Skip to content

docs(roadmap): add specs for items 67, 70 and 74 - #364

Merged
gabrielfrasantos merged 1 commit into
mainfrom
claude/peaceful-hawking-7sef6o
Oct 24, 2026
Merged

docs(roadmap): add specs for items 67, 70 and 74#364
gabrielfrasantos merged 1 commit into
mainfrom
claude/peaceful-hawking-7sef6o

Conversation

@gabrielfrasantos

@gabrielfrasantos gabrielfrasantos commented Oct 24, 2026

Copy link
Copy Markdown
Contributor

Adds specs (implementation.md, tests.md, explanation.md) for the generic pieces that robotics-toolbox-cpp's localization family (E1–E5) builds on.

  • 67 solvers::PointSetAlignment (Kabsch/Umeyama) — weighted rigid or similarity fit. Kabsch reflection fix, closed form in 2-D (atan2), and rejection of 3-D collinear input. Used for point-to-point ICP (E5) and hand-eye calibration (C1).
  • 70 filters::ParticleFilter — bounded SIR filter:
    • log-domain weights, so long scans can't underflow float;
    • effective sample size and systematic resampling from a uniform the caller supplies, so runs are reproducible;
    • motion and likelihood passed as template callables, so there's no infra::Function capture limit.
    • Used for Monte Carlo localization (E4).
  • 74 filters::ResidualKalmanUpdate (new item) — stateless Joseph-form update from a residual the caller forms. Returns the NIS and applies a χ² gate.
    • ExtendedKalmanFilter can't serve E1/E3: it forms z − h(x) itself (so bearings can't be wrapped), fixes h at construction (E3 needs one per landmark), and doesn't expose S (needed for gating and data association).
    • The new item reuses CholeskyDecomposition, ConsistencyMetrics, CongruenceTransform and Symmetrize.

ROADMAP.md: item 74 is added to the master list and Tier 2, items 67, 70 and 74 link their specs, and item 70's "Reuses" line is corrected (it does not use Statistics). roadmap/README.md: index entries added.

All test vectors were checked in double precision, including Kabsch on mirrored input (proper rotation, rms 0.925196), particle-filter posteriors on a fixed grid, Kalman updates against the textbook equations, and the wrapped-angle case.

Generated by Claude Code

@claude
docs(roadmap): add specs for items 67, 70 and 74
780ea9d 
These are the generic pieces that robotics-toolbox-cpp's localization
family needs:
- 67 PointSetAlignment (Kabsch/Umeyama): weighted rigid or similarity
  fit with the reflection fix, a 2-D closed form and 3-D degeneracy
  rejection. Used for point-to-point ICP and calibration.
- 70 ParticleFilter: bounded SIR with log-domain weights, effective
  sample size, and systematic resampling from a caller-supplied
  uniform. Motion and likelihood are passed as callables.
- 74 ResidualKalmanUpdate (new item): stateless Joseph-form update from
  a caller-formed residual, returning the NIS, with a χ² gate.
  ExtendedKalmanFilter can't serve wrapped bearings, per-landmark
  measurement models or Mahalanobis gating, because it forms z − h(x)
  itself and does not expose S.

All test vectors were checked in double precision.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Mmp77ieEy16GxJL8KsLsVx
@github-actions

github-actions Bot commented Oct 24, 2026

Copy link
Copy Markdown
Contributor

✅⚠️MegaLinter analysis: Success with warnings

Descriptor Linter Files Fixed Errors Max errors Warnings Elapsed time
✅ ACTION actionlint 7 0 0 0.55s
✅ CPP clang-format 476 9 0 0 4.43s
✅ CPP cppcheck 476 0 0 9.85s
✅ DOCKERFILE hadolint 1 0 0 0.69s
✅ JSON jsonlint 8 0 0 0.11s
✅ JSON prettier 8 8 0 0 0.47s
⚠️ MARKDOWN markdownlint 156 2 165 0 3.46s
✅ MARKDOWN markdown-table-formatter 156 12 0 0 0.43s
⚠️ SPELL lychee 267 25 0 21.51s
✅ YAML prettier 12 3 0 0 0.64s
✅ YAML yamllint 12 0 0 0.62s

