perf: protected interface destructors; bump numerical-toolbox to 63c9b91

.github/agents/reviewer.agent.md

@@ -56,7 +56,7 @@ End with totals + verdict: APPROVE / REQUEST CHANGES.
 - [ ] SOLID: one concern per class, constructor injection, depend on abstractions, no duplicated logic.
 
 **Interfaces & errors (WARNING)**
-- [ ] `virtual ~I() = default` — never `= 0`. No exceptions — `std::optional`/status enums.
+- [ ] Interfaces: `protected:` non-virtual `~I() = default` — no `virtual` or `= 0` destructor, no ownership or deletion through an interface pointer. No exceptions — `std::optional`/status enums.
 
 **Testing (WARNING)**
 - [ ] `TEST_F` on `float` — no `TYPED_TEST`, no multi-type, never plain `TEST()`.

.github/copilot-instructions.md

@@ -9,5 +9,5 @@ Essentials (full detail in AGENTS.md):
 - **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`.
+- **No exceptions** — `std::optional`/status enums; interfaces get a `protected:` non-virtual `~I() = default`, never a virtual destructor.
 - **Be terse** — minimal prose; report file paths + pass/fail.

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

@@ -56,7 +56,7 @@ Use `math::IsFinite` for finiteness checks: a consumer may still build with `-ff
 - SOLID principles — constructor injection, depend on abstractions
 - DRY — extract shared logic into helpers or templates
 - RAII for resource management
-- **No pure virtual destructors**: Never declare `virtual ~Interface() = 0`. Pure virtual destructors force the compiler to emit a thunk and a separate body, wasting memory on embedded targets. Use `virtual ~Interface() = default` if a virtual destructor is required, or omit it entirely when the class is never deleted through a base pointer.
+- **Protected, non-virtual interface destructors**: declare `~Interface() = default` in a `protected:` section, never `virtual ~Interface()` (defaulted or `= 0`). A virtual destructor puts a deleting destructor in every implementation's vtable, which links `operator delete` (and with it `malloc`/`free`) into heap-free firmware, and under multiple inheritance adds a thunk per base. The protected destructor makes deletion through an interface pointer a compile error. Concrete classes declare no destructor unless they need one, and callers hold the concrete type rather than a `std::unique_ptr` to the interface.
 - No virtual calls in ISR-callable or real-time critical paths
 
 ## Documentation — MANDATORY

AGENTS.md

@@ -49,7 +49,8 @@ and included as `numerical/<domain>/…`.
 
 ## Interfaces & errors
 
-- Interfaces = pure virtual classes; `virtual ~I() = default` — **never** `= 0` destructors.
+- Interfaces = pure virtual classes with a `protected:`, non-virtual `~I() = default` — **never** a `virtual` or `= 0` destructor. A virtual one puts a deleting destructor in every vtable, which links `operator delete`/`free` into heap-free firmware.
+- Concrete classes declare no destructor unless they need one. Never own or delete through an interface pointer (no `std::unique_ptr<I>`): hold the concrete type, pass `I&`.
 - No exceptions. Use `std::optional<T>` or status enums. `assert`/`really_assert` for preconditions.
 - SOLID + DIP: constructor injection; depend on abstractions. RAII. No virtual calls in real-time paths.
 

CLAUDE.md

@@ -10,5 +10,5 @@ Essentials (full detail in AGENTS.md):
 - **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`.
+- **No exceptions** — `std::optional`/status enums; interfaces get a `protected:` non-virtual `~I() = default`, never a virtual destructor.
 - **Be terse** — minimal prose; report file paths + pass/fail.

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        adfc10d342591df8e46a0b1f0a91329bc76023e0 # main
+        GIT_TAG        63c9b91f4f6f1b306bc15fbf59d01a106da02697 # main
     )
 
     set(NUMERICAL_TOOLBOX_ENABLE_OPTIMIZATIONS ${ROBOTICS_TOOLBOX_ENABLE_OPTIMIZATIONS} CACHE BOOL "" FORCE)

ROADMAP.md

@@ -41,7 +41,7 @@ this roadmap needs that upstream does not ship yet are specified and built upstr
 Generic algorithms live in numerical-toolbox-cpp and are referenced here as **NT** plus its
 master-list item number (NT53 is upstream item 53). A robotics item that depends on one needs a
 numerical-toolbox pin that ships it. NT53–NT65 have shipped upstream, and their links point to the upstream
-docs; using them needs a pin at or after `1f6d717` (the current pin, `adfc10d`, predates them).
+docs; the current pin (`63c9b91`) includes them.
 
