updating history

HISTORY.md

@@ -10,10 +10,71 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 -
 
+## [0.0.2] - 2026-08-26
+
+Tier-3 math implementation layer built out on top of `pyFoundationTools`, plus a
+full migration onto the project template. This release renames both packages;
+see Changed for the import migration.
+
+### Added
+- `math_tools.precision_time`: `PrecisionTimeInterval` and `PrecisionTimestamp`
+  — integer-backed nanosecond time arithmetic, comparison, and conversion.
+- `math_tools.spatial`: `Position` and `SpatialPose` alongside the existing
+  `Quaternion`, with tolerance-aware comparison and timestamp accessors.
+- `math_tools.functional`: `UnivariatePolynomial` plus analytic root solvers
+  (`solve_cubic`, `solve_quartic_monic`, `solve_resolvent`), derivative and
+  evaluation kernels, and shared polynomial tolerances.
+- `math_tools.waveforms`: `Waveform1D` core, operators, and generators, plus the
+  aggregate containers `WaveformPosition`, `WaveformQuaternion`, and
+  `WaveformSpatialPose` (and their component-waveform views).
+- `math_tools.waveforms.dsp`: twelve scipy-backed DSP mixins composed onto
+  `Waveform1D` — calc, correlation, envelope, filtering, peaks, phase,
+  resampling, spectral, time alignment, triggers, windowing, and zero crossings
+  — with a `WaveformProtocol` typing contract and a support-type surface
+  (spectra, spectrograms, filter coefficients, triggers, peaks, enums).
+- `math_tools.otg`: online trajectory generation ported from Ruckig — `Otg`
+  driver, `InputParameter`, `OutputParameter`, `Trajectory`, `Profile`, block
+  and brake computation, and first/second/third-order position and velocity
+  step solvers, with `Result`, `Synchronization`, `ControlInterface`, and
+  `DurationDiscretization` enums.
+- Error hierarchy rooted at `MathToolsError`: `WaveformCompatibilityError`,
+  `TimestampComparisonError`, `PolynomialSolveError`, and `OtgError`.
+- Curated root re-export surface on `math_tools`, and `py.typed` markers on
+  every distributed package.
+- Test suite mirroring the package layout under `tests/`, including OTG oracle
+  corpora (`tests/otg/data/`) validated against reference trajectories, plus
+  governance, public-surface, and package-layering guard tests.
+- `.claude/specs/` architecture and per-module contracts, and `.claude/CLAUDE.md`
+  repo guidance.
+- Template infrastructure: `.github/workflows/ci-cd.yml`, `.github/CODEOWNERS`,
+  `.editorconfig`, `.python-version` (3.13), `.bumpversion.cfg`, and a
+  hand-authored `requirements.txt`.
+
+### Changed
+- **Breaking:** `pyMathTools` renamed to `math_tools` and
+  `pyMathToolsPlotHelpers` renamed to `math_plot_helpers`; modules and public
+  functions moved to snake_case (e.g. `spherical.sphericalTransforms` →
+  `spherical.spherical_transforms`, `plotUnitSpherical` helpers →
+  `plot_unit_spherical_*`). Update imports accordingly.
+- Layering is now one-way and enforced by test: `math_plot_helpers` →
+  `math_tools` → `pyFoundationTools`; `math_tools` never imports matplotlib.
+- Makefile reworked as the source of truth for tooling, with `uv-` targets and
+  the `uv-fullCheck` CI gate (ruff + strict mypy + pytest).
+- Linting and formatting moved to ruff; type checking is strict `mypy` over
+  `src/` and `tests/`.
+- Runtime dependencies in `pyproject.toml` are names-only; pins live in
+  `requirements.txt`.
+- Governance docs refreshed: `README.md`, `CONTRIBUTING.md`,
+  `CODE_OF_CONDUCT.md`, `LICENSE`.
+
+### Removed
+- `.pylintrc` (superseded by ruff).
+
 ## [0.0.1] - 2026-06-29
 
 ### Added
 - First release on PyPI.
 
-[Unreleased]: https://github.com/kopecn/py_math_tools/compare/v0.0.1...HEAD
+[Unreleased]: https://github.com/kopecn/py_math_tools/compare/v0.0.2...HEAD
+[0.0.2]: https://github.com/kopecn/py_math_tools/compare/v0.0.1...v0.0.2
 [0.0.1]: https://github.com/kopecn/py_math_tools/releases/tag/v0.0.1