Detailed Issues

⚠️ SPELL / lychee - 25 errors 
📝 Summary
---------------------
🔍 Total..........613
🔗 Unique.........457
✅ Successful.....576
⏳ Timeouts.........0
🔀 Redirected.....148
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........25
⛔ Unsupported.....25

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 CHANGELOG.md
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/1 (at 206:31) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/12 (at 221:8) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/13 (at 220:7) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/15 (at 215:18) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/18 (at 205:62) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/2 (at 213:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/24 (at 210:19) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/26 (at 211:30) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/27 (at 208:23) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/3 (at 204:35) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/4 (at 214:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/6 (at 212:53) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/7 (at 209:32) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/9 (at 207:15) | Rejected status code: 404 Not Found

Errors in doc/filters/active/AhrsMadgwickMahony.md
[ERROR] file://doc/filters/ComplementaryFilter.md (at 131:3) | File not found. Check if file exists and path is correct

Errors in doc/filters/active/ExtendedKalmanFilter.md
[ERROR] file://doc/dynamics/EulerLagrange.md (at 130:3) | File not found. Check if file exists and path is correct

Errors in doc/filters/active/KalmanFilter.md
[ERROR] file://doc/filters/controllers/Lqr.md (at 114:77) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Lqr.md (at 133:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/controllers/Pid.md (at 135:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/filters/solvers/DiscreteAlgebraicRiccatiEquation.md (at 134:3) | File not found. Check if file exists and path is correct

Errors in doc/performance-optimization/README.md
[403] https://developer.arm.com/documentation/100166/latest/ (at 472:3) | Rejected status code: 403 Forbidden
[403] https://developer.arm.com/documentation/dui0473/latest (at 474:3) | Rejected status code: 403 Forbidden

Errors in README.md
[ERROR] file:///releases/latest (at 39:14) | File not found. Check if file exists and path is correct
[404] https://embedded-pro.github.io/embedded-dsp-control/ (at 38:1) | Rejected status code: 404 Not Found

