perf: make interface destructors protected and non-virtual by gabrielfrasantos · Pull Request #361 · embedded-pro/numerical-toolbox-cpp

gabrielfrasantos · 2026-10-23T18:22:42Z

Summary

Closes #359.

Every toolbox interface declared virtual ~I() = default. Nothing in the library or its embedded users destroys an object through an interface pointer. The virtual destructor still puts a deleting destructor in every implementation's vtable. That destructor calls operator delete, which links malloc/free into heap-free firmware, and under multiple inheritance adds one thunk per base.

Interfaces: all 24 now declare ~I() = default in a protected: section, the EMIL convention. That's the 21 listed in Interfaces declare virtual ~I() = default, which links deleting destructors and operator delete/free into heap-free firmware #359, plus LeastSquaresProblem, DampingPolicy and SecondOrderSystem, which were added since. Deleting through an interface pointer is now a compile error.
SynchronousPidController gets a protected destructor as well. It derives from AsynchronousPidController, and without one its implicit destructor would be public and non-virtual again.
Base-pointer ownership removed:
- TestWindowing holds each window on the stack, which also drops its std::unique_ptr/std::vector use.
- The FFT and PSD simulators pick a static, stateless window by reference instead of a std::unique_ptr<Window>.
Left as is: the simulator's own Plant interface keeps its virtual destructor. It is host-only and owned through std::unique_ptr<Plant>.
Rule text: updated in AGENTS.md, CLAUDE.md, .github/copilot-instructions.md, both reviewer agents and .github/instructions/numerical-cpp.instructions.md.

Verification

A translation unit that instantiates Lqr<float, 2, 1, 300> was compiled at -O2 (GCC 13). Against main it emits two deleting destructors and an undefined reference to operator delete(void*, unsigned long). Against this branch it emits neither.
delete through a StateFeedbackController<float, 2, 1>* fails to compile: "destructor is protected within this context".
Host GCC build with the Qt simulators, as the Ubuntu job builds it: all 26 test executables pass.
Clang build: all 15 test executables pass.
Coverage preset: all 15 test executables pass.

Compatibility

Downstream code that owns or deletes a toolbox object through an interface pointer (for example std::unique_ptr<solvers::OdeSystem<…>>) no longer compiles. It should hold the concrete type instead. #359 reports no such use in the library or its embedded users.

Generated by Claude Code

Every toolbox interface declared `virtual ~I() = default`. The library and its embedded users never destroy an object through an interface pointer, but the virtual destructor still puts a deleting destructor in each implementation's vtable. That destructor calls operator delete, which links malloc/free into firmware that never allocates. Under multiple inheritance it also adds one thunk per base. All 24 library interfaces now declare `~I() = default` in a protected section, as EMIL does. SynchronousPidController gets one too, so the derived interface does not reopen a public non-virtual destructor. Deleting through an interface pointer is now a compile error. Compiled at -O2, a translation unit that instantiates Lqr<float, 2, 1, 300> used to emit two deleting destructors and a reference to operator delete. It now emits neither. Code that owned windows through std::unique_ptr<Window> holds them differently now: - TestWindowing holds each window on the stack. - The FFT and PSD simulators pick a static, stateless window by reference. The simulator's own Plant interface keeps its virtual destructor: it is host-only and owned through std::unique_ptr<Plant>. The rule is updated in AGENTS.md, CLAUDE.md, .github/copilot-instructions.md, the reviewer agents and the C++ instructions. Closes #359 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5

github-actions · 2026-10-23T18:24:20Z

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Elapsed time
✅ ACTION	actionlint	7		0	0.85s
✅ CPP	clang-format	476	9	0	4.63s
✅ CPP	cppcheck	476		0	9.97s
✅ DOCKERFILE	hadolint	1		0	0.56s
✅ JSON	jsonlint	8		0	0.13s
✅ JSON	prettier	8	8	0	0.41s
⚠️ MARKDOWN	markdownlint	144	2	165	3.87s
✅ MARKDOWN	markdown-table-formatter	144	12	0	0.5s
⚠️ SPELL	lychee	255		18	26.4s
✅ YAML	prettier	12	3	0	0.64s
✅ YAML	yamllint	12		0	0.57s

