Brings the C++ library in line with the Rust wrmath crate in astro-rs,
which extends this library with additional geometry and estimation
primitives. All changes generated with AI assistance (Claude Fable 5).
New headers:
- wrmath/geom/matrix.h: Matrix<T,M,N> with rank, det, inv, transpose,
and matrix-vector/matrix-matrix multiplication
- wrmath/geom/coord2d.h: Polar<T> 2D polar coordinates with navigation
convention (clockwise-positive heading)
- wrmath/geom/coord3d.h: Spherical<T> 3D spherical coordinates with
yaw/pitch, slerp, great-circle path interpolation, and quaternion
direction
- wrmath/estim/imu.h: IMU<T> for 6-DoF and 9-DoF (MARG) sensor fusion
Extensions to existing headers:
- math.h: Epsilon3/6/Max constants; AbsTolerance (NaN/inf-safe),
AbsError, RotateRadians, Circumference
- vector.h: zero(), withEpsilon(), asArray(), fromArray/Eps(), map(),
isNaN(), angle2() (signed), euclidist(), projectLower/Tail<M>(),
x()/y()/z() accessors; fixed isParallel() to use unit-vector equality
(matches Rust fix for macOS/arm64 acos domain issue)
- quaternion.h: lerp(), slerp() methods; jacobian() returning
Matrix<T,3,4>; direction()
- filter/madgwick.h: beta gain field, setDeltaT(), setGain(),
direction(), updateFrame2(), updateAngularOrientation2()
- orientation.h/.cc: RBearing3d/f, ABearing3d/f, CompassHeading3d/f
Infrastructure:
- C++ standard bumped to C++17 (required for std::optional)
- CMake include path fixed so source-relative includes work
- Umbrella headers (geom.h, filter.h) updated
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
