Planned: Centroidal Kinematics & the Reaction Mass Pendulum

Forward-looking design and implementation plans for adding a centroidal-kinematics layer to freemocap: composite centroidal inertia, centroidal angular momentum, the Reaction Mass Pendulum (RMP), and a unified balance-state representation that ties together center of mass, extrapolated center of mass, the instantaneous capture point, and ground-reference points (CoP / CMP). These pages describe work that is PLANNED, not yet implemented.