 | #    | Component                                             | Upstream module      | Spec / doc                        | Needed by                                                                  |
 |------|-------------------------------------------------------|----------------------|-----------------------------------|----------------------------------------------------------------------------|

roadmap/dynamics/ChainDynamicsModel/implementation.md

@@ -11,7 +11,7 @@ library turns a link description into those interfaces. This adapter does: it im
 
 ```cpp
 template<typename T, std::size_t Dof>                 # static_assert(std::is_floating_point_v<T>); instantiated for float
-class InverseDynamicsModel:                           # new interface, virtual ~InverseDynamicsModel() = default
+class InverseDynamicsModel:                           # new interface, protected ~InverseDynamicsModel() = default
     virtual StateVector ComputeInverseDynamics(const StateVector& q, const StateVector& qDot,
                                                const StateVector& qDDot) const = 0
 

roadmap/dynamics/CoriolisMatrixAndRegressor/implementation.md

@@ -24,7 +24,7 @@ class CoriolisMatrix:                             # stateless
     JointVector              TransposeTimesVelocity(links, q, q̇) const # Cᵀ(q, q̇) q̇
 
 template<typename T, std::size_t Dof, std::size_t NumParams>
-class InertialRegressor:                          # interface, virtual ~InertialRegressor() = default
+class InertialRegressor:                          # interface, protected ~InertialRegressor() = default
     virtual Matrix<T, Dof, NumParams> Compute(q, q̇, q̇r, q̈r) const = 0  # Y with Y·π = M q̈r + C q̇r + g
 
 template<typename T, std::size_t NumLinks>

roadmap/kinematics/GeometricJacobian/implementation.md

@@ -18,7 +18,7 @@ class GeometricJacobian:                        # stateless
 
 template<typename T, std::size_t TaskDim, std::size_t Dof>   # DI seam used by all task-space controllers
 class JacobianProvider:
-    virtual ~JacobianProvider() = default
+    protected ~JacobianProvider() = default                 # non-virtual; never deleted through the interface
     virtual math::Matrix<T, TaskDim, Dof> Jacobian(const JointVector& q) const = 0
     virtual math::Vector<T, TaskDim> BiasAcceleration(const JointVector& q, const JointVector& qDot) const = 0   # J̇·q̇
     virtual SE3Transform<T> ToolPose(const JointVector& q) const = 0

roadmap/trajectory/TimeOptimalPathParameterization/implementation.md

@@ -14,7 +14,7 @@ definition: CubicSplineTrajectory spec → Data structures).
 template<typename T, std::size_t Dof> using JointVector = math::Vector<T, Dof>
 
 template<typename T, std::size_t Dof>        # static_assert(std::is_floating_point_v<T>); instantiated for float
-class PathGeometry:                          # DI, virtual ~PathGeometry() = default — fixed path q(s), s ∈ [0, 1]
+class PathGeometry:                          # DI, protected ~PathGeometry() = default — fixed path q(s), s ∈ [0, 1]
     virtual JointVector Position(T s) const = 0           # q(s)
     virtual JointVector FirstDerivative(T s) const = 0    # q'(s)
     virtual JointVector SecondDerivative(T s) const = 0   # q''(s)
@@ -29,7 +29,7 @@ struct JointBounds:
     JointVector velocityMax                  # q̇max > 0
 
 template<typename T, std::size_t Dof>
-class JointLimits:                           # DI, virtual ~JointLimits() = default
+class JointLimits:                           # DI, protected ~JointLimits() = default
     virtual PathCoefficients<T, Dof> Coefficients(T s) const = 0
     virtual const JointBounds<T, Dof>& Bounds() const = 0
 

robotics/dynamics/EulerLagrangeDynamics.hpp

@@ -15,10 +15,11 @@ namespace dynamics
         using StateVector = math::Vector<T, Dof>;
         using MassMatrix = math::SquareMatrix<T, Dof>;
 
-        virtual ~EulerLagrangeDynamics() = default;
-
         virtual MassMatrix ComputeMassMatrix(const StateVector& q) const = 0;
         virtual StateVector ComputeCoriolisTerms(const StateVector& q, const StateVector& qDot) const = 0;
         virtual StateVector ComputeGravityTerms(const StateVector& q) const = 0;
+
+    protected:
+        ~EulerLagrangeDynamics() = default;
     };
 }

robotics/dynamics/NewtonEulerBody.hpp

@@ -14,9 +14,10 @@ namespace dynamics
         using Vector3 = math::Vector<T, 3>;
         using InertiaMatrix = math::SquareMatrix<T, 3>;
 
-        virtual ~NewtonEulerBody() = default;
-
         virtual T ComputeMass() const = 0;
         virtual InertiaMatrix ComputeInertia() const = 0;
+
+    protected:
+        ~NewtonEulerBody() = default;
     };
 }