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- #10 · kmolan opened
on Jun 28, 2026 3
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Scale the mixer's rank check to the scalar type
accuracyNumerical-accuracy focusNumerical-accuracy focusbugSomething isn't workingSomething isn't workinggood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#301 In kmolan/multicalc-rust;Normalize the Sturm chain entries so high degrees survive
f32accuracyNumerical-accuracy focusNumerical-accuracy focusbugSomething isn't workingSomething isn't workinggood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededno_stdKeeps the default no_std, no-alloc coreKeeps the default no_std, no-alloc coreoptimizationRoot finding, least squares, manifold optimizationRoot finding, least squares, manifold optimizationStatus: Open.#295 In kmolan/multicalc-rust;Hold
RotorLaginside the rotor's thrust limitsenhancementNew feature or requestNew feature or requestgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#292 In kmolan/multicalc-rust;Allocate segment times in
minimum_snapagainst velocity and acceleration limitsenhancementNew feature or requestNew feature or requesthelp wantedExtra attention is neededExtra attention is neededroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelstrajectorySplines, motion profiles, interpolationSplines, motion profiles, interpolationStatus: Open.#291 In kmolan/multicalc-rust;Add an integral term and a torque limit to the geometric attitude controller
controlControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#290 In kmolan/multicalc-rust;Add a saturating control call and document anti-windup for
LqrcontrolControllers and control loopsControllers and control loopsenhancementNew feature or requestNew feature or requestgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededStatus: Open.#289 In kmolan/multicalc-rust;Certify LQR stability against
Q + K' R K, notQalonebugSomething isn't workingSomething isn't workingcontrolControllers and control loopsControllers and control loopsgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededStatus: Open.#288 In kmolan/multicalc-rust;Apply the shortest-path rule to the geometric attitude error
bugSomething isn't workingSomething isn't workingcontrolControllers and control loopsControllers and control loopsgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededspatialQuaternions, Lie groups, framesQuaternions, Lie groups, framesStatus: Open.#287 In kmolan/multicalc-rust;Return an error from
RigidBody::state_derivativefor a degenerate orientationbugSomething isn't workingSomething isn't workinggood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsStatus: Open.#286 In kmolan/multicalc-rust;Guard the steady-state divisor in
Biquad::settle_tobugSomething isn't workingSomething isn't workingcoreFoundational building blocksFoundational building blocksgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededStatus: Open.#285 In kmolan/multicalc-rust;Make
RunningMedianreject a non-finite sample instead of mis-sorting itaccuracyNumerical-accuracy focusNumerical-accuracy focusbugSomething isn't workingSomething isn't workingcoreFoundational building blocksFoundational building blocksgood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededStatus: Open.#284 In kmolan/multicalc-rust;Validate the whole inertia tensor in
SpatialInertia::newbugSomething isn't workingSomething isn't workinggood first issueGood for newcomersGood for newcomershelp wantedExtra attention is neededExtra attention is neededroboticsKinematics, dynamics, robot modelsKinematics, dynamics, robot modelsspatialQuaternions, Lie groups, framesQuaternions, Lie groups, framesStatus: Open.#283 In kmolan/multicalc-rust;