perf!: drop per-header optimize pragmas; move generic roadmap items upstream

.github/agents/algo-implementer.agent.md

@@ -33,5 +33,5 @@ Authoritative rules: `AGENTS.md`. Recipe: `roadmap/DEPLOYMENT.md`. Follow both e
 - **No comments** (except license/`NOLINT`). Allman braces, brace-init.
 - **Tests**: `TEST_F` on `float`, `StrictMock` only, anonymous-namespace fixture; implement EXACTLY
   the spec's cases — no redundant or extra tests.
-- **Embedded**: `#pragma GCC optimize` + `OPTIMIZE_FOR_SPEED` on hot paths.
+- **Embedded**: no `#pragma GCC optimize`/`optimize` attribute; `OPTIMIZE_FOR_SPEED` (forced inlining) on hot paths.
 - **Terse**: no preamble/postamble, no plan restatement, no narration; don't re-read files; batch reads.

.github/agents/planner.agent.md

@@ -30,7 +30,7 @@ Canonical rules: `AGENTS.md`. Produce plans only — no code edits.
    - [ ] No heap; no recursion; tests too
    - [ ] `template<typename T>` + `static_assert(std::is_floating_point_v<T>)`; `float` only
    - [ ] `TEST_F` on `float` — no `TYPED_TEST`; `StrictMock` only; never plain `TEST()`
-   - [ ] `#pragma GCC optimize` + `OPTIMIZE_FOR_SPEED` on hot paths
+   - [ ] no `#pragma GCC optimize`/`optimize` attribute; `OPTIMIZE_FOR_SPEED` on hot paths
    - [ ] `doc/` update planned
 
 **Terse**: no preamble/postamble, no plan restatement; don't re-read files; batch reads.

.github/agents/reviewer.agent.md

@@ -43,7 +43,7 @@ End with totals + verdict: APPROVE / REQUEST CHANGES.
 - [ ] `extern template` guarded by `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
 
 **Embedded optimizations (WARNING)**
-- [ ] `#pragma GCC optimize("O3","fast-math")` after `#pragma once` in algorithm headers.
+- [ ] No `#pragma GCC optimize` and no `optimize` attribute anywhere (they stop GCC inlining across the boundary).
 - [ ] `OPTIMIZE_FOR_SPEED` on `Filter/Compute/Update/Solve/Step`.
 
 **Namespaces (WARNING)**

.github/copilot-instructions.md

@@ -6,7 +6,7 @@ Code-file specifics: `.github/instructions/` (applyTo-scoped). Deployment recipe
 Essentials (full detail in AGENTS.md):
 - **No heap** — bounded containers / `std::array` / `std::optional`; no recursion; tests too.
 - **Float-only** — generic `template<typename T>` + `static_assert(std::is_floating_point_v<T>)`; instantiate/test `float`; no Q15/Q31.
-- **Embedded** — `#pragma GCC optimize("O3","fast-math")` + `OPTIMIZE_FOR_SPEED` on hot paths.
+- **Embedded** — no `#pragma GCC optimize` / `optimize` attribute (they block inlining); the consumer sets optimization flags per TU; `OPTIMIZE_FOR_SPEED` (forced inlining) on hot paths.
 - **No comments** (except license/NOLINT). Allman braces, brace-init, PascalCase/camelCase.
 - **Tests** — `TEST_F` on `float`, `StrictMock` only, never plain `TEST()`, no redundant cases.
 - **No exceptions** — `std::optional`/status enums; interfaces `virtual ~I() = default`.

.github/instructions/robotics-cpp.instructions.md

@@ -29,17 +29,11 @@ Use `std::numbers::pi_v<float>` — never hardcode `3.14159265f`.
 
 ## Embedded Optimizations
 
-Every algorithm header MUST include:
+Never use `#pragma GCC optimize` or the `optimize` attribute. GCC does not inline a callee whose optimization options differ from its caller's, so options set per header or per function turn every small helper on a hot path into an out-of-line call. Optimization level and floating-point flags are the consumer's, applied to whole translation units (embedded: `-O2`/`-O3` with `-ffast-math -fno-finite-math-only`).
 
-```cpp
-#pragma once
+Apply `OPTIMIZE_FOR_SPEED` (from `numerical/math/CompilerOptimizations.hpp`) on hot-path methods: `Compute()`, `Filter()`, `Calculate()`, `Solve()`, `Update()`, `Step()`. It forces inlining when `NumericalToolbox_ENABLE_OPTIMIZATIONS` is defined and expands to nothing otherwise.
 
