[gabrielfrasantos]

Two follow-ups to the wheeled-robot roadmap work.

build: bump numerical-toolbox adfc10d → 63c9b91

• Brings in NT53–NT65, now shipped upstream, plus the NT66 SE(2) spec and upstream's destructor change (perf: make interface destructors protected and non-virtual numerical-toolbox-cpp#361).
• The ROADMAP note about the pin now reflects the new pin.

perf: make interface destructors protected and non-virtual

• Same change as perf: make interface destructors protected and non-virtual numerical-toolbox-cpp#361, applied to dynamics::NewtonEulerBody and dynamics::EulerLagrangeDynamics.
• Reason: a virtual destructor puts a deleting destructor in every implementation's vtable, which links operator delete (and malloc/free) into heap-free firmware.
• Nothing in the library, its tests or the simulator destroys an object through these interfaces. Deleting through an interface pointer is now a compile error.
• The rule is updated in AGENTS.md, CLAUDE.md, .github/copilot-instructions.md, .github/instructions/robotics-cpp.instructions.md and .github/agents/reviewer.agent.md.
• The five roadmap specs that declare new interfaces follow the new rule: JacobianProvider, InverseDynamicsModel, InertialRegressor, PathGeometry and JointLimits.

Local check

• cmake --preset host-single-Debug && cmake --build … && ctest: build clean with warnings as errors, 2/2 test suites pass.
• The simulator needs Qt, so it was not built locally. It includes only upstream math headers, and of those only Math.hpp changed in this range, by additions only.

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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	0.7s
✅ CPP	clang-format	35	0	0		0	0.72s
✅ CPP	cppcheck	35		0		0	1.21s
✅ DOCKERFILE	hadolint	1		0		0	0.68s
✅ JSON	jsonlint	8		0		0	0.11s
✅ JSON	prettier	8	2	0		0	0.45s
⚠️ MARKDOWN	markdownlint	149	0	1		0	2.35s
✅ MARKDOWN	markdown-table-formatter	149	0	0		0	0.23s
⚠️ SPELL	lychee	183		1		0	2.37s
✅ YAML	prettier	12	0	0		0	0.54s
✅ YAML	yamllint	12		0		0	0.69s

Detailed Issues

⚠️ SPELL / lychee - 1 error

📝 Summary
---------------------
🔍 Total..........134
🔗 Unique..........68
✅ Successful.....123
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........1
⛔ Unsupported......1

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

Hint: Followed 5 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 - 1 error

.github/instructions/robotics-cpp.instructions.md:59:401 error MD013/line-length Line length [Expected: 400; Actual: 615]

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[sonarqubecloud]

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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