Feat/showcase gallery expansion#358
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…tric controller The packaged body->inertial matrix is orthogonal but improper (det = -1) -- a reflection, not a proper SO(3) rotation. Feeding it to the geometric SE(3) attitude error vee(Rd^T R - R^T Rd) produced wrong-sign lateral feedback that diverged the east position. Separately, the body angular velocity was reconstructed from Euler-rate drift with a transform wrong even at hover, leaving roll undamped and NaN-ing integration within ~1s. Build a proper rotation S @ R (S = diag(1,1,-1)) inside the controller and run the Lee-2010 law in the z-down frame; use omega = x[9:12] directly. The plant is left untouched. Retune default gains to kx=kv=8. Add closed-loop convergence regression tests (the prior tests only checked finiteness/shape, which is why the divergence slipped through).
…lver generate_mpc_solver_quadratic_cost_linear_dynamics flattened the reference state-major while the Hessian (kron(I_N, Q)) and decision-vector unpack are time-major, scrambling per-axis weights against per-axis references. The linear cost term was -Q r instead of -2 Q r; since jaxopt minimizes x'Hx + f'x with no implicit 1/2, the missing factor of 2 collapsed the optimum to r/2 (a goal of (4,4) parked the system at (2,2)). Add receding-horizon tracking regression tests pinning both corrections (asymmetric goals catch the axis scrambling; the factor-of-2 is caught by reaching the true goal).
…urce links Add Van der Pol (CLF), classical MPC, 6-DOF quadrotor (geometric SE(3) tracking + altitude CBF) and Monte Carlo safety-verification tiles, each rendered by scripts/render_showcase.py. Add a source-link icon to every gallery caption (new GIFs are force-added past the *.gif gitignore rule, matching the existing tracked GIFs). Regenerate the legacy MPPI, pedestrian, and EKF GIFs from their example scripts: enable matplotlib animation output in examples/unicycle/reach_goal/ekf.py (it named its output .gif but the plotly default saved .html) and mppi_cbf.py. Correct the EKF tile caption (that example uses proportional control, not a CBF).
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