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>
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>