[gabrielfrasantos]

Bumps numerical-toolbox to b93d6e0, which brings in ResidualKalmanUpdate (NT74, embedded-pro/numerical-toolbox-cpp#367). Then it ships the two localization specs that NT74 unblocked.

Commit	Item
f7b15dc + c91acfc	Pin bump for NT74. The first commit pinned the upstream PR's commit; the second repoints the pin to the merge commit b93d6e0.
f4d8d37	E1 OdometryFusion: wheel and gyroscope EKF on SE(2) with a gyro-bias state.
3b64372	E3 LandmarkLocalization: range–bearing EKF against a known landmark map.

Each item commit includes the header, coverage .cpp, tests (the spec's 6 cases each), doc, index rows, and removal of the spec and its roadmap rows. robotics.localization now links numerical.filters.active and robotics.mobile.

Highlights

• E1:
  • The mean follows the exact SE(2) arc; the covariance uses midpoint Jacobians, speed-scaled wheel noise and a bias random walk.
  • The wheel yaw-rate, heading and position updates all go through NT74. A χ² gate on the wheel update catches slip, and heading residuals are wrapped.
• E3:
  • Body-frame increment noise comes from F1's IncrementDeviation, rotated into the world frame.
  • Each observation is matched to a landmark by id, or by smallest Mahalanobis distance. Matches are χ²-gated and the bearing residual is wrapped.

Deviations from the specs

• E3 tests:
  • The association test also asserts the spec's reference NIS values against the other landmarks.
  • outlier_is_gated also checks two of the spec's edge cases, which keeps coverage at 100%: an unknown id returns Singular with no landmark, and a map larger than MaxLandmarks is rejected.
• E3 association is split into FindById and Nearest helpers.
• E3 coverage instantiates the test size <float, 8> alongside the spec's <float, 16>.
• Docs and roadmap:
  • The roadmap/README.md canonical example now points to localization/MonteCarloLocalization.
  • The NT74 link now points to the upstream doc.
  • The README overview lists localization.

Verification

• Debug and coverage ctest: 7/7.
• 100% merged line coverage on OdometryFusion.hpp and LandmarkLocalization.hpp.
• Clang -Wall -Wextra -Werror -Wshadow with -DROBOTICS_TOOLBOX_COVERAGE_BUILD, with dependency headers treated as system headers.
• clang-format.
• validate-docs OK; no doc line over 400 characters; tables aligned.
• Not run locally: Qt preset, MSVC, cppcheck, SonarCloud.

---

Generated by Claude Code

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✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.52s
✅ CPP	clang-format	201	0	0		0	1.71s
✅ CPP	cppcheck	201		0		0	3.11s
✅ DOCKERFILE	hadolint	1		0		0	0.28s
✅ JSON	jsonlint	8		0		0	0.09s
✅ JSON	prettier	8	2	0		0	0.28s
✅ MARKDOWN	markdownlint	90	0	0		0	1.77s
✅ MARKDOWN	markdown-table-formatter	90	0	0		0	0.18s
⚠️ SPELL	lychee	137		2		0	2.14s
✅ YAML	prettier	12	0	0		0	0.4s
✅ YAML	yamllint	12		0		0	0.45s

Detailed Issues

⚠️ SPELL / lychee - 2 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........357
🔗 Unique.........127
✅ Successful.....345
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........2
⛔ Unsupported......2

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 doc/kinematics/InverseKinematics.md
[ERROR] https://mathweb.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf (at 125:169) | SSL certificate not trusted. Use --insecure if site is trusted

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`

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Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
100.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud