feat: RuVector all phases — temporal smoothing + kinematic constraints + coherence
* chore: update vendored ruvector to latest main (v2.1.0-40)
Was at v2.0.5-172 (f8f2c600a), now at v2.1.0-40 (050c3fe6f).
316 commits with new crates: ruvector-coherence, sona, ruvector-core,
ruvector-gnn improvements, and security hardening.
Co-Authored-By: claude-flow <ruv@ruv.net>
* feat: RuVector Phases 2+3 — temporal smoothing, kinematic constraints, coherence gating
Phase 2 (sensing server):
- Temporal keypoint smoothing via EMA (alpha=0.3) with coherence-adaptive blending
- Coherence scoring: running variance of motion_energy over 20 frames
- Low coherence → reduce alpha to 0.1 (trust measurements less)
- Per-node prev_keypoints for frame-to-frame smoothing
- Bone length clamping (±20%) in derive_single_person_pose
Phase 3 (signal crate):
- SkeletonConstraints: Jakobsen relaxation (3 iterations) on 12-bone
COCO-17 kinematic tree — prevents impossible skeletons
- CompressedPoseHistory: two-tier storage (hot f32 + warm i16 quantized)
for trajectory matching and re-ID
- 8 new tests for constraints + history
Vendored ruvector updated to v2.1.0-40 (latest main, 316 commits).
Workspace deps remain at v2.0.4 (crates.io) until v2.1.0 is published.
647 tests pass across both crates (0 failures).
Refs #296
Co-Authored-By: claude-flow <ruv@ruv.net>
5e5781b28a