Hint: Followed 148 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 - 165 errors 
rror MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Triage requests and route to t..."]
.github/agents/planner.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/reviewer.agent.md:14 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Canonical rules: `AGENTS.md`. ..."]
.github/agents/unit-tester.agent.md:11 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "You add or extend the unit tes..."]
.github/instructions/numerical-cpp.instructions.md:71:401 error MD013/line-length Line length [Expected: 400; Actual: 615]
.github/instructions/numerical-cpp.instructions.md:76:401 error MD013/line-length Line length [Expected: 400; Actual: 423]
.github/prompts/orchestrate.prompt.md:8:401 error MD013/line-length Line length [Expected: 400; Actual: 496]
.github/prompts/orchestrate.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Analyze the following task for..."]
.github/prompts/unit-test.prompt.md:8 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "Author (or extend) the unit te..."]
CHANGELOG.md:26 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:38 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:52 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:64 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:133 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Miscellaneous"]
CHANGELOG.md:151 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Build System"]
CHANGELOG.md:179 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "⚠ BREAKING CHANGES"]
CHANGELOG.md:183 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:195 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
CHANGELOG.md:202 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Features"]
CHANGELOG.md:218 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
doc/analysis/Decibels.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 637]
doc/analysis/GoertzelAlgorithm.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 492]
doc/analysis/GoertzelAlgorithm.md:93:401 error MD013/line-length Line length [Expected: 400; Actual: 757]
doc/analysis/GoertzelAlgorithm.md:109:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/analysis/HilbertTransform.md:31:34 error MD056/table-column-count Table column count [Expected: 2; Actual: 4; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD056/table-column-count Table column count [Expected: 2; Actual: 6; Too many cells, extra data will be missing]
doc/analysis/PowerDensitySpectrum.md:104:17 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:20 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:38 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:45 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/PowerDensitySpectrum.md:104:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/SignalDetectors.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 481]
doc/control_analysis/FrequencyResponse.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 469]
doc/control_analysis/README.md:11:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:11:147 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:53 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:12:172 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:68 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/README.md:13:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/control_analysis/RootLocus.md:69 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/control_analysis/TransferFunctionStateSpace.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 589]
doc/controllers/Feedforward2Dof.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 627]
doc/controllers/FrictionCompensation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 420]
doc/controllers/FrictionCompensation.md:29:401 error MD013/line-length Line length [Expected: 400; Actual: 406]
doc/controllers/FrictionCompensation.md:44:401 error MD013/line-length Line length [Expected: 400; Actual: 436]
doc/controllers/GainScheduledController.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 454]
doc/controllers/LeadLagCompensator.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 639]
doc/controllers/Lqg.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 428]
doc/controllers/SaturationRateLimiter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/controllers/SaturationRateLimiter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 477]
doc/estimators/ExpectationMaximization.md:104:103 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/estimators/LmsAdaptiveFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 547]
doc/estimators/README.md:11:128 error MD056/table-column-count Table column count [Expected: 2; Actual: 3; Too many cells, extra data will be missing]
doc/estimators/README.md:11:128 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/AhrsMadgwickMahony.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 538]
doc/filters/active/AhrsMadgwickMahony.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 554]
doc/filters/active/AlphaBetaFilter.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 419]
doc/filters/active/AlphaBetaFilter.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 451]
doc/filters/active/KalmanSmoother.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 421]
doc/filters/active/KalmanSmoother.md:111:28 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:61 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:111:110 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:122:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:123:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:124:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:19 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:27 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/KalmanSmoother.md:125:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:11:401 error MD013/line-length Line length [Expected: 400; Actual: 468]
doc/filters/active/UnscentedKalmanFilter.md:149:65 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/active/UnscentedKalmanFilter.md:149:153 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:25 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:69:43 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:51 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/passive/MedianFilter.md:70:96 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:13:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:14:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:15:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:16:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/filters/README.md:17:179 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/AngleUtilities.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 603]
doc/math/AngleUtilities.md:58:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/math/CubicSpline.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 453]
doc/math/CubicSpline.md:38:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/math/GivensRotation.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 429]
doc/math/HouseholderTransform.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 455]
doc/math/MatrixExponential.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 555]
doc/math/MatrixNorms.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 452]
doc/math/MatrixNorms.md:42:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:43:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:44:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:45:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/MatrixNorms.md:46:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/SE3Transform.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 538]
doc/math/SE3Transform.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 546]
doc/math/SE3Transform.md:23:401 error MD013/line-length Line length [Expected: 400; Actual: 494]
doc/math/SE3Transform.md:43:401 error MD013/line-length Line length [Expected: 400; Actual: 464]
doc/math/SE3Transform.md:126:401 error MD013/line-length Line length [Expected: 400; Actual: 414]
doc/math/StepResponseMetrics.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 514]
doc/math/StepResponseMetrics.md:61 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
doc/motion_profiles/SCurveProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 438]
doc/motion_profiles/SCurveProfile.md:53:401 error MD013/line-length Line length [Expected: 400; Actual: 480]
doc/motion_profiles/TrapezoidalProfile.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 474]
doc/nonlinear_control/BacksteppingControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 594]
doc/nonlinear_control/FeedbackLinearization.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 533]
doc/nonlinear_control/FeedbackLinearization.md:15:401 error MD013/line-length Line length [Expected: 400; Actual: 491]
doc/nonlinear_control/ModelReferenceAdaptiveControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 587]
doc/nonlinear_control/README.md:9:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:9:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:10:258 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:80 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/nonlinear_control/README.md:11:270 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/optimization/LevenbergMarquardt.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 437]
doc/optimization/LevenbergMarquardt.md:42:401 error MD013/line-length Line length [Expected: 400; Actual: 511]
doc/optimization/LevenbergMarquardt.md:57:401 error MD013/line-length Line length [Expected: 400; Actual: 410]
doc/regularization/Regularization.md:100:32 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/regularization/Regularization.md:100:135 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/ActiveDisturbanceRejection.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 699]
doc/robust_control/ActiveDisturbanceRejection.md:85:401 error MD013/line-length Line length [Expected: 400; Actual: 575]
doc/robust_control/ActiveDisturbanceRejection.md:93:401 error MD013/line-length Line length [Expected: 400; Actual: 622]
doc/robust_control/DisturbanceObserver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/robust_control/README.md:12:259 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/robust_control/SlidingModeControl.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 644]
doc/solvers/ActiveSetQp.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 584]
doc/solvers/ActiveSetQp.md:71:401 error MD013/line-length Line length [Expected: 400; Actual: 703]
doc/solvers/ActiveSetQp.md:107:401 error MD013/line-length Line length [Expected: 400; Actual: 421]
doc/solvers/ConditionNumber.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 461]
doc/solvers/ConditionNumber.md:51:401 error MD013/line-length Line length [Expected: 400; Actual: 425]
doc/solvers/DampedPseudoInverse.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 531]
doc/solvers/DampedPseudoInverse.md:89:401 error MD013/line-length Line length [Expected: 400; Actual: 581]
doc/solvers/JacobiEigenSolver.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 443]
doc/solvers/JacobiEigenSolver.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 609]
doc/solvers/JacobiEigenSolver.md:45:401 error MD013/line-length Line length [Expected: 400; Actual: 427]
doc/solvers/RungeKuttaIntegrators.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 509]
doc/solvers/SpectralRadius.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 665]
doc/solvers/SymplecticIntegrators.md:7:401 error MD013/line-length Line length [Expected: 400; Actual: 486]
doc/solvers/SymplecticIntegrators.md:35:401 error MD013/line-length Line length [Expected: 400; Actual: 476]
doc/solvers/SymplecticIntegrators.md:63:401 error MD013/line-length Line length [Expected: 400; Actual: 431]
doc/windowing/window.md:5:401 error MD013/line-length Line length [Expected: 400; Actual: 415]
README.md:1 error MD041/first-line-heading/first-line-h1 First line in a file should be a top-level heading [Context: "[![Quality Gate Status](https:..."]
README.md:9:401 error MD013/line-length Line length [Expected: 400; Actual: 442]
README.md:17:401 error MD013/line-length Line length [Expected: 400; Actual: 507]
roadmap/README.md:11 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]

