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feat(math): add central finite-difference gradient-check test helper - #344
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Add GradientCheck.hpp to numerical.math_test_helper INTERFACE library (namespace math::test). Provides CentralDifferenceGradient with scalar, per-component-vector, and auto-step (cbrt(eps)*max(1,|x_i|)) overloads, plus ExpectGradientNear that ADD_FAILUREs on any component where both absolute and relative errors exceed the tolerance. Add 7 TEST_F cases covering quadratic/polynomial gradients, default step scaling, pass/fail detection via EXPECT_NONFATAL_FAILURE, and per-component step vectors. Document that Matrix<T,0,1> is intentionally blocked: relaxing the static_assert would permit UB on any element access (std::array<T,0> element access is UB); the recommended pattern is std::optional<Vector> or a parameter-free interface variant. Note added to MatrixOperations.md. Add gradient-check helper reference to TESTING.md. Closes #341 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N4pngRiBqeb1xiseKXNLG6
Contributor
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| Descriptor | Linter | Files | Fixed | Errors | Max errors | Warnings | Elapsed time |
|---|---|---|---|---|---|---|---|
| ✅ ACTION | actionlint | 7 | 0 | 0 | 0.54s | ||
| ✅ CPP | clang-format | 418 | 11 | 0 | 0 | 3.92s | |
| ✅ CPP | cppcheck | 418 | 0 | 0 | 10.03s | ||
| ✅ DOCKERFILE | hadolint | 1 | 0 | 0 | 0.69s | ||
| ✅ JSON | jsonlint | 8 | 0 | 0 | 0.12s | ||
| ✅ JSON | prettier | 8 | 8 | 0 | 0 | 0.45s | |
| markdownlint | 130 | 3 | 185 | 0 | 2.88s | ||
| ✅ MARKDOWN | markdown-table-formatter | 130 | 24 | 0 | 0 | 0.34s | |
| lychee | 239 | 24 | 0 | 21.21s | |||
| ✅ YAML | prettier | 12 | 3 | 0 | 0 | 0.61s | |
| ✅ YAML | yamllint | 12 | 0 | 0 | 0.69s |
Detailed Issues
⚠️ SPELL / lychee - 24 errors
📝 Summary
---------------------
🔍 Total..........560
🔗 Unique.........433
✅ Successful.....524
⏳ Timeouts.........0
🔀 Redirected.....151
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........24
⛔ Unsupported.....24
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/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 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 151 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 - 185 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"]
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/README.md:10:76 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/analysis/README.md:10:175 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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"]
doc/analysis/README.md:16:172 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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]
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/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"]
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"]
doc/math/README.md:18:55 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
doc/math/README.md:18:171 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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"]
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"]
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/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/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"]
doc/solvers/README.md:19:184 error MD060/table-column-style Table column style [Table pipe does not align with header for style "aligned"]
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 25084)
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Closes #341
numerical/math/test_doubles/GradientCheck.hpp(innumerical.math_test_helper, namespacemath::test):CentralDifferenceGradient(f, x[, h])returns amath::Vector<T, N>.hcan be a scalar, a per-component vector, or omitted. When omitted,DefaultFiniteDifferenceSteps(x)usescbrt(eps) · max(1, |x_i|). The quotient divides by the representable stepx⁺ − x⁻, not by2h.ExpectGradientNear(analytic, f, x[, h], tol)callsADD_FAILUREfor each component whose absolute and relative errors both exceedtol. The message names the index, both values and both errors.Tests (
TestGradientCheck, 4 ×TEST_Fonfloat): agreement with an analytic gradient, the default-step formula, acceptance of a correct gradient, and a failure report naming the wrong component (viaEXPECT_NONFATAL_FAILURE).Zero-size
Matrix<T, 0, 1>: this PR documents the pattern and leaves thestatic_assertin place (seedoc/math/MatrixOperations.md). Allowing zero dimensions would makeat()/operator[]compile into accesses with no valid index, so a compile-time error would become silent undefined behaviour. Parameter-free layers should report "no parameters" explicitly, through an optional/absent parameter vector or an interface with no parameter accessor. If you'd rather have empty vectors supported, that can be a follow-up.TESTING.mdnow points to the helper for the M1 gradient-check invariant.Validation:
numerical.math_testpasses 552/552 (host, GCC 13,-Werror), and clang-format is clean.🤖 Generated with Claude Code
https://claude.ai/code/session_01N4pngRiBqeb1xiseKXNLG6
Generated by Claude Code