units): uom-backed newtypes + dim currency for typed math

#37 by patman was merged 2026-07-09 23:11:19 +00:00