(Truncated to last 20000 characters out of 21453)

Notices

⚠️ Your configuration references items that have been removed from MegaLinter and are ignored: REPOSITORY_GITLEAKS, REPOSITORY_KICS. See Removed linters to find their replacements.

See detailed reports in MegaLinter artifacts

Your project could benefit from a custom flavor, which would allow you to run only the linters you need, and thus improve runtime performances. (Skip this info by defining FLAVOR_SUGGESTIONS: false)

  • Documentation: Custom Flavors
  • Command: npx mega-linter-runner@10.1.0 --custom-flavor-setup --custom-flavor-linters ACTION_ACTIONLINT,CPP_CPPCHECK,CPP_CLANG_FORMAT,DOCKERFILE_HADOLINT,JSON_JSONLINT,JSON_PRETTIER,MARKDOWN_MARKDOWNLINT,MARKDOWN_MARKDOWN_TABLE_FORMATTER,SPELL_LYCHEE,YAML_PRETTIER,YAML_YAMLLINT

MegaLinter is provided by OX Security
Show us your support by starring ⭐ the repository

@sonarqubecloud

sonarqubecloud Bot commented Oct 24, 2026

Copy link
Copy Markdown

Quality Gate Passed 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

See analysis details on SonarQube Cloud

@gabrielfrasantos
gabrielfrasantos merged commit 2ded247 into main Oct 24, 2026
11 checks passed
@gabrielfrasantos
gabrielfrasantos deleted the claude/peaceful-hawking-7sef6o branch October 24, 2026 12:02
@gabrielfrasantos gabrielfrasantos mentioned this pull request Oct 24, 2026
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@gabrielfrasantos @claude