Detailed Issues

⚠️ SPELL / lychee - 18 errors

📝 Summary
---------------------
🔍 Total..........608
🔗 Unique.........452
✅ Successful.....578
⏳ Timeouts.........0
🔀 Redirected.....156
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........18
⛔ Unsupported.....18

Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 37:21) | Rejected status code: 403 Forbidden

Errors in CHANGELOG.md
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/1 (at 206:31) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/15 (at 215:18) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/2 (at 213:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/27 (at 208:23) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/6 (at 212:53) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/7 (at 209:32) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/9 (at 207:15) | Rejected status code: 404 Not Found

Errors in doc/filters/active/AhrsMadgwickMahony.md
[ERROR] file://doc/filters/ComplementaryFilter.md (at 131:3) | File not found. Check if file exists and path is correct

Errors in doc/filters/active/ExtendedKalmanFilter.md
[ERROR] file://doc/dynamics/EulerLagrange.md (at 130:3) | File not found. Check if file exists and path is correct

Errors in doc/filters/active/KalmanFilter.md
[ERROR] file://doc/filters/controllers/Lqr.md (at 114:77) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Lqr.md (at 133:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Pid.md (at 135:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/solvers/DiscreteAlgebraicRiccatiEquation.md (at 134:3) | File not found. Check if file exists and path is correct

Errors in doc/performance-optimization/README.md
[403] https://developer.arm.com/documentation/100166/latest/ (at 472:3) | Rejected status code: 403 Forbidden
[403] https://developer.arm.com/documentation/dui0473/latest (at 474:3) | Rejected status code: 403 Forbidden

Errors in README.md
[ERROR] file:///releases/latest (at 39:14) | File not found. Check if file exists and path is correct
[404] https://embedded-pro.github.io/embedded-dsp-control/ (at 38:1) | Rejected status code: 404 Not Found

Hint: Followed 156 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
Hint: You can configure accepted/rejected response codes with `-a` or `--accept`

