[gabrielfrasantos]

Summary

Code (breaking)

• Removes the unscoped #pragma GCC optimize("O3", "fast-math") from every robotics header, mirroring perf!: stop setting optimization options per header and per function numerical-toolbox-cpp#348. GCC won't inline across differing optimization options, so these pragmas blocked inlining. Because they had no push/pop, they also turned on fast-math in every translation unit that included a robotics header.
• Bumps the numerical-toolbox pin to 9b37e08, which contains #348.
• AGENTS.md, CLAUDE.md, the Copilot instructions, the agents, roadmap/DEPLOYMENT.md and every spec's deployment note now forbid optimize pragmas and leave optimization flags to the consumer.

BREAKING CHANGE: robotics headers no longer force O3 and fast-math. Consumers that want them pass flags for whole translation units, e.g. -O2/-O3 -ffast-math -fno-finite-math-only.

Roadmap (specs only)

• SE(3): the local spec is deleted. Specs now use upstream math::SE3Transform (NT53), which adopts this repo's linear-first (v; ω) / (f; n) ordering.
• Moved whole upstream: M2, M3 and M9 (motion profiles → NT55, NT56, NT60) and M4 (friction → NT57). Their numbers are retired.
• Reduced to the robot-specific part:
  • M33 is a thin wrapper over upstream math::CubicSpline (NT61) and now owns JointTrajectoryState.
  • M14 → NT62; M22 → NT63; M34 → NT58.
  • M13 and M23 → NT64. Pose IK keeps its manipulability damping as a damping policy; Stewart forward kinematics keeps its SE(3) retraction.
  • M21 → NT54.
• M25 gains DistributeExact on NT65 (dense QP). On a spatial 8-cable robot, Pott's improved closed form failed on 90 of 4000 feasible wrenches sampled near the workspace boundary; a test case for this is included.
• M27 keeps its own two-variable LP, because the QP solver needs a strictly convex cost.
• M11 and M14 now factor the wide Jacobian directly.
• ROADMAP.md gains an "Upstream prerequisites" table (NT53–NT65) with spec links and the items that use each. M14, M22 and M33 each drop one difficulty tier.

Dependency

Depends on embedded-pro/numerical-toolbox-cpp#353, which adds the wide-matrix SVD and the NT53–NT65 specs. The NT spec links point at upstream main and resolve once #353 merges; the pin then needs bumping to that merge commit.

Verification

• cmake --preset host-single-Debug + build + ctest: 2/2 pass on the new pin; the baseline before the change was also 2/2.
• All relative markdown links in ROADMAP.md, README.md, AGENTS.md, TESTING.md and roadmap/ resolve.
• Every spec's Roadmap ref tier matches its ROADMAP.md difficulty.
• The Qt simulator was not built (no Qt6 in this environment).

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Generated by Claude Code

[github-actions]

✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.51s
✅ CPP	clang-format	35	0	0		0	0.49s
✅ CPP	cppcheck	35		0		0	0.74s
✅ DOCKERFILE	hadolint	1		0		0	0.48s
✅ JSON	jsonlint	8		0		0	0.08s
✅ JSON	prettier	8	2	0		0	0.31s
✅ MARKDOWN	markdownlint	116	0	0		0	1.54s
✅ MARKDOWN	markdown-table-formatter	116	0	0		0	0.17s
⚠️ SPELL	lychee	150		13		0	2.03s
✅ YAML	prettier	12	0	0		0	0.41s
✅ YAML	yamllint	12		0		0	0.48s

Detailed Issues

⚠️ SPELL / lychee - 13 errors

📝 Summary
---------------------
🔍 Total..........112
🔗 Unique..........55
✅ Successful......89
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors..........13
⛔ Unsupported.....13

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 ROADMAP.md
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/controllers/FrictionCompensation/implementation.md (at 47:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/estimators/offline/IncrementalQrLeastSquares/implementation.md (at 53:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/AngleUtilities/implementation.md (at 44:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/CubicSpline/implementation.md (at 51:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/math/TridiagonalSolver/implementation.md (at 49:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/PolynomialProfile/implementation.md (at 45:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/SCurveProfile/implementation.md (at 50:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/motion_profiles/TrapezoidalProfile/implementation.md (at 46:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/optimization/LevenbergMarquardt/implementation.md (at 54:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/ActiveSetQp/implementation.md (at 55:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/DampedPseudoInverse/implementation.md (at 52:89) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/numerical-toolbox-cpp/blob/main/roadmap/solvers/SymplecticIntegrators/implementation.md (at 48:89) | Rejected status code: 404 Not Found

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Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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