Merge 8ea8fc8 into 57b36a9

.github/workflows/deploy_test_coverage_coveralls.yml

@@ -50,7 +50,7 @@ jobs:
         lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '/usr/*' --output-file base.info
         lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '10' --output-file base.info
     - name: 'Test'
-      run: ctest --test-dir 'build' --tests-regex 'kalman_(test|sample|benchmark)' --verbose --parallel 4
+      run: ctest --test-dir 'build' --tests-regex 'kalman' --verbose --parallel 4
     - name: 'Coverage: Test'
       run: |
         lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --capture --directory . --output-file test.info

.github/workflows/pipeline.yml

@@ -57,7 +57,7 @@ jobs:
     - name: 'Build'
       run: cmake --build 'build' --config '${{ matrix.config }}' --verbose --parallel 4
     - name: 'Test'
-      run: ctest --test-dir 'build' --config '${{ matrix.config }}' --tests-regex 'kalman_(test|sample|benchmark)' --verbose --parallel 4
+      run: ctest --test-dir 'build' --tests-regex 'kalman' --config '${{ matrix.config }}' --verbose --parallel 4
     - name: 'Install'
       run: cmake --install 'build' --config '${{ matrix.config }}' --prefix 'install' --verbose
     - name: 'Package'

INSTALL.md

@@ -34,7 +34,7 @@ Build and run the tests and samples:
 git clone --depth 1 "https://github.com/FrancoisCarouge/kalman"
 cmake -S "kalman" -B "build"
 cmake --build "build" --config "Debug" --parallel
-ctest --test-dir "build" --build-config "Debug" --tests-regex "kalman_(test|sample|benchmark)" --output-on-failure --parallel
+ctest --test-dir "build" --build-config "Debug" --output-on-failure --parallel
 ```
 
 ## Benchmarks

include/fcarouge/kalman.hpp

@@ -266,9 +266,7 @@ class kalman final {
   //! elements of the filter with.
   //!
   //! @complexity Constant.
-  //!
-  //! @todo Implement and test.
-  inline constexpr kalman(kalman &&other) noexcept = delete;
+  inline constexpr kalman(kalman &&other) noexcept = default;
 
   //! @brief Copy assignment operator.
   //!
@@ -300,9 +298,8 @@ class kalman final {
   //! i.e. `*this`.
   //!
   //! @complexity Constant.
-  //!
-  //! @todo Implement and test.
-  inline constexpr auto operator=(kalman &&other) noexcept -> kalman & = delete;
+  inline constexpr auto operator=(kalman &&other) noexcept
+      -> kalman & = default;
 
   //! @brief Destructs the Kalman filter.
   //!

test/CMakeLists.txt

@@ -103,6 +103,7 @@ endforeach()
 foreach(BACKEND IN ITEMS "eigen")
   foreach(
     TEST
+    "kalman_assign_move_5x4x3.cpp"
     "kalman_constructor_default_1x1x3.cpp"
     "kalman_constructor_default_1x4x1.cpp"
     "kalman_constructor_default_1x4x3.cpp"
@@ -111,6 +112,7 @@ foreach(BACKEND IN ITEMS "eigen")
     "kalman_constructor_default_5x4x0.cpp"
     "kalman_constructor_default_5x4x1.cpp"
     "kalman_constructor_default_5x4x3.cpp"
+    "kalman_constructor_move_5x4x3.cpp"
     "kalman_f_5x4x3.cpp"
     "kalman_h_5x4x3.cpp")
     get_filename_component(NAME ${TEST} NAME_WE)

test/kalman_assign_move_5x4x3.cpp

@@ -0,0 +1,89 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.3.0
+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> */
+
+#include "fcarouge/kalman.hpp"
+#include "fcarouge/linalg.hpp"
+
+#include <cassert>
+#include <utility>
+
+namespace fcarouge::test {
+namespace {
+template <auto Size> using vector = column_vector<double, Size>;
+template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
+
+//! @test Verifies the multi-dimension filter is move-assignable.
+[[maybe_unused]] auto test{[] {
+  using kalman = kalman<vector<5>, vector<4>, vector<3>>;
+  const auto z3x1{zero_v<vector<3>>};
+  const auto i4x4{identity_v<matrix<4, 4>>};
+  const auto i4x5{identity_v<matrix<4, 5>>};
+  const auto i5x3{identity_v<matrix<5, 3>>};
+  const auto i5x4{identity_v<matrix<5, 4>>};
+  const auto i5x5{identity_v<matrix<5, 5>>};
+  const auto z4x1{zero_v<vector<4>>};
+  const auto z4x4{zero_v<matrix<4, 4>>};
+  const auto z5x1{zero_v<vector<5>>};
+  const auto z5x5{zero_v<matrix<5, 5>>};
+  kalman filter;
+
+  {
+    kalman filter_0;
+
+    filter_0.f(z5x5);
+
+    filter = std::move(filter_0);
+  }
+
+  assert(filter.f() == z5x5);
+  assert(filter.g() == i5x3);
+  assert(filter.h() == i4x5);
+  assert(filter.k() == i5x4);
+  assert(filter.p() == i5x5);
+  assert(filter.q() == z5x5 && "No process noise by default.");
+  assert(filter.r() == z4x4 && "No observation noise by default.");
+  assert(filter.s() == i4x4);
+  assert(filter.u() == z3x1 && "No initial control.");
+  assert(filter.x() == z5x1 && "Origin state.");
+  assert(filter.y() == z4x1);
+  assert(filter.z() == z4x1);
+
+  return 0;
+}()};
+} // namespace
+} // namespace fcarouge::test

test/kalman_constructor_move_5x4x3.cpp

@@ -0,0 +1,85 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.3.0
+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> */
+
+#include "fcarouge/kalman.hpp"
+#include "fcarouge/linalg.hpp"
+
+#include <cassert>
+#include <utility>
+
+namespace fcarouge::test {
+namespace {
+template <auto Size> using vector = column_vector<double, Size>;
+template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
+
+//! @test Verifies the multi-dimension filter is move-constructible.
+[[maybe_unused]] auto test{[] {
+  using kalman = kalman<vector<5>, vector<4>, vector<3>>;
+  const auto z3x1{zero_v<vector<3>>};
+  const auto i4x4{identity_v<matrix<4, 4>>};
+  const auto i4x5{identity_v<matrix<4, 5>>};
+  const auto i5x3{identity_v<matrix<5, 3>>};
+  const auto i5x4{identity_v<matrix<5, 4>>};
+  const auto i5x5{identity_v<matrix<5, 5>>};
+  const auto z4x1{zero_v<vector<4>>};
+  const auto z4x4{zero_v<matrix<4, 4>>};
+  const auto z5x1{zero_v<vector<5>>};
+  const auto z5x5{zero_v<matrix<5, 5>>};
+  kalman filter_0;
+
+  filter_0.f(z5x5);
+
+  kalman filter{std::move(filter_0)};
+
+  assert(filter.f() == z5x5);
+  assert(filter.g() == i5x3);
+  assert(filter.h() == i4x5);
+  assert(filter.k() == i5x4);
+  assert(filter.p() == i5x5);
+  assert(filter.q() == z5x5 && "No process noise by default.");
+  assert(filter.r() == z4x4 && "No observation noise by default.");
+  assert(filter.s() == i4x4);
+  assert(filter.u() == z3x1 && "No initial control.");
+  assert(filter.x() == z5x1 && "Origin state.");
+  assert(filter.y() == z4x1);
+  assert(filter.z() == z4x1);
+
+  return 0;
+}()};
+} // namespace
+} // namespace fcarouge::test