Update pipeline.yml

FrancoisCarouge · Oct 8, 2023 · 77f9d68 · 77f9d68
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diff --git a/.github/workflows/clang_tidy.yml b/.github/workflows/clang_tidy.yml
@@ -23,14 +23,17 @@ jobs:
       uses: actions/checkout@8ade135a41bc03ea155e62e844d188df1ea18608 # v4.1.0
     - name: "Install: Clang"
       run: |
+        sudo add-apt-repository ppa:ubuntu-toolchain-r/test
         sudo apt update
         sudo apt upgrade
+        sudo apt install g++-13
         wget https://apt.llvm.org/llvm.sh
         chmod +x llvm.sh
         sudo ./llvm.sh 17 all
     - name: "Configure"
       env:
         CXX: "clang++-17"
+        CC: "clang-17"
       run: |
         cmake -S . -B "build" -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
     - name: Verify

diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
@@ -14,16 +14,16 @@ permissions:
 jobs:
   analyze:
     name: Analyze
-    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
-    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    runs-on: ${{ (matrix.language == "swift" && "macos-latest") || "ubuntu-latest" }}
+    timeout-minutes: ${{ (matrix.language == "swift" && 120) || 360 }}
     permissions:
       actions: read
       contents: read
       security-events: write
     strategy:
       fail-fast: false
       matrix:
-        language: [ 'cpp' ]
+        language: [ "cpp" ]
     steps:
     - name: Harden Runner
       uses: step-security/harden-runner@8ca2b8b2ece13480cda6dacd3511b49857a23c09 # v2.5.1
@@ -44,6 +44,7 @@ jobs:
     - name: "Configure"
       env:
         CXX: "g++-13"
+        CC: "gcc-13"
       run: cmake -S . -B "build"
     - name: "Build"
       run: cmake --build "build" --verbose --parallel 4

diff --git a/.github/workflows/dependency-review.yml b/.github/workflows/dependency-review.yml
diff --git a/.github/workflows/deploy_doxygen.yml b/.github/workflows/deploy_doxygen.yml
@@ -24,8 +24,8 @@ jobs:
     - name: Doxygen
       uses: mattnotmitt/doxygen-action@411df0c62acb5b96b8a93d93a7bf4b753c47ea05 # v1.9.5
       with:
-        working-directory: 'documentation'
-        doxyfile-path: 'Doxyfile'
+        working-directory: "documentation"
+        doxyfile-path: "Doxyfile"
     - name: Deploy
       uses: peaceiris/actions-gh-pages@373f7f263a76c20808c831209c920827a82a2847 # v3.9.3
       with:

diff --git a/.github/workflows/deploy_test_coverage_coveralls.yml b/.github/workflows/deploy_test_coverage_coveralls.yml
@@ -34,31 +34,33 @@ jobs:
       env:
         CXX: "g++-13"
         CXXFLAGS: "-O0 -g --coverage -fno-inline -fno-exceptions"
+        CC: "gcc-13"
+        CCFLAGS: "-O0 -g --coverage -fno-inline -fno-exceptions"
       run: cmake -S . -B "build"
     - name: "Build"
       run: cmake --build "build" --verbose --parallel 4
     - name: "Coverage: Base"
       run: |
         lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --capture --initial --directory . --output-file base.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '*/benchmark/*' --output-file base.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '*/build/*' --output-file base.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '*/sample/*' --output-file base.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '*/source/*' --output-file base.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info '*/test/*' --output-file base.info
-        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
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info "*/benchmark/*" --output-file base.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info "*/build/*" --output-file base.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info "*/sample/*" --output-file base.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info "*/source/*" --output-file base.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove base.info "*/test/*" --output-file base.info
+        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
     - name: "Coverage: Test"
       run: |
         lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --capture --directory . --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '*/benchmark/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '*/build/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '*/sample/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '*/source/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '*/test/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '/usr/*' --output-file test.info
-        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info '10' --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "*/benchmark/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "*/build/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "*/sample/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "*/source/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "*/test/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "/usr/*" --output-file test.info
+        lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --remove test.info "10" --output-file test.info
     - name: "Coverage: Results"
       run: lcov --rc lcov_branch_coverage=1 --gcov-tool gcov-13 --rc lcov_branch_coverage=1 --add-tracefile base.info --add-tracefile test.info --output-file coverage.info
     - name: Coveralls

diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
@@ -24,5 +24,5 @@ jobs:
     - name: Doxygen
       uses: mattnotmitt/doxygen-action@411df0c62acb5b96b8a93d93a7bf4b753c47ea05 # v1.9.5
       with:
-        working-directory: 'documentation'
-        doxyfile-path: 'Doxyfile'
+        working-directory: "documentation"
+        doxyfile-path: "Doxyfile"
diff --git a/.github/workflows/memory_valgrind.yml b/.github/workflows/memory_valgrind.yml
@@ -30,6 +30,7 @@ jobs:
     - name: Build
       env:
         CXX: "g++-13"
+        CC: "gcc-13"
       run: |
         cmake -B "build" .
         cmake --build "build" --parallel 4

diff --git a/.github/workflows/pipeline.yml b/.github/workflows/pipeline.yml
@@ -17,11 +17,11 @@ jobs:
       fail-fast: false
       matrix:
         include:
-        - { os: "ubuntu-latest", cpp: "clang++-17", c: "clang-17", generator: "Unix Makefiles", package: "clang-17"  }
-        - { os: "ubuntu-latest", cpp: "g++-13", c: "gcc-13", generator: "Unix Makefiles", package: "g++-13"  }
-        - { os: "windows-latest", cpp: "cl", c: "cl", generator: "Ninja", config: "Debug" }
-        - { os: "windows-latest", cpp: "cl", c: "cl", generator: "Ninja", config: "Release" }
-    name: "${{ matrix.os }} / ${{ matrix.cpp }} / ${{ matrix.generator }} / ${{ matrix.config }}"
+        - { os: "ubuntu-latest", cxx: "clang++-17", cc: "clang-17", generator: "Unix Makefiles", packages: "clang-17"  }
+        - { os: "ubuntu-latest", cxx: "g++-13", cc: "gcc-13", generator: "Unix Makefiles", packages: "g++-13"  }
+        - { os: "windows-latest", cxx: "cl", cc: "cl", generator: "Ninja", config: "Debug" }
+        - { os: "windows-latest", cxx: "cl", cc: "cl", generator: "Ninja", config: "Release" }
+    name: "${{ matrix.os }} / ${{ matrix.cxx }} / ${{ matrix.generator }} / ${{ matrix.config }}"
     runs-on: "${{ matrix.os }}"
     steps:
     - name: Harden Runner
@@ -33,25 +33,26 @@ jobs:
     - name: "Install: MSVC"
       uses: ilammy/msvc-dev-cmd@cec98b9d092141f74527d0afa6feb2af698cfe89 # v1.12.1
     - name: "Install: GCC"
-      if: ${{ matrix.package == 'g++-13' || matrix.package == 'clang-17' }}
+      if: ${{ matrix.cxx == "g++-13" }}
       run: |
         sudo add-apt-repository ppa:ubuntu-toolchain-r/test
         sudo apt update
         sudo apt upgrade
-        sudo apt install "${{ matrix.package }}"
+        sudo apt install "${{ matrix.packages }}"
     - name: "Install: Clang"
-      if: ${{ matrix.package == 'clang-17' }}
+      if: ${{ matrix.cxx == "clang++-17" }}
       run: |
+        sudo add-apt-repository ppa:ubuntu-toolchain-r/test
         sudo apt update
         sudo apt upgrade
+        sudo apt install g++-13
         wget https://apt.llvm.org/llvm.sh
         chmod +x llvm.sh
         sudo ./llvm.sh 17 all
-        clang++-17 -v
     - name: "Configure"
       env:
-        CXX: "${{ matrix.cpp }}"
-        CC: "${{ matrix.c }}"
+        CXX: "${{ matrix.cxx }}"
+        CC: "${{ matrix.cc }}"
       run: cmake -S . -B "build" -G "${{ matrix.generator }}"
     - name: "Build"
       run: cmake --build "build" --config "${{ matrix.config }}" --verbose --parallel 4

diff --git a/.github/workflows/sanitizer.yml b/.github/workflows/sanitizer.yml
@@ -49,6 +49,7 @@ jobs:
     - name: "Configure"
       env:
         CXX: "g++-13"
+        CC: "gcc-13"
       run: cmake -S . -B "build"
     - name: "Build"
       run: cmake --build "build" --verbose --parallel 4