⚠️ MARKDOWN / markdownlint - 165 errors

rror MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Triage requests and route to t..."]
.github/agents/planner.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/reviewer.agent.md:14 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/unit-tester.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "You add or extend the unit tes..."]
.github/instructions/numerical-cpp.instructions.md:71:401 error MD013/line-length Line length [Expected: 400; Actual: 615]
.github/instructions/numerical-cpp.instructions.md:76:401 error MD013/line-length Line length [Expected: 400; Actual: 423]
.github/prompts/orchestrate.prompt.md:8:401 error MD013/line-length Line length [Expected: 400; Actual: 496]
.github/prompts/orchestrate.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Analyze the following task for..."]
.github/prompts/unit-test.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Author (or extend) the unit te..."]
CHANGELOG.md:26 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:38 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:52 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:64 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:133 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Miscellaneous"]
CHANGELOG.md:151 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:179 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "⚠ BREAKING CHANGES"]
CHANGELOG.md:183 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:195 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:202 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:218 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
doc/analysis/Decibels.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 637]
doc/analysis/GoertzelAlgorithm.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 492]
doc/analysis/GoertzelAlgorithm.md:93:401 error MD013/line-length Line length [Expected: 400; Actual: 757]
doc/analysis/GoertzelAlgorithm.md:109:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/analysis/HilbertTransform.md:31:34 error MD056/table-column-count Table column count [Expected: 2; Actual: 4; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD056/table-column-count Table column count [Expected: 2; Actual: 6; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:104:17 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:38 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:45 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/SignalDetectors.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 481]
doc/control_analysis/FrequencyResponse.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 469]
doc/control_analysis/README.md:11:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:11:147 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:53 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:172 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/RootLocus.md:69 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/control_analysis/TransferFunctionStateSpace.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 589]
doc/controllers/Feedforward2Dof.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 627]
doc/controllers/FrictionCompensation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 420]
doc/controllers/FrictionCompensation.md:29:401 error MD013/line-length Line length [Expected: 400; Actual: 406]
doc/controllers/FrictionCompensation.md:44:401 error MD013/line-length Line length [Expected: 400; Actual: 436]
doc/controllers/GainScheduledController.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 454]
doc/controllers/LeadLagCompensator.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 639]
doc/controllers/Lqg.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 428]
doc/controllers/SaturationRateLimiter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/controllers/SaturationRateLimiter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 477]
doc/estimators/ExpectationMaximization.md:104:103 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/estimators/LmsAdaptiveFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 547]
doc/estimators/README.md:11:128 error MD056/table-column-count Table column count [Expected: 2; Actual: 3; Too many cells, extra data will be missing]
doc/estimators/README.md:11:128 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/AhrsMadgwickMahony.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 538]
doc/filters/active/AhrsMadgwickMahony.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 554]
doc/filters/active/AlphaBetaFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 419]
doc/filters/active/AlphaBetaFilter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/filters/active/KalmanSmoother.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 421]
doc/filters/active/KalmanSmoother.md:111:28 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:61 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:110 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:11:401 error MD013/line-length Line length [Expected: 400; Actual: 468]
doc/filters/active/UnscentedKalmanFilter.md:149:65 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:149:153 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:25 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:43 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:51 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:96 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/AngleUtilities.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 603]
doc/math/AngleUtilities.md:58:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/math/CubicSpline.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 453]
doc/math/CubicSpline.md:38:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/math/GivensRotation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 429]
doc/math/HouseholderTransform.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 455]
doc/math/MatrixExponential.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 555]
doc/math/MatrixNorms.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 452]
doc/math/MatrixNorms.md:42:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:43:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:44:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:45:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:46:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/SE3Transform.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 538]
doc/math/SE3Transform.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 546]
doc/math/SE3Transform.md:23:401 error MD013/line-length Line length [Expected: 400; Actual: 494]
doc/math/SE3Transform.md:43:401 error MD013/line-length Line length [Expected: 400; Actual: 464]
doc/math/SE3Transform.md:126:401 error MD013/line-length Line length [Expected: 400; Actual: 414]
doc/math/StepResponseMetrics.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 514]
doc/math/StepResponseMetrics.md:61 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/motion_profiles/SCurveProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/motion_profiles/SCurveProfile.md:53:401 error MD013/line-length Line length [Expected: 400; Actual: 480]
doc/motion_profiles/TrapezoidalProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 474]
doc/nonlinear_control/BacksteppingControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 594]
doc/nonlinear_control/FeedbackLinearization.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 533]
doc/nonlinear_control/FeedbackLinearization.md:15:401 error MD013/line-length Line length [Expected: 400; Actual: 491]
doc/nonlinear_control/ModelReferenceAdaptiveControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 587]
doc/nonlinear_control/README.md:9:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:9:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:270 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/optimization/LevenbergMarquardt.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 437]
doc/optimization/LevenbergMarquardt.md:42:401 error MD013/line-length Line length [Expected: 400; Actual: 511]
doc/optimization/LevenbergMarquardt.md:57:401 error MD013/line-length Line length [Expected: 400; Actual: 410]
doc/regularization/Regularization.md:100:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/regularization/Regularization.md:100:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/ActiveDisturbanceRejection.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 699]
doc/robust_control/ActiveDisturbanceRejection.md:85:401 error MD013/line-length Line length [Expected: 400; Actual: 575]
doc/robust_control/ActiveDisturbanceRejection.md:93:401 error MD013/line-length Line length [Expected: 400; Actual: 622]
doc/robust_control/DisturbanceObserver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/robust_control/README.md:12:259 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/SlidingModeControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 644]
doc/solvers/ActiveSetQp.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 584]
doc/solvers/ActiveSetQp.md:71:401 error MD013/line-length Line length [Expected: 400; Actual: 703]
doc/solvers/ActiveSetQp.md:107:401 error MD013/line-length Line length [Expected: 400; Actual: 421]
doc/solvers/ConditionNumber.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 461]
doc/solvers/ConditionNumber.md:51:401 error MD013/line-length Line length [Expected: 400; Actual: 425]
doc/solvers/DampedPseudoInverse.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 531]
doc/solvers/DampedPseudoInverse.md:89:401 error MD013/line-length Line length [Expected: 400; Actual: 581]
doc/solvers/JacobiEigenSolver.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 443]
doc/solvers/JacobiEigenSolver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 609]
doc/solvers/JacobiEigenSolver.md:45:401 error MD013/line-length Line length [Expected: 400; Actual: 427]
doc/solvers/RungeKuttaIntegrators.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/solvers/SpectralRadius.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 665]
doc/solvers/SymplecticIntegrators.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 486]
doc/solvers/SymplecticIntegrators.md:35:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/solvers/SymplecticIntegrators.md:63:401 error MD013/line-length Line length [Expected: 400; Actual: 431]
doc/windowing/window.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 415]
README.md:1 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "[![Quality Gate Status](https:..."]
README.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 442]
README.md:17:401 error MD013/line-length Line length [Expected: 400; Actual: 507]
roadmap/README.md:11 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]

