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/* __ _ __ __ _ _ | ||
| |/ / /\ | | | \/ | /\ | \ | | | ||
| ' / / \ | | | \ / | / \ | \| | | ||
| < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
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> */ | ||
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||
#ifndef FCAROUGE_PLOTTER_HPP | ||
#define FCAROUGE_PLOTTER_HPP | ||
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//! @file | ||
//! @brief ... | ||
//! | ||
//! @details ... | ||
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// #include "internal/utility.hpp" | ||
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namespace fcarouge { | ||
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// Decorator? | ||
template <typename KalmanFilter> class plotter final { | ||
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public: | ||
using state = typename KalmanFilter::state; | ||
using output = typename KalmanFilter::output; | ||
using input = typename KalmanFilter::input; | ||
using estimate_uncertainty = typename KalmanFilter::estimate_uncertainty; | ||
using process_uncertainty = typename KalmanFilter::process_uncertainty; | ||
using output_uncertainty = typename KalmanFilter::output_uncertainty; | ||
using state_transition = typename KalmanFilter::state_transition; | ||
using output_model = typename KalmanFilter::output_model; | ||
using input_control = typename KalmanFilter::input_control; | ||
using gain = typename KalmanFilter::gain; | ||
using innovation = typename KalmanFilter::innovation; | ||
using innovation_uncertainty = typename KalmanFilter::innovation_uncertainty; | ||
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inline constexpr explicit plotter(KalmanFilter &&kalman_filter) | ||
: filter{std::forward<KalmanFilter>(kalman_filter)} {} | ||
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inline constexpr plotter(plotter &&other) noexcept = default; | ||
inline constexpr auto operator=(plotter &&other) noexcept | ||
-> plotter & = default; | ||
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// inline constexpr ~plotter() {} | ||
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inline constexpr auto x() const -> const state &; | ||
inline constexpr auto x() -> state & { return filter.x(); } | ||
inline constexpr void x(const auto &value, const auto &...values) { | ||
filter.x(value, values...); | ||
} | ||
// inline constexpr auto z() const -> const output &; | ||
// inline constexpr auto u() const | ||
// -> const input &requires(not std::is_same_v<Input, void>); | ||
inline constexpr auto p() const -> const estimate_uncertainty &; | ||
inline constexpr auto p() -> estimate_uncertainty & { return filter.p(); } | ||
inline constexpr void p(const auto &value, const auto &...values) { | ||
filter.p(value, values...); | ||
} | ||
inline constexpr auto q() const -> const process_uncertainty &; | ||
inline constexpr auto q() -> process_uncertainty &; | ||
inline constexpr void q(const auto &value, const auto &...values); | ||
inline constexpr auto r() const -> const output_uncertainty &; | ||
inline constexpr auto r() -> output_uncertainty &; | ||
inline constexpr void r(const auto &value, const auto &...values) { | ||
filter.r(value, values...); | ||
} | ||
// inline constexpr auto f() const -> const state_transition &; | ||
// inline constexpr auto f() -> state_transition &; | ||
// inline constexpr void f(const auto &value, const auto &...values); | ||
// inline constexpr auto h() const -> const output_model &; | ||
// inline constexpr auto h() -> output_model &; | ||
// inline constexpr void h(const auto &value, const auto &...values); | ||
// inline constexpr auto g() const | ||
// -> const input_control &requires(not std::is_same_v<Input, void>); | ||
// inline constexpr auto g() | ||
// -> input_control &requires(not std::is_same_v<Input, void>); | ||
// inline constexpr void g(const auto &value, const auto &...values) | ||
// requires(not std::is_same_v<Input, void>); | ||
// inline constexpr auto k() const -> const gain &; | ||
// inline constexpr auto y() const -> const innovation &; | ||
// inline constexpr auto s() const -> const innovation_uncertainty &; | ||
// inline constexpr void transition(const auto &callable); | ||
// inline constexpr void observation(const auto &callable); | ||
inline constexpr void predict(const auto &...arguments) { | ||
filter.predict(arguments...); | ||
} | ||
// template <std::size_t Position> inline constexpr auto predict() const; | ||
inline constexpr void update(const auto &...arguments) { | ||
filter.update(arguments...); | ||
} | ||
// template <std::size_t Position> inline constexpr auto update() const; | ||
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private: | ||
KalmanFilter filter; | ||
}; | ||
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} // namespace fcarouge | ||
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#endif // FCAROUGE_PLOTTER_HPP |
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,143 @@ | ||
/* __ _ __ __ _ _ | ||
| |/ / /\ | | | \/ | /\ | \ | | | ||
| ' / / \ | | | \ / | / \ | \| | | ||
| < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
|_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
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> */ | ||
