chore: remove orphaned manipulator roadmap

ROADMAP.md

@@ -228,16 +228,16 @@ the library does not yet expose. Detailed below under
 - **Reuses:** [KalmanFilterBase.hpp](numerical/filters/active/KalmanFilterBase.hpp), [Cholesky](numerical/solvers/CholeskyDecomposition.hpp), item 27.
 
 ### 40. Feedback linearization  *(float-first)*
-- **What:** Cancel known nonlinear dynamics via a coordinate transform + inner control law so an outer linear controller can be applied.
-- **Embedded value:** Exact control of robot manipulators and other structurally-known nonlinear plants.
+- **What:** Cancel a control-affine system's known nonlinear dynamics via a coordinate transform + inner control law, leaving an equivalent linear system that an outer loop (PD/LQR) can drive.
+- **Embedded value:** One linear gain set works across the whole operating envelope of any structurally-known nonlinear plant (robot arms, quadrotors, electromechanical drives) — no gain scheduling, no lookup tables.
 - **Algorithm / paper:** A. Isidori, *Nonlinear Control Systems* (1995); Slotine & Li, *Applied Nonlinear Control*.
-- **Reuses:** `dynamics/` models, `math::Matrix`, new `nonlinear_control/` module.
+- **Reuses:** an injected control-affine plant model, `math::Matrix`, new `nonlinear_control/` module. (The manipulator computed-torque instance lives in robotics-toolbox-cpp.)
 
 ### 41. Backstepping controller  *(float-first)*
 - **What:** Recursive Lyapunov-based design for strict-feedback systems, stabilizing one integrator stage at a time.
 - **Embedded value:** Systematic, provably-stable control for cascaded nonlinear plants (electromechanical, flight).
 - **Algorithm / paper:** M. Krstić, I. Kanellakopoulos, P. Kokotović, *Nonlinear and Adaptive Control Design* (1995).
-- **Reuses:** `dynamics/`, `math::Matrix`, new `nonlinear_control/` module.
+- **Reuses:** `math::Matrix`, new `nonlinear_control/` module.
 
 ---
 

TESTING.md

@@ -61,7 +61,6 @@ Canonical rules still apply ([AGENTS.md](AGENTS.md), [testing.instructions.md](.
 | Optimization                                    | ●  |    |    |    | ●  | ●  |    |    |    |
 | Regularization                                  | ●  |    |    |    |    | ●  | ●  |    |    |
 | Solvers (linear / ODE / roots)                  | ●  |    | ○  | ●  | ●  | ●  | ●  |    | ●  |
-| Dynamics & kinematics                           | ●  |    | ●  |    | ●  | ●  | ●  |    |    |
 | Neural network                                  | ●  |    |    |    | ○  | ●  | ●  |    |    |
 | Math foundation                                 | ●  |    |    |    |    | ●  | ●  |    | ●  |
 
@@ -194,18 +193,7 @@ Canonical rules still apply ([AGENTS.md](AGENTS.md), [testing.instructions.md](.
   within the requested tolerance.
 - **M7 conservation** — energy drift bounded for a conservative system over many steps.
 
-### 10. Dynamics & kinematics — `dynamics/`, `kinematics/`
-`ForwardKinematics`, `InverseKinematics`, `NewtonEulerSolver`, `RecursiveNewtonEuler`,
-`EulerLagrangeSolver`, `ArticulatedBodyAlgorithm`.
-
-- **M1 forward kinematics** — end-effector pose matches known geometry for canonical joint angles.
-- **M5 inverse kinematics round-trip** — `FK(IK(pose)) ≈ pose`; converges within iteration budget;
-  handles reachable vs unreachable targets (M6).
-- **M1 cross-method consistency** — `RecursiveNewtonEuler` and `EulerLagrange` produce the same joint
-  torques for the same state; both match the analytic torque of a simple pendulum / 2-link arm.
-- **M7 energy** — conservation in free (unforced) motion; passivity of the mass matrix (SPD).
-
-### 11. Neural network — `neural_network/`
+### 10. Neural network — `neural_network/`
 `activation/*`, `layer/Dense`, `losses/*`, `model/Model`.
 
 - **M1 activation values** — reference points: `sigmoid(0)=0.5`, `tanh(0)=0`, `relu(−x)=0`,
@@ -216,7 +204,7 @@ Canonical rules still apply ([AGENTS.md](AGENTS.md), [testing.instructions.md](.
 - **M1 dense layer** — `output = W·x + b`; back-prop gradient check.
 - **Model (M6)** — forward pass is deterministic and equals the manual layer composition.
 
-### 12. Math foundation — `math/`
+### 11. Math foundation — `math/`
 `Matrix`, `ComplexNumber`, `Quaternion`, `Cordic`, `TrigonometricFunctions`, `HyperbolicFunctions`,
 `AdvancedFunctions`, `Statistics`, `LinearTimeInvariant`, `Toeplitz`, `QNumber`.
 

roadmap/DEPLOYMENT.md

@@ -22,7 +22,7 @@ Read the spec's three files first (`implementation.md`, `tests.md`, `explanation
 4. **CMake**
    - Add `.hpp` to `target_sources(...)`, `.cpp` to `numerical_add_coverage_sources(...)`,
      `Test<Name>.cpp` to the `_test` target's `target_sources`.
-   - New module (`trajectory`, `robust_control`, `nonlinear_control`, `controllers/manipulator`):
+   - New module (`robust_control`, `nonlinear_control`):
      create `numerical/<module>/CMakeLists.txt` via `numerical_add_header_library(...)`, add a
      `test/` subdir, register it in the parent `CMakeLists.txt`, and add a `doc/<module>/` folder.
 

roadmap/README.md

@@ -112,15 +112,3 @@ with `EXPECT_NEAR` and `math::Tolerance<float>()` (or an explicit tolerance).
 
 ### `solvers`
 `RungeKuttaIntegrators` (24) · `QrDecomposition` (27) · `LuDecomposition` (28) · `LyapunovSylvester` (31) · `JacobiEigenSolver` (42) · `SingularValueDecomposition` (43)
-
-### `trajectory`
-`PolynomialTrajectory` (M2) · `TrapezoidalProfile` (M3) · `SCurveProfile` (M9) · `CartesianSlerpInterpolation` (M10) · `TimeOptimalPathParameterization` (M27)
-
-### `controllers/manipulator`
-`PdGravityCompensation` (M5) · `ComputedTorqueControl` (M12) · `ImpedanceControl` (M17) · `OperationalSpaceControl` (M18) · `HybridPositionForceControl` (M19) · `SlotineLiAdaptiveControl` (M20) · `CableTensionDistribution` (M25)
-
-### `kinematics`
-`DenavitHartenberg` (M7) · `SpatialJacobian` (M8) · `ManipulabilityIndex` (M11) · `PoseInverseKinematics` (M13) · `RedundancyResolution` (M14) · `ProductOfExponentials` (M15) · `AnalyticalIkPieper` (M21) · `ParallelManipulatorKinematics` (M23) · `MobileManipulatorKinematics` (M24) · `ContinuumKinematics` (M26)
-
-### `dynamics`
-`GenericJointLink` (M1) · `FrictionCompensation` (M4)