diff --git a/include/fcarouge/internal/kalman.hpp b/include/fcarouge/internal/kalman.hpp
@@ -105,30 +105,30 @@ struct kalman<State, Output, void, pack<UpdateTypes...>,
   //! specialized cases? Same question applies to other parameters.
   //! @todo Pass the arguments by universal reference?
   observation_state_function observation_state_h{
-      [&h = h]([[maybe_unused]] const auto &...arguments) -> output_model {
-        return h;
+      [&hh = h]([[maybe_unused]] const auto &...arguments) -> output_model {
+        return hh;
       }};
   noise_observation_function noise_observation_r{
-      [&r =
+      [&rr =
            r]([[maybe_unused]] const auto &...arguments) -> output_uncertainty {
-        return r;
+        return rr;
       }};
   transition_state_function transition_state_f{
-      [&f = f]([[maybe_unused]] const auto &...arguments) -> state_transition {
-        return f;
+      [&ff = f]([[maybe_unused]] const auto &...arguments) -> state_transition {
+        return ff;
       }};
   noise_process_function noise_process_q{
-      [&q = q]([[maybe_unused]] const auto &...arguments)
-          -> process_uncertainty { return q; }};
+      [&qq = q]([[maybe_unused]] const auto &...arguments)
+          -> process_uncertainty { return qq; }};
   transition_function transition{
-      [&f = f](const state &state_x,
-               [[maybe_unused]] const auto &...arguments) -> state {
-        return f * state_x;
+      [&ff = f](const state &state_x,
+                [[maybe_unused]] const auto &...arguments) -> state {
+        return ff * state_x;
       }};
   observation_function observation{
-      [&h = h](const state &state_x,
-               [[maybe_unused]] const auto &...arguments) -> output {
-        return h * state_x;
+      [&hh = h](const state &state_x,
+                [[maybe_unused]] const auto &...arguments) -> output {
+        return hh * state_x;
       }};
 
   //! @todo Do we want to store i - k * h in a temporary result for reuse? Or
@@ -220,34 +220,34 @@ struct kalman<State, Output, Input, pack<UpdateTypes...>,
   //! specialized cases? Same question applies to other parameters.
   //! @todo Pass the arguments by universal reference?
   observation_state_function observation_state_h{
-      [&h = h]([[maybe_unused]] const auto &...arguments) -> output_model {
-        return h;
+      [&hh = h]([[maybe_unused]] const auto &...arguments) -> output_model {
+        return hh;
       }};
   noise_observation_function noise_observation_r{
-      [&r =
+      [&rr =
            r]([[maybe_unused]] const auto &...arguments) -> output_uncertainty {
-        return r;
+        return rr;
       }};
   transition_state_function transition_state_f{
-      [&f = f]([[maybe_unused]] const auto &...arguments) -> state_transition {
-        return f;
+      [&ff = f]([[maybe_unused]] const auto &...arguments) -> state_transition {
+        return ff;
       }};
   noise_process_function noise_process_q{
-      [&q = q]([[maybe_unused]] const auto &...arguments)
-          -> process_uncertainty { return q; }};
+      [&qq = q]([[maybe_unused]] const auto &...arguments)
+          -> process_uncertainty { return qq; }};
   transition_control_function transition_control_g{
-      [&g = g]([[maybe_unused]] const auto &...arguments) -> input_control {
-        return g;
+      [&gg = g]([[maybe_unused]] const auto &...arguments) -> input_control {
+        return gg;
       }};
   transition_function transition{
-      [&f = f, &g = g](const state &state_x, const input &input_u,
-                       [[maybe_unused]] const auto &...arguments) -> state {
-        return f * state_x + g * input_u;
+      [&ff = f, &gg = g](const state &state_x, const input &input_u,
+                         [[maybe_unused]] const auto &...arguments) -> state {
+        return ff * state_x + gg * input_u;
       }};
   observation_function observation{
-      [&h = h](const state &state_x,
-               [[maybe_unused]] const auto &...arguments) -> output {
-        return h * state_x;
+      [&hh = h](const state &state_x,
+                [[maybe_unused]] const auto &...arguments) -> output {
+        return hh * state_x;
       }};
 
   //! @todo Do we want to store i - k * h in a temporary result for reuse? Or