(Truncated to last 20000 characters out of 21453)

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sonarqubecloud · 2026-10-23T18:27:18Z

Quality Gate passed

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The Windows host job never hit its cache. With no generator in the host-single-Debug preset, CMake picked Visual Studio there, and that generator ignores CMAKE_<LANG>_COMPILER_LAUNCHER. On #361 the Windows cache stayed at 0.0 / 2.0 GB, while macOS hit 84%. Build Windows with Ninja inside an MSVC developer environment (msvc-dev-cmd), through sccache. Debug info is embedded (/Z7, via CMP0141), because sccache cannot cache /Zi. CC/CXX=cl keeps run-cmake from running its own vcpkg-based MSVC setup. macOS keeps ccache. Two further fixes in the same job: - The job is named "Host Build & Test (${{ matrix.os }})", so the include-based matrix keeps the existing check names. - Failed-test logs upload per OS from build/host-single-Debug. That is the preset's binary directory; the old path was build/host, which this job never writes. This mirrors embedded-infra-lib's 8363cb0e (#150). The other compiling jobs (Ubuntu host, QEMU ARM, coverage) already cache with ccache, at roughly 80% hits. Claude-Session: https://claude.ai/code/session_01Q53m7MZDmHwocmKbhhd2o5 Co-authored-by: Claude <noreply@anthropic.com>

gabrielfrasantos merged commit 8485c35 into main Oct 23, 2026
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gabrielfrasantos deleted the claude/brave-einstein-5nj7y6 branch October 23, 2026 18:30

embedded-releaser-app Bot mentioned this pull request Oct 23, 2026

chore(main): release 4.0.0 #327

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gabrielfrasantos mentioned this pull request Oct 23, 2026

ci: build Windows host with Ninja and sccache #362

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This was referenced Oct 23, 2026

perf: cut RAM to ~25 KB and flash to ~204 KB on the EK-TM4C123GXL embedded-pro/e-foc#416

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perf: protected interface destructors; bump numerical-toolbox to 63c9b91 embedded-pro/robotics-toolbox-cpp#30

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perf: make interface destructors protected and non-virtual - #361

perf: make interface destructors protected and non-virtual#361
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gabrielfrasantos commented Oct 23, 2026

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✅⚠️MegaLinter analysis: Success with warnings

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