Issues

• Scale the mixer's rank check to the scalar type

  accuracybuggood first issuehelp wantedno_stdrobotics
  kmolan/multicalc-rust#301 · Filter by author kmolan opened on Aug 9, 2026
  1

• Normalize the Sturm chain entries so high degrees survive f32

  accuracybuggood first issuehelp wantedno_stdoptimization
  kmolan/multicalc-rust#295 · Filter by author kmolan opened on Aug 9, 2026

• Allocate segment times in minimum_snap against velocity and acceleration limits

  enhancementhelp wantedroboticstrajectory
  kmolan/multicalc-rust#291 · Filter by author kmolan opened on Aug 9, 2026
  4

• Add an integral term and a torque limit to the geometric attitude controller

  controlenhancementgood first issuehelp wantedrobotics
  kmolan/multicalc-rust#290 · Filter by author kmolan opened on Aug 9, 2026

• Add a saturating control call and document anti-windup for Lqr

  controlenhancementgood first issuehelp wanted
  kmolan/multicalc-rust#289 · Filter by author kmolan opened on Aug 9, 2026

• Certify LQR stability against Q + K' R K, not Q alone

  bugcontrolgood first issuehelp wanted
  kmolan/multicalc-rust#288 · Filter by author kmolan opened on Aug 9, 2026

• Apply the shortest-path rule to the geometric attitude error

  bugcontrolgood first issuehelp wantedspatial
  kmolan/multicalc-rust#287 · Filter by author kmolan opened on Aug 9, 2026

• Guard the steady-state divisor in Biquad::settle_to

  bugcoregood first issuehelp wanted
  kmolan/multicalc-rust#285 · Filter by author kmolan opened on Aug 9, 2026
  1

• Validate the whole inertia tensor in SpatialInertia::new

  buggood first issuehelp wantedroboticsspatial
  kmolan/multicalc-rust#283 · Filter by author kmolan opened on Aug 9, 2026
  1

• Honour compiler/inertiafromgeom when choosing the inertia source

  accuracybuggood first issuehelp wantedrobotics
  kmolan/multicalc-rust#282 · Filter by author kmolan opened on Aug 9, 2026

• Reject a degenerate resolvent in the quartic root finder

  accuracybuggood first issuehelp wantedoptimization
  kmolan/multicalc-rust#281 · Filter by author kmolan opened on Aug 9, 2026

• Report non-convergence from symmetric_eigendecomposition

  accuracybuggood first issuehelp wantedlinalg
  kmolan/multicalc-rust#280 · Filter by author kmolan opened on Aug 9, 2026

• Desaturate the multirotor mixer by priority instead of clamping each rotor

  bugcontrolhelp wantedrobotics
  kmolan/multicalc-rust#278 · Filter by author kmolan opened on Aug 9, 2026

• Gate measurements against the innovation covariance in the Kalman filters

  accuracybugestimationhelp wanted
  kmolan/multicalc-rust#277 · Filter by author kmolan opened on Aug 9, 2026

• Fix tanh and powf on the autodiff scalars

  accuracyautodiffbugcoregood first issuehelp wanted
  kmolan/multicalc-rust#228 · Filter by author kmolan opened on Jul 27, 2026
  1

• Speed up Quaternion::transform_point

  good first issuehelp wantedperformancespatial
  kmolan/multicalc-rust#222 · Filter by author kmolan opened on Jul 27, 2026

• Drop the NaN sentinel in Hessian::evaluate and add a heap variant

  allocbugcalculusgood first issuehelp wanted
  kmolan/multicalc-rust#219 · Filter by author kmolan opened on Jul 27, 2026

• Report parameter covariance from the least-squares solvers

  enhancementgood first issuehelp wantedoptimization
  kmolan/multicalc-rust#218 · Filter by author kmolan opened on Jul 27, 2026

• Add event detection to Rk45

  calculusenhancementgood first issuehelp wanted
  kmolan/multicalc-rust#217 · Filter by author kmolan opened on Jul 27, 2026

• Add a weighted covariance and a reseed to ParticleFilter

  allocenhancementestimationgood first issuehelp wanted
  kmolan/multicalc-rust#213 · Filter by author kmolan opened on Jul 27, 2026

• Add set_covariance and model getters to the Kalman filters

  enhancementestimationgood first issuehelp wanted
  kmolan/multicalc-rust#212 · Filter by author kmolan opened on Jul 27, 2026

• Add a measurement log-likelihood to the Kalman filters

  enhancementestimationgood first issuehelp wanted
  kmolan/multicalc-rust#211 · Filter by author kmolan opened on Jul 27, 2026

• Add log_determinant and rank-1 update/downdate to Cholesky

  enhancementgood first issuehelp wantedlinalgno_std
  kmolan/multicalc-rust#210 · Filter by author kmolan opened on Jul 27, 2026
  1

• Fix the near-singular thresholds in the small Matrix::inverse forms

  accuracybuggood first issuehelp wantedlinalg
  kmolan/multicalc-rust#208 · Filter by author kmolan opened on Jul 27, 2026
  1

• Reject a negligible derivative in Newton, not just an exactly zero one

  accuracybuggood first issuehelp wantedoptimization
  kmolan/multicalc-rust#206 · Filter by author kmolan opened on Jul 27, 2026
  1