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC optimize("O3", "fast-math")
-#endif
-```
-
-Apply `OPTIMIZE_FOR_SPEED` (from `numerical/math/CompilerOptimizations.hpp`) on hot-path methods: `Compute()`, `Filter()`, `Calculate()`, `Solve()`, `Update()`, `Step()`.
+Use `math::IsFinite` for finiteness checks: a consumer may still build with `-ffinite-math-only`.
 
 ## Naming
 

AGENTS.md

@@ -25,17 +25,19 @@ and included as `numerical/<domain>/…`.
   `infra::BoundedDeque<T>::WithMaxSize<N>`, `infra::BoundedList<T>::WithMaxSize<N>`,
   `std::array<T,N>`, `std::optional<T>`. Stack/static only. No recursion. **Tests too.**
 
-## Embedded optimizations (algorithm headers)
-
-```cpp
-#pragma once
-#if defined(__GNUC__) || defined(__clang__)
-#pragma GCC optimize("O3", "fast-math")
-#endif
-#include "numerical/math/CompilerOptimizations.hpp"
-```
-
-`OPTIMIZE_FOR_SPEED` on hot paths (`Filter/Compute/Update/Solve/Step`). Pure interfaces exempt.
+## Embedded optimizations
+
+- **No `#pragma GCC optimize` and no `optimize` attribute**, in headers or sources. GCC does not
+  inline a callee whose optimization options differ from its caller's, so options set per header or
+  per function turn every small helper on a hot path into an out-of-line call; an unscoped pragma in
+  a header also leaks fast-math into every including translation unit.
+- The optimization level and floating-point model belong to the consumer and apply to whole
+  translation units. For embedded targets: `-O2` or `-O3` with `-ffast-math -fno-finite-math-only`.
+- `OPTIMIZE_FOR_SPEED` (from `numerical/math/CompilerOptimizations.hpp`) on hot paths
+  (`Filter/Compute/Update/Solve/Step`). Pure interfaces exempt. With
+  `NumericalToolbox_ENABLE_OPTIMIZATIONS` it forces inlining (`always_inline`, `hot`, `inline`);
+  without it, it expands to nothing.
+- Use `math::IsFinite` for finiteness checks: a consumer may still build with `-ffinite-math-only`.
 
 ## Style
 
@@ -58,7 +60,7 @@ primitives keep their upstream namespaces (`math`, `solvers`, …) from numerica
 ## Kinematics & dynamics conventions
 
 - 6-vectors are ordered **linear part first**: twists `(v; ω)`, wrenches `(f; n)`; the geometric
-  Jacobian has linear rows first (roadmap M6/M8). Featherstone `(ω; v)` ordering stays internal to the
+  Jacobian has linear rows first (upstream `math::SE3Transform`, roadmap NT53/M8). Featherstone `(ω; v)` ordering stays internal to the
   recursive dynamics algorithms.
 - Orientation errors use the SE(3) logarithm (`PoseError`), never angle subtraction.
 - The tool frame and the base mounting offset are explicit kinematic parameters — never derived from a

CLAUDE.md

@@ -7,7 +7,7 @@ Shared numerical primitives come from numerical-toolbox-cpp via FetchContent (`n
 Essentials (full detail in AGENTS.md):
 - **No heap** — bounded containers / `std::array` / `std::optional`; no recursion; tests too.
 - **Float-only** — generic `template<typename T>` + `static_assert(std::is_floating_point_v<T>)`; instantiate/test `float`; no Q15/Q31.
-- **Embedded** — `#pragma GCC optimize("O3","fast-math")` + `OPTIMIZE_FOR_SPEED` on hot paths.
+- **Embedded** — no `#pragma GCC optimize` / `optimize` attribute (they block inlining); the consumer sets optimization flags per TU; `OPTIMIZE_FOR_SPEED` (forced inlining) on hot paths.
 - **No comments** (except license/NOLINT). Allman braces, brace-init, PascalCase/camelCase.
 - **Tests** — `TEST_F` on `float`, `StrictMock` only, never plain `TEST()`, no redundant cases.
 - **No exceptions** — `std::optional`/status enums; interfaces `virtual ~I() = default`.

CMakeLists.txt

@@ -47,7 +47,7 @@ if (NOT TARGET numerical.math)
     FetchContent_Declare(
         numerical_toolbox
         GIT_REPOSITORY https://github.com/embedded-pro/numerical-toolbox-cpp.git
-        GIT_TAG        69ff13e719895b74b167c4742130442c6b96a857 # main
+        GIT_TAG        9b37e0885d31a9e444739a5cfaa3bc004aad9d37 # main
     )
 
     set(NUMERICAL_TOOLBOX_ENABLE_OPTIMIZATIONS ${ROBOTICS_TOOLBOX_ENABLE_OPTIMIZATIONS} CACHE BOOL "" FORCE)