Generated tables of multicalc's behavior: accuracy (correctness against external references) and latency (criterion measurements).
Per-module tables showing multicalc's numerics tested against established external libraries
(numpy, scipy, mpmath, filterpy, MuJoCo). Each row lists the operation, the equation, the tolerance it must match
within, and which library it is checked against. The tables are generated from the fixtures under
tools/qa and kept in sync by a CI git diff guard.
| Module | Doc | What it covers |
|---|---|---|
| calculus | calculus.md |
Differentiation, partials, Jacobian / Hessian, vector-field operators, Taylor approximation, and single-variable quadrature. |
| linear_algebra | linear_algebra.md |
LU / Cholesky / column-pivoted QR / SVD factorizations and solves. |
| optimization | optimization.md |
Levenberg-Marquardt and Gauss-Newton least-squares minimizers. |
| root_finding | root_finding.md |
Scalar and system root finders: bisection, Newton, damped Newton, square-system Newton. |
| ode | ode.md |
RK45 integrator trajectories against scipy solve_ivp. |
| estimation | estimation.md |
Linear and extended Kalman filter predict/update runs against FilterPy, including a coordinated-turn motion model. |
| mjcf | mjcf.md |
Reading a MuJoCo model file into a rigid body — mass, balance point, and resistance to spinning — against MuJoCo's own compile of it. |
Regenerate with cargo run -p multicalc-qa --bin gen_accuracy_tables; CI fails if a regenerated
table differs from the committed doc. Runnable, self-checking demos live in demos/.
latency.md —
Measured with criterion in the optimized bench profile. Each row lists the operation, the equation
it evaluates, and the median / mean time. Timings are machine-dependent, so this table is not
CI-guarded (unlike the accuracy tables), and the file records the machine it was measured on.
Regenerate with cargo bench -p multicalc-qa.