fix: correct issues 257 to 259 - #285
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gabrielfrasantos merged 4 commits intoAug 14, 2026
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…ed consistency gate, and missing Deriv! in Savitzky-Golay kernel (#257 #258 #259) - CholeskyDecomposition: replace absolute 1e-10f pivot guard with eps*|a[i,i]| relative threshold so small-magnitude SPD matrices are not falsely rejected - ConsistencyMetrics: replace clamped table lookup with Wilson-Hilferty chi-squared approximation for dof > kMaxChiSquareDim; old code made the acceptance window shrink to zero for large averaging windows - SavitzkyGolayFilter: multiply kernel by Deriv! so derivative output matches the true polynomial derivative; guard optional dereference from Cholesky solve before use Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Contributor
✅
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| Descriptor | Linter | Files | Fixed | Errors | Warnings | Elapsed time |
|---|---|---|---|---|---|---|
| ✅ ACTION | actionlint | 7 | 0 | 0 | 0.09s | |
| ✅ CPP | clang-format | 413 | 14 | 0 | 0 | 1.71s |
| ✅ CPP | cppcheck | 409 | 0 | 0 | 13.7s | |
| ✅ DOCKERFILE | hadolint | 1 | 0 | 0 | 0.04s | |
| ✅ JSON | jsonlint | 8 | 0 | 0 | 0.26s | |
| ✅ JSON | prettier | 8 | 8 | 0 | 0 | 0.61s |
| markdownlint | 130 | 3 | 178 | 0 | 2.83s | |
| ✅ MARKDOWN | markdown-table-formatter | 130 | 24 | 0 | 0 | 0.28s |
| lychee | 229 | 34 | 0 | 17.6s | ||
| ✅ YAML | prettier | 12 | 3 | 0 | 0 | 0.69s |
| ✅ YAML | yamllint | 12 | 0 | 0 | 0.62s |
Detailed Issues
⚠️ SPELL / lychee - 34 errors
📝 Summary
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🔍 Total..........520
🔗 Unique.........393
✅ Successful.....474
⏳ Timeouts.........0
🔀 Redirected.....129
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........34
⛔ Unsupported.....34
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 153:31) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/12 (at 168:8) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/13 (at 167:7) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/15 (at 162:18) | Rejected status code: 404 Not Found
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[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/2 (at 160:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/24 (at 157:19) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/26 (at 158:30) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/27 (at 155:23) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/3 (at 151:35) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/4 (at 161:34) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/6 (at 159:53) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/7 (at 156:32) | Rejected status code: 404 Not Found
[404] https://github.com/embedded-pro/embedded-numerical-toolbox/issues/9 (at 154:15) | 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/optimization/Optimizer.md
[ERROR] file://doc/losses/Loss.md (at 132:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/losses/Loss.md (at 5:93) | File not found. Check if file exists and path is correct
[ERROR] file://doc/model/Model.md (at 133:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/NeuralNetwork.md (at 17:58) | File not found. Check if file exists and path is correct
[ERROR] file://estimators/LinearRegression.md (at 135:3) | 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 474:3) | Rejected status code: 403 Forbidden
[403] https://developer.arm.com/documentation/dui0473/latest (at 476:3) | Rejected status code: 403 Forbidden
Errors in doc/regularization/Regularization.md
[ERROR] file://doc/losses/Loss.md (at 127:3) | File not found. Check if file exists and path is correct
[ERROR] file://doc/optimizer/Optimizer.md (at 128:3) | File not found. Check if file exists and path is correct
[ERROR] file://estimators/LinearRegression.md (at 129:3) | File not found. Check if file exists and path is correct
Errors in README.md
[ERROR] file:///releases/latest (at 38:14) | File not found. Check if file exists and path is correct
[404] https://embedded-pro.github.io/embedded-dsp-control/ (at 37:1) | Rejected status code: 404 Not Found
Errors in roadmap/README.md
[ERROR] file://roadmap/filters/passive/ExponentialMovingAverage/implementation.md (at 24:1) | File not found. Check if file exists and path is correct
Hint: Followed 129 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 - 178 errors
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doc/analysis/PowerDensitySpectrum.md:104:38 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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doc/analysis/README.md:10:76 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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doc/analysis/README.md:14:171 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/README.md:15:171 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/README.md:16:61 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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doc/analysis/README.md:17:171 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]
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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/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:11:122 error MD056/table-column-count Table column count [Expected: 2; Actual: 3; Too many cells, extra data will be missing]
doc/estimators/README.md:11:122 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/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/README.md:9:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:9:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:10:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:10:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:11:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:11:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:12:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:12:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:13:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:13:151 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:14:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:14:159 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:15:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:15:153 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:16:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:16:152 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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doc/math/README.md:19:174 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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/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"]
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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/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]
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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/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/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/README.md:16:163 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:17:163 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/solvers/README.md:18:167 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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doc/solvers/README.md:20:184 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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/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:19:304 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:20:211 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:21:303 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:22:250 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:23:446 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:25:140 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:26:174 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:27:363 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:28:158 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
README.md:29:205 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
roadmap/math/SE3Transform/implementation.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/math/SE3Transform/implementation.md:21 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/math/SE3Transform/implementation.md:35 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/math/SE3Transform/tests.md:7 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
roadmap/math/SE3Transform/tests.md:16 error MD040/fenced-code-language Fenced code blocks should have a language specified [Context: "```"]
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 24288)
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- ConsistencyMetrics: Chi2QuantileApprox changed from static float to [[nodiscard]] OPTIMIZE_FOR_SPEED constexpr to avoid per-TU duplication and match the module's detail-namespace helper pattern - ConsistencyMetrics tests: remove forbidden inline comments from new WilsonHilferty and LargeNumSamples tests - CholeskyDecomposition: add NUMERICAL_TOOLBOX_COVERAGE_BUILD extern template guards for sizes 1–3 - Add CholeskyDecomposition.cpp coverage instantiation source and wire into numerical.math CMakeLists - Add TestCholeskyDecomposition.cpp covering all three branches of TryFactor (off-diagonal, nullopt on non-SPD, sqrt on diagonal) plus a regression test that small-scale SPD matrices are no longer falsely rejected by the new relative threshold Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
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gabrielfrasantos
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fix/cholesky-consistency-savitzky-issues-257-258-259
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August 14, 2026 19:33
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…ed consistency gate, and missing Deriv! in Savitzky-Golay kernel (#257 #258 #259)