d8944e90230ff05313e25f1c38d425c3b4b171da
Sign convention approved: a right (clockwise) deflection is positive. solveIp4 now rotates the IP1→IP2 direction by −θ. Test covers a +10° right turn with IP4 at (5, 0). Co-Authored-By: Claude Haiku 5.5 <noreply@anthropic.com>
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