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fix: resolve issues 251, 252, and 253 - #287

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fix/issues-251-252-253
Aug 14, 2026
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fix: resolve issues 251, 252, and 253#287
gabrielfrasantos merged 2 commits into
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fix/issues-251-252-253

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@gabrielfrasantos gabrielfrasantos commented Aug 14, 2026

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… add coverage

  • DCT is not orthonormal, and the class name is misspelled #251: rename DiscreteConsineTransform to DiscreteCosineTransform; fix forward scale from 2/√N to √(2/N) and inverse scale from √N/2 to √N/√2 to produce the orthonormal DCT-II; update doc and two reference-value tests; add Parseval identity test; add OPTIMIZE_FOR_SPEED to Inverse
  • One-sided PSD omits interior-bin doubling (uniform 3 dB error) #252: multiply interior bins (1..N/2-1) by 2 in PowerSpectralDensity::Calculate to correct 3 dB under-read in one-sided PSD; add FftStubInteriorBin and ratio test verifying the doubling factor
  • State-space → transfer-function drops the feedthrough contribution #253: add missing D·charPoly[k] term in TransferFunctionStateSpace::ToTransferFunction so systems with nonzero feedthrough return correct numerator coefficients; add round-trip and DC-gain tests for improper transfer functions
  • Add TestTolerance.cpp with five TEST_F cases covering float, Q31, Q15
  • Add seven TYPED_TEST cases to TestQNumber covering zero construction, sign rules, double negation, and compound-divide-by-zero death
  • Add six TEST_F cases to TestFrequencyResponse covering size, phase, and DC-gain properties across Biquad, Highpass, FirstOrderIir, PureDelay, and Lowpass fixtures

@gabrielfrasantos @claude
fix(analysis,control_analysis,math): resolve issues 251, 252, 253 and…
d7ec2f5 
… add coverage

- #251: rename DiscreteConsineTransform to DiscreteCosineTransform; fix forward
  scale from 2/√N to √(2/N) and inverse scale from √N/2 to √N/√2 to produce
  the orthonormal DCT-II; update doc and two reference-value tests; add Parseval
  identity test; add OPTIMIZE_FOR_SPEED to Inverse
- #252: multiply interior bins (1..N/2-1) by 2 in PowerSpectralDensity::Calculate
  to correct 3 dB under-read in one-sided PSD; add FftStubInteriorBin and
  ratio test verifying the doubling factor
- #253: add missing D·charPoly[k] term in TransferFunctionStateSpace::ToTransferFunction
  so systems with nonzero feedthrough return correct numerator coefficients;
  add round-trip and DC-gain tests for improper transfer functions
- Add TestTolerance.cpp with five TEST_F cases covering float, Q31, Q15
- Add seven TYPED_TEST cases to TestQNumber covering zero construction, sign
  rules, double negation, and compound-divide-by-zero death
- Add six TEST_F cases to TestFrequencyResponse covering size, phase, and
  DC-gain properties across Biquad, Highpass, FirstOrderIir, PureDelay, and
  Lowpass fixtures

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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✅⚠️MegaLinter analysis: Success with warnings

Descriptor Linter Files Fixed Errors Warnings Elapsed time
✅ ACTION actionlint 7 0 0 0.08s
✅ CPP clang-format 413 14 0 0 2.53s
✅ CPP cppcheck 409 0 0 17.86s
✅ DOCKERFILE hadolint 1 0 0 0.05s
✅ JSON jsonlint 8 0 0 0.36s
✅ JSON prettier 8 8 0 0 0.64s
⚠️ MARKDOWN markdownlint 130 3 178 0 3.29s
✅ MARKDOWN markdown-table-formatter 130 24 0 0 0.32s
⚠️ SPELL lychee 229 26 0 17.88s
✅ YAML prettier 12 3 0 0 0.68s
✅ YAML yamllint 12 0 0 0.68s

Detailed Issues

⚠️ SPELL / lychee - 26 errors 
📝 Summary
---------------------
🔍 Total..........515
🔗 Unique.........388
✅ Successful.....477
⏳ Timeouts.........0
🔀 Redirected.....129
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........26
⛔ Unsupported.....26

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
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[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/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 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 
0/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"]
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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]
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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]
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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"]
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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"]
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doc/filters/README.md:13:74 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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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"]
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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"]
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doc/math/MatrixNorms.md:44:67 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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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"]
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doc/math/README.md:11:151 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:12:151 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: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"]
doc/math/README.md:17:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:17:172 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:19:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:19:174 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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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]
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doc/solvers/README.md:16:163 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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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"]
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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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sonarqubecloud Bot commented Aug 14, 2026

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Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
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100.0% Coverage on New Code
0.0% Duplication on New Code

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@gabrielfrasantos
gabrielfrasantos merged commit 0ca7e98 into main Aug 14, 2026
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@gabrielfrasantos
gabrielfrasantos deleted the fix/issues-251-252-253 branch August 14, 2026 20:20
@gabrielfrasantos gabrielfrasantos mentioned this pull request Aug 14, 2026
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