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perf(math): reduce angles without fmod - #372

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Nov 8, 2026
Merged

perf(math): reduce angles without fmod#372
gabrielfrasantos merged 2 commits into
mainfrom
ccr-d3777c89-gho6so

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@gabrielfrasantos gabrielfrasantos commented Nov 8, 2026

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Summary

  • WrapToPi subtracts round(a·(1/2π)) whole turns instead of using fmod, then corrects by one turn so the result stays in the documented (−π, π] interval (both half turns still map to +π).
  • WrapToTwoPi does the same with floor, keeping [0, 2π).
  • Cordic::SineCosine reduces its input with WrapToPi instead of its own fmod.
  • doc/math/AngleUtilities.md and doc/math/Cordic.md updated; new wrap_to_pi_removes_many_turns test.

Why

On Cortex-M4 (FPv4) fmodf is an iterative library call, while the new code is one multiply, one roundf/floorf call, one vfms and a couple of compares. This is the round-based wrap e-foc used on its 20 kHz path, now upstreamed so e-foc can drop its private copy (embedded-pro/e-foc, same branch name).

Verification

  • Host build with tests: all 15 test executables pass.
  • arm-none-eabi-g++ -O2 -ffast-math -fno-finite-math-only for Cortex-M4: no fmodf call remains; WrapToPi costs about 10 cycles more than e-foc's previous helper because of the boundary corrections.

Generated by Claude Code

claude added 2 commits November 8, 2026 20:59
@claude
perf(math): wrap to (-pi, pi] by rounding the turn count
bfbf16c 
WrapToPi removes round(a / 2pi) whole turns instead of taking an fmod
remainder, and multiplies by 1/2pi instead of dividing. Rounding is
cheaper than a remainder on FPUs without either instruction, and the
signed wrap sits on control-loop paths. The (-pi, pi] convention is
kept: both half turns still map to +pi.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_014WUWh6zCFnngRXWY7xQKmJ
@claude
perf(math): reduce WrapToTwoPi and Cordic angles without fmod
a20932b 
WrapToTwoPi removes floor(a / 2pi) whole turns, multiplying by 1/2pi,
and corrects one turn when rounding lands outside [0, 2pi). Cordic's
SineCosine reduces its input with WrapToPi instead of its own fmod.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_014WUWh6zCFnngRXWY7xQKmJ
@gabrielfrasantos gabrielfrasantos mentioned this pull request Nov 8, 2026
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✅⚠️MegaLinter analysis: Success with warnings

Descriptor Linter Files Fixed Errors Max errors Warnings Elapsed time
✅ ACTION actionlint 7 0 0 0.45s
✅ CPP clang-format 488 9 0 0 3.6s
✅ CPP cppcheck 488 0 0 8.76s
✅ DOCKERFILE hadolint 1 0 0 0.56s
✅ JSON jsonlint 8 0 0 0.1s
✅ JSON prettier 8 8 0 0 0.4s
⚠️ MARKDOWN markdownlint 148 2 159 0 3.0s
✅ MARKDOWN markdown-table-formatter 148 12 0 0 0.3s
⚠️ SPELL lychee 259 25 0 22.99s
✅ YAML prettier 12 3 0 0 0.53s
✅ YAML yamllint 12 0 0 0.69s

Detailed Issues

⚠️ SPELL / lychee - 25 errors 
📝 Summary
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🔍 Total..........623
🔗 Unique.........458
✅ Successful.....586
⏳ Timeouts.........0
🔀 Redirected.....149
👻 Excluded........11
❓ Unknown..........0
🚫 Errors..........25
⛔ Unsupported.....25

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

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

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[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 479:3) | Rejected status code: 403 Forbidden
[403] https://developer.arm.com/documentation/dui0473/latest (at 481:3) | 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 149 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 - 159 errors 
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CHANGELOG.md:218 error MD024/no-duplicate-heading Multiple headings with the same content [Context: "Bug Fixes"]
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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]
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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"]
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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]
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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]
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doc/estimators/ExpectationMaximization.md:104:103 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: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"]
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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: 547]
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 20578)

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@sonarqubecloud

sonarqubecloud Bot commented Nov 8, 2026

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Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
85.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

github-actions[bot]
github-actions Bot reviewed Nov 8, 2026
View reviewed changes
Comment thread doc/math/AngleUtilities.md
Comment on lines 37 to +39
| Operation | Time | Space | Notes |
|----------------------|--------|--------|------------------------------------------------|
| Wrap to $(-\pi,\pi]$ | $O(1)$ | $O(1)$ | One fmod, one compare, a few adds |
| Wrap to $[0,2\pi)$ | $O(1)$ | $O(1)$ | One fmod, two compares, one conditional add |
| Wrap to $(-\pi,\pi]$ | $O(1)$ | $O(1)$ | One multiply, one round, one multiply-subtract, two compares |

@github-actions github-actions Bot Nov 8, 2026

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[MegaLinter] reported by reviewdog 🐶

Suggested change
| Operation | Time | Space | Notes |
|----------------------|--------|--------|------------------------------------------------|
| Wrap to $(-\pi,\pi]$ | $O(1)$ | $O(1)$ | One fmod, one compare, a few adds |
| Wrap to $[0,2\pi)$ | $O(1)$ | $O(1)$ | One fmod, two compares, one conditional add |
| Wrap to $(-\pi,\pi]$ | $O(1)$ | $O(1)$ | One multiply, one round, one multiply-subtract, two compares |
| Operation | Time | Space | Notes |
|----------------------|--------|--------|----------------------------------------------------------------|
| Wrap to $(-\pi,\pi]$ | $O(1)$ | $O(1)$ | One multiply, one round, one multiply-subtract, two compares |

Comment thread doc/math/AngleUtilities.md
Comment on lines 41 to 42
| Shortest difference | $O(1)$ | $O(1)$ | One subtraction plus one signed wrap |
| Unwrap | $O(1)$ | $O(1)$ | One shortest difference plus one add; no state |

@github-actions github-actions Bot Nov 8, 2026

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[MegaLinter] reported by reviewdog 🐶

Suggested change
| Shortest difference | $O(1)$ | $O(1)$ | One subtraction plus one signed wrap |
| Unwrap | $O(1)$ | $O(1)$ | One shortest difference plus one add; no state |
| Shortest difference | $O(1)$ | $O(1)$ | One subtraction plus one signed wrap |
| Unwrap | $O(1)$ | $O(1)$ | One shortest difference plus one add; no state |

@gabrielfrasantos
gabrielfrasantos merged commit 5c79114 into main Nov 8, 2026
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@gabrielfrasantos
gabrielfrasantos deleted the ccr-d3777c89-gho6so branch November 8, 2026 21:29
@embedded-releaser-app embedded-releaser-app Bot mentioned this pull request Nov 8, 2026
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@gabrielfrasantos @claude