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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,264 @@ | ||
| /* __ _ __ __ _ _ | ||
| | |/ / /\ | | | \/ | /\ | \ | | | ||
| | ' / / \ | | | \ / | / \ | \| | | ||
| | < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| | . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
| |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
| 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> */ | ||
|
|
||
| #ifndef FCAROUGE_INTERNAL_FACTORY_HPP | ||
| #define FCAROUGE_INTERNAL_FACTORY_HPP | ||
|
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| #include "fcarouge/internal/type.hpp" | ||
| #include "fcarouge/internal/x_z_p_q_r_us_ps.hpp" | ||
| #include "fcarouge/internal/x_z_p_qq_rr_f.hpp" | ||
| #include "fcarouge/internal/x_z_p_r_f.hpp" | ||
| #include "fcarouge/internal/x_z_u_p_q_r_f_g_ps.hpp" | ||
| #include "fcarouge/internal/x_z_u_p_q_r_us_ps.hpp" | ||
|
|
||
| #include <concepts> | ||
| #include <type_traits> | ||
|
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| namespace fcarouge::internal { | ||
| //! @todo Support arbritary order of configuration parameters? | ||
| //! @todo Support user defined types by type name reflection? Case, naming | ||
| //! convention insensitive? | ||
| //! @todo Some of these overload should probably be removed to guide the user | ||
| //! towards better initialization practices? | ||
| template <typename Filter = void> struct make_filter { | ||
| template <typename... Arguments> | ||
| inline constexpr auto | ||
| operator()([[maybe_unused]] Arguments... arguments) const | ||
| requires(std::same_as<Filter, void>) | ||
| { | ||
| static_assert(false, | ||
| "This requested filter configuration is not yet supported. " | ||
| "Please, submit a pull request or feature request."); | ||
|
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| return x_z_p_r_f<double, double>{}; | ||
| } | ||
|
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| //! @todo Rename, clean the concet: undeduced? | ||
| inline constexpr auto operator()() const -> x_z_p_r_f<double, double> | ||
| requires(std::same_as<Filter, void>); | ||
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| inline constexpr auto operator()() const { return Filter{}; } | ||
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| template <typename State, typename Output> | ||
| inline constexpr auto operator()(state<State> x, | ||
| [[maybe_unused]] output_t<Output> z) const { | ||
| return x_z_p_r_f<State, Output>{x.value}; | ||
| } | ||
|
|
||
| template <typename State, typename Output, typename Input> | ||
| inline constexpr auto operator()(state<State> x, | ||
| [[maybe_unused]] output_t<Output> z, | ||
| [[maybe_unused]] input_t<Input> u) const { | ||
| using kt = x_z_u_p_q_r_us_ps<State, Output, Input, empty_pack, empty_pack>; | ||
| return kt{typename kt::state{x.value}}; | ||
| } | ||
|
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||
| template <typename State, typename Output, typename Input, | ||
| typename EstimateUncertainty, typename ProcessUncertainty, | ||
| typename OutputUncertainty, typename StateTransition, | ||
| typename InputControl, typename... Ps> | ||
| //! @todo Simplify the require clause? | ||
| requires requires(ProcessUncertainty q | ||
| // StateTransition f, | ||
| // InputControl g | ||
| ) { | ||
| requires std::invocable<ProcessUncertainty, State, Ps...>; | ||
| // requires std::invocable<StateTransition, Ps...>; | ||
| // requires std::invocable<InputControl, Ps...>; | ||
| } | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| [[maybe_unused]] input_t<Input> u, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r, | ||
| state_transition<StateTransition> f, input_control<InputControl> g, | ||
| [[maybe_unused]] prediction_types_t<Ps...> pts) const { | ||
| using kt = x_z_u_p_q_r_f_g_ps<State, Output, Input, empty_pack, | ||
| repack_t<prediction_types_t<Ps...>>>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::noise_process_function{q.value}, | ||
| typename kt::output_uncertainty{r.value}, | ||
| typename kt::transition_state_function{f.value}, | ||
| typename kt::transition_control_function{g.value}}; | ||
| } | ||
|
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||
| template <typename State, typename Output, typename Input, typename... Us, | ||
| typename... Ps> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| [[maybe_unused]] input_t<Input> u, | ||
| [[maybe_unused]] update_types_t<Us...> uts, | ||
| [[maybe_unused]] prediction_types_t<Ps...> pts) const { | ||
| using kt = | ||
| x_z_u_p_q_r_us_ps<State, Output, Input, repack_t<update_types_t<Us...>>, | ||
| repack_t<prediction_types_t<Ps...>>>; | ||
| return kt{typename kt::state{x.value}}; | ||
| } | ||
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| template <typename State, typename Output, typename EstimateUncertainty, | ||
| typename ProcessUncertainty, typename OutputUncertainty, | ||
| typename... Us, typename... Ps> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r, | ||
| [[maybe_unused]] update_types_t<Us...> uts, | ||
