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Reversing needs to choose the right signs for articulation as acos is…#2

Merged

zeerekahmad merged 6 commits intomainpolymathrobotics/polymath_kinematics:mainfrom

zeerekahmad/fix_reversing_issuespolymathrobotics/polymath_kinematics:zeerekahmad/fix_reversing_issuesCopy head branch name to clipboard

Mar 18, 2026

Conversation Commits6 (6)Checks Files changed

Merged

Reversing needs to choose the right signs for articulation as acos is…#2
zeerekahmad merged 6 commits intomainfrom
zeerekahmad/fix_reversing_issues

Commits

Commits on Mar 17, 2026

Reversing needs to choose the right signs for articulation as acos is multivalued and we didn't properly account for the sign there. For bicycle controller we should be using tan i nstead of atan2 …
zeerekahmad
committed

Commits on Mar 18, 2026

Clean up comments and documentation
zeerekahmad
committed
Pre-commit
zeerekahmad
committed
Make it much easier to read the math from the derivations
zeerekahmad
committed
Pushed incomplete changes
zeerekahmad
committed
Delete unused square
zeerekahmad
committed

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