[eigen] organize implementation

include/fcarouge/kalman_eigen.hpp

@@ -0,0 +1,74 @@
+/*_  __          _      __  __          _   _
+ | |/ /    /\   | |    |  \/  |   /\   | \ | |
+ | ' /    /  \  | |    | \  / |  /  \  |  \| |
+ |  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+ | . \  / ____ \| |____| |  | |/ ____ \| |\  |
+ |_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter for C++
+Version 0.1.0
+https://github.com/FrancoisCarouge/Kalman
+
+SPDX-License-Identifier: Unlicense
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+For more information, please refer to <https://unlicense.org> */
+
+#ifndef FCAROUGE_KALMAN_EIGEN_HPP
+#define FCAROUGE_KALMAN_EIGEN_HPP
+
+//! @file
+//! @brief Kalman operation for Eigen 3 types.
+
+#include "kalman.hpp"
+#include "kalman_eigen_operator.hpp"
+
+#include <Eigen/Eigen>
+
+namespace fcarouge::eigen
+{
+//! @brief Eigen-based Kalman filter.
+//!
+//! @details Implemented with the Eigen linear algebra library matrices with
+//! sizes fixed at compile-time.
+//!
+//! @tparam Type The type template parameter of the matrices data.
+//! @tparam State The non-type template parameter size of the state vector x.
+//! @tparam Output The non-type template parameter size of the measurement
+//! vector z.
+//! @tparam Input The non-type template parameter size of the control u.
+//! @tparam PredictionArguments The variadic type template parameter for
+//! additional prediction function parameters. Time, or a delta thereof, is
+//! often a prediction parameter.
+template <typename Type, int State, int Output, int Input,
+          typename... PredictionArguments>
+using kalman =
+    fcarouge::kalman<Eigen::Vector<Type, State>, Eigen::Vector<Type, Output>,
+                     Eigen::Vector<Type, Input>, transpose, symmetrize, divide,
+                     identity, PredictionArguments...>;
+
+} // namespace fcarouge::eigen
+
+#endif // FCAROUGE_KALMAN_EIGEN_HPP

include/fcarouge/kalman_operator_eigen.hpp → include/fcarouge/kalman_eigen_operator.hpp

@@ -36,8 +36,8 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> */
 
-#ifndef FCAROUGE_KALMAN_OPERATOR_EIGEN_HPP
-#define FCAROUGE_KALMAN_OPERATOR_EIGEN_HPP
+#ifndef FCAROUGE_KALMAN_EIGEN_OPERATOR_HPP
+#define FCAROUGE_KALMAN_EIGEN_OPERATOR_HPP
 
 //! @file
 //! @brief Kalman operation for Eigen 3 types.
@@ -138,26 +138,6 @@ template <typename Type> struct identity {
   }
 };
 
-//! @brief Eigen-based Kalman filter.
-//!
-//! @details Implemented with the Eigen linear algebra library matrices with
-//! sizes fixed at compile-time.
-//!
-//! @tparam Type The type template parameter of the matrices data.
-//! @tparam State The non-type template parameter size of the state vector x.
-//! @tparam Output The non-type template parameter size of the measurement
-//! vector z.
-//! @tparam Input The non-type template parameter size of the control u.
-//! @tparam PredictionArguments The variadic type template parameter for
-//! additional prediction function parameters. Time, or a delta thereof, is
-//! often a prediction parameter.
-template <typename Type, int State, int Output, int Input,
-          typename... PredictionArguments>
-using kalman =
-    fcarouge::kalman<Eigen::Vector<Type, State>, Eigen::Vector<Type, Output>,
-                     Eigen::Vector<Type, Input>, transpose, symmetrize, divide,
-                     identity, PredictionArguments...>;
-
 } // namespace fcarouge::eigen
 
-#endif // FCAROUGE_KALMAN_OPERATOR_EIGEN_HPP
+#endif // FCAROUGE_KALMAN_EIGEN_OPERATOR_HPP

sample/rocket_altitude.cpp

@@ -1,5 +1,4 @@
-#include "fcarouge/kalman.hpp"
-#include "fcarouge/kalman_operator_eigen.hpp"
+#include "fcarouge/kalman_eigen.hpp"
 
 #include <cassert>
 #include <chrono>

sample/vehicule_location.cpp

@@ -1,5 +1,4 @@
-#include "fcarouge/kalman.hpp"
-#include "fcarouge/kalman_operator_eigen.hpp"
+#include "fcarouge/kalman_eigen.hpp"
 
 #include <cassert>