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What does this PR do?

A clear summary of the changes. If it fixes a bug or closes a feature request, link it here.

Closes # (issue number, if applicable)

Why?

Explain the motivation. What problem does this solve, or what use case does it enable?

What changed?

Walk through the notable changes — new functions, modified behaviour, removed code, etc. If the diff is large, a brief guided tour here saves the reviewer a lot of time.

Is this a breaking change?

  • No — existing code will continue to work as before
  • Yes — describe what breaks and why it was necessary:

How was this tested?

Describe how you verified your changes work correctly.

  • Platform(s) tested on: (e.g. Ubuntu 24.04, macOS 15)
  • Compiler(s) used: (e.g. gcc 13, clang 17)
  • What did you run or build to confirm it works?

Checklist

  • Builds cleanly with no warnings (cmake --build build)
  • Tested on Linux and/or macOS
  • New public functions are documented (header comments)
  • Examples still build and run correctly
  • No unrelated changes snuck in (formatting, refactors, etc.)
  • If this adds a new module or API, the README table is updated

Additional Notes

Anything else the reviewer should know — design decisions, trade-offs, follow-up work, etc.