nx_ik_gate.nx

buildroot/runtime/_hdl_build/nx_ik_gate.nx

8690 B186 linesdepth 4pulls 7 transitivereach 0 importersview sourcekind gate/proof

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nx_ik_gate.nx -- gate for CCD IK (Elara bar E5) + re-verify the skeleton under the new Ry*Rz basis. T0 skeleton basis re-check: yaw-only poses IDENTICAL to the old gate values; elevation RAISES a +x bone T1 REACHABLE 3D target: 2-bone arm (1000+800) converges within tol of (900,600,-700) T2 UNREACHABLE target: chain ends FULLY EXTENDED pointing at it (root-to-tip length ~1800) T3 GRAB-THE-WRIST tracking: target sweeps an arc; every re-solve converges; joint angles move SMOOTHLY T4 determinism: two skeletons, same solves -> identical joint angles + PNG knowledge/nx_ik_reach.png: the arm posed at 3 reached targets (chain lines + target dots) license_tier: ORIGINAL expect_exit: 0

dependencies 3 imports · 0 importers

imports: nx_syscalls.nxnx_png.nxnx_ik.nx

imported by: nobody (leaf or entry point)

call flow from main pre-order; caps 40 nodes / depth 6 declared; ↻ = already shown

structs

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consts

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functions

13	func hw(s: *u8) -> i64 { var n: i64 = 0; while s[n] != (0 as u8) { n = n + 1 } sys_write(1, s, n); return 0 } called by 1: main calls 1: sys_write
14	func pn(v: i64) -> i64 called by 1: main calls 2: sys_mmap sys_write
26	func gabs(v: i64) -> i64 { if v < 0 { return 0 - v } return v } called by 1: main
27	func isq(v: i64) -> i64 { if v <= 0 { return 0 } var x: i64 = v; var y: i64 = (x + 1) / 2; while y < x { x = y; y = (x + v / x) / 2 } return x } called by 1: main
29	func mkarm(sk: i64) -> i64 called by 1: main calls 2: sk_init sk_add_bone
36	func main() -> i64 calls 14: sys_mmap sk_bytes mkarm sk_pose sk_update sk_bone+8