[AUD-019][High] Prevent LQR Cart-Pole simulator startup abort

[gabrielsantosphilips]

Audit finding

• ID: AUD-019
• Status: Verified defect
• Severity: High
• Confidence: High
• Audited revision: 2f479320d805a1f9f35ebe4afaaeeded48913a94

Problem

The default LQR Cart-Pole simulator aborts during construction before entering the Qt event loop. LqrCartPoleSimulator() calls Configure() and RecomputeGain(), which uses the asserting LQR constructor; the default DARE result is not converged.

Source:

numerical-toolbox-cpp/simulator/controllers/LqrCartPole/application/LqrCartPoleSimulator.cpp

Lines 5 to 38 in 2f47932

	{
	LqrCartPoleSimulator::LqrCartPoleSimulator()
	{
	Configure(LqrCartPoleConfig{});
	}
	void LqrCartPoleSimulator::Configure(const LqrCartPoleConfig& config)
	{
	configuration = config;
	plant = CartPolePlant(config.plantParams);
	RecomputeGain();
	}
	void LqrCartPoleSimulator::Reset()
	{
	plant.Reset();
	}
	void LqrCartPoleSimulator::SetState(const CartPoleState& state)
	{
	plant.SetState(state);
	}
	void LqrCartPoleSimulator::RecomputeGain()
	{
	auto& w = configuration.weights;
	StateMatrix Q{
	{ w.qX, 0.0f, 0.0f, 0.0f },
	{ 0.0f, w.qXDot, 0.0f, 0.0f },
	{ 0.0f, 0.0f, w.qTheta, 0.0f },
	{ 0.0f, 0.0f, 0.0f, w.qThetaDot },
	};

Reproduction

An offscreen startup smoke test exits 134 with the Lqr.hpp assertion r.converged. The other ten simulator executables remained alive until timeout.

Acceptance criteria

• The default executable constructs and enters its event loop.
• Use recoverable LQR creation/status handling in the simulator.
• Validate default plant, discretization, and weights.
• Add an offscreen construction/startup test to CI.