| [[maybe_unused]] prediction_types_t<Ps...> pts) const { | ||
| using kt = x_z_p_q_r_us_ps<State, Output, repack_t<update_types_t<Us...>>, | ||
| repack_t<prediction_types_t<Ps...>>>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::process_uncertainty{q.value}, | ||
| typename kt::output_uncertainty{r.value}}; | ||
| } | ||
|
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| template <typename State, typename Output, typename EstimateUncertainty, | ||
| typename ProcessUncertainty, typename OutputUncertainty, | ||
| typename OutputModel, typename StateTransition> | ||
| inline constexpr auto operator()(state<State> x, | ||
| [[maybe_unused]] output_t<Output> z, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r, | ||
| output_model<OutputModel> h, | ||
| state_transition<StateTransition> f) const { | ||
| using kt = x_z_p_q_r_us_ps<State, Output, empty_pack, empty_pack>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::process_uncertainty{q.value}, | ||
| typename kt::output_uncertainty{r.value}, | ||
| typename kt::output_model{h.value}, | ||
| typename kt::state_transition{f.value}}; | ||
| } | ||
|
|
||
| template <typename State, typename Output, typename EstimateUncertainty, | ||
| typename OutputUncertainty> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| output_uncertainty<OutputUncertainty> r) const { | ||
| using kt = x_z_p_r_f<State, Output>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::output_uncertainty{r.value}}; | ||
| } | ||
|
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| template <typename State, typename Output, typename EstimateUncertainty, | ||
| typename OutputUncertainty, typename ProcessUncertainty> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r) const { | ||
| using kt = x_z_p_q_r_us_ps<State, Output, empty_pack, empty_pack>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::process_uncertainty{q.value}, | ||
| typename kt::output_uncertainty{r.value}}; | ||
| } | ||
|
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| template <typename State, typename Output, typename Input, | ||
| typename EstimateUncertainty, typename ProcessUncertainty, | ||
| typename OutputUncertainty> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| [[maybe_unused]] input_t<Input> u, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r) const { | ||
| using kt = x_z_u_p_q_r_us_ps<State, Output, Input, empty_pack, empty_pack>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::process_uncertainty{q.value}, | ||
| typename kt::output_uncertainty{r.value}}; | ||
| } | ||
|
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| template <typename State, typename Output, typename Input, | ||
| typename EstimateUncertainty, typename OutputUncertainty, | ||
| typename ProcessUncertainty, typename... Us, typename... Ps> | ||
| inline constexpr auto | ||
| operator()(state<State> x, [[maybe_unused]] output_t<Output> z, | ||
| [[maybe_unused]] input_t<Input> u, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r, | ||
| [[maybe_unused]] update_types_t<Us...> uts, | ||
| [[maybe_unused]] prediction_types_t<Ps...> pts) const { | ||
|
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| using kt = | ||
| x_z_u_p_q_r_us_ps<State, Output, Input, repack_t<update_types_t<Us...>>, | ||
| repack_t<prediction_types_t<Ps...>>>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::process_uncertainty{q.value}, | ||
| typename kt::output_uncertainty{r.value}}; | ||
| } | ||
|
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| template <typename State, typename Output, typename EstimateUncertainty, | ||
| typename ProcessUncertainty, typename OutputUncertainty, | ||
| typename StateTransition> | ||
| //! @todo Simplify the require clause? | ||
| requires requires(ProcessUncertainty q, OutputUncertainty r) { | ||
| requires std::invocable<ProcessUncertainty, State>; | ||
| requires std::invocable<OutputUncertainty, State, Output>; | ||
| } | ||
| inline constexpr auto operator()(state<State> x, | ||
| [[maybe_unused]] output_t<Output> z, | ||
| estimate_uncertainty<EstimateUncertainty> p, | ||
| process_uncertainty<ProcessUncertainty> q, | ||
| output_uncertainty<OutputUncertainty> r, | ||
| state_transition<StateTransition> f) const { | ||
| using kt = x_z_p_qq_rr_f<State, Output>; | ||
| return kt{typename kt::state{x.value}, | ||
| typename kt::estimate_uncertainty{p.value}, | ||
| typename kt::noise_process_function{q.value}, | ||
| typename kt::noise_observation_function{r.value}, | ||
| typename kt::state_transition{f.value}}; | ||
| } | ||
| }; | ||
|
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| template <typename Filter> inline constexpr make_filter<Filter> filter{}; | ||
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| template <typename... Arguments> | ||
| using filter_t = std::invoke_result_t<make_filter<>, Arguments...>; | ||
| } // namespace fcarouge::internal | ||
|
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| #endif // FCAROUGE_INTERNAL_FACTORY_HPP |
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