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#ifndef FCAROUGE_PRINTER_HPP | ||
#define FCAROUGE_PRINTER_HPP | ||
|
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//! @file | ||
//! @brief ... | ||
//! | ||
//! @details ... | ||
|
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// #include "internal/utility.hpp" | ||
#include <iostream> | ||
#include <ostream> | ||
#include <print> | ||
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namespace fcarouge { | ||
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// Decorator? | ||
template <typename KalmanFilter> class printer final { | ||
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public: | ||
using state = typename KalmanFilter::state; | ||
using output = typename KalmanFilter::output; | ||
using input = typename KalmanFilter::input; | ||
using estimate_uncertainty = typename KalmanFilter::estimate_uncertainty; | ||
using process_uncertainty = typename KalmanFilter::process_uncertainty; | ||
using output_uncertainty = typename KalmanFilter::output_uncertainty; | ||
using state_transition = typename KalmanFilter::state_transition; | ||
using output_model = typename KalmanFilter::output_model; | ||
using input_control = typename KalmanFilter::input_control; | ||
using gain = typename KalmanFilter::gain; | ||
using innovation = typename KalmanFilter::innovation; | ||
using innovation_uncertainty = typename KalmanFilter::innovation_uncertainty; | ||
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inline constexpr explicit printer(KalmanFilter &&kalman_filter) | ||
: filter{std::forward<KalmanFilter>(kalman_filter)} { | ||
std::println("{{\"event\": \"construction\", \"filter\":{}}}", filter); | ||
} | ||
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inline constexpr printer(printer &&other) noexcept = default; | ||
inline constexpr auto operator=(printer &&other) noexcept | ||
-> printer & = default; | ||
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inline constexpr ~printer() { | ||
std::println("{{\"event\": \"destruction\", \"filter\":{}}}", filter); | ||
std::flush(std::cout); | ||
} | ||
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inline constexpr auto x() const -> const state &; | ||
inline constexpr auto x() -> state & { return filter.x(); } | ||
inline constexpr void x(const auto &value, const auto &...values) { | ||
filter.x(value, values...); | ||
std::println("{{\"event\": \"x\", \"filter\":{}}}", filter); | ||
} | ||
// inline constexpr auto z() const -> const output &; | ||
// inline constexpr auto u() const | ||
// -> const input &requires(not std::is_same_v<Input, void>); | ||
inline constexpr auto p() const -> const estimate_uncertainty &; | ||
inline constexpr auto p() -> estimate_uncertainty & { return filter.p(); } | ||
inline constexpr void p(const auto &value, const auto &...values) { | ||
filter.p(value, values...); | ||
std::println("{{\"event\": \"p\", \"filter\":{}}}", filter); | ||
} | ||
inline constexpr auto q() const -> const process_uncertainty &; | ||
inline constexpr auto q() -> process_uncertainty &; | ||
inline constexpr void q(const auto &value, const auto &...values); | ||
inline constexpr auto r() const -> const output_uncertainty &; | ||
inline constexpr auto r() -> output_uncertainty &; | ||
inline constexpr void r(const auto &value, const auto &...values) { | ||
filter.r(value, values...); | ||
std::println("{{\"event\": \"r\", \"filter\":{}}}", filter); | ||
} | ||
// inline constexpr auto f() const -> const state_transition &; | ||
// inline constexpr auto f() -> state_transition &; | ||
// inline constexpr void f(const auto &value, const auto &...values); | ||
// inline constexpr auto h() const -> const output_model &; | ||
// inline constexpr auto h() -> output_model &; | ||
// inline constexpr void h(const auto &value, const auto &...values); | ||
// inline constexpr auto g() const | ||
// -> const input_control &requires(not std::is_same_v<Input, void>); | ||
// inline constexpr auto g() | ||
// -> input_control &requires(not std::is_same_v<Input, void>); | ||
// inline constexpr void g(const auto &value, const auto &...values) | ||
// requires(not std::is_same_v<Input, void>); | ||
// inline constexpr auto k() const -> const gain &; | ||
// inline constexpr auto y() const -> const innovation &; | ||
// inline constexpr auto s() const -> const innovation_uncertainty &; | ||
// inline constexpr void transition(const auto &callable); | ||
// inline constexpr void observation(const auto &callable); | ||
inline constexpr void predict(const auto &...arguments) { | ||
filter.predict(arguments...); | ||
std::println("{{\"event\": \"predict\", \"filter\":{}}}", filter); | ||
} | ||
// template <std::size_t Position> inline constexpr auto predict() const; | ||
inline constexpr void update(const auto &...arguments) { | ||
filter.update(arguments...); | ||
std::println("{{\"event\": \"update\", \"filter\":{}}}", filter); | ||
} | ||
// template <std::size_t Position> inline constexpr auto update() const; | ||
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private: | ||
KalmanFilter filter; | ||
}; | ||
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} // namespace fcarouge | ||
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#endif // FCAROUGE_PRINTER_HPP |
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