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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,130 @@ | ||
| /* __ _ __ __ _ _ | ||
| | |/ / /\ | | | \/ | /\ | \ | | | ||
| | ' / / \ | | | \ / | / \ | \| | | ||
| | < / /\ \ | | | |\/| | / /\ \ | . ` | | ||
| | . \ / ____ \| |____| | | |/ ____ \| |\ | | ||
| |_|\_\/_/ \_\______|_| |_/_/ \_\_| \_| | ||
| 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_PLOTTER_HPP | ||
| #define FCAROUGE_PLOTTER_HPP | ||
|
|
||
| //! @file | ||
| //! @brief ... | ||
| //! | ||
| //! @details ... | ||
|
|
||
| // #include "internal/utility.hpp" | ||
|
|
||
| namespace fcarouge { | ||
|
|
||
| // Decorator? | ||
| template <typename KalmanFilter> class plotter final { | ||
|
|
||
| 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; | ||
|
|
||
| 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; | ||
|
|
||
| // inline constexpr ~plotter() {} | ||
|
|
||
| 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; | ||
|
|
||
| private: | ||
| KalmanFilter filter; | ||
| }; | ||
|
|
||
| } // namespace fcarouge | ||
|
|
||
| #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> */ | ||
|
|
||
| #ifndef FCAROUGE_PRINTER_HPP | ||
| #define FCAROUGE_PRINTER_HPP | ||
|
|
||
| //! @file | ||
| //! @brief ... | ||
| //! | ||
| //! @details ... | ||
|
|
||
| // #include "internal/utility.hpp" | ||
| #include <iostream> | ||
| #include <ostream> | ||
| #include <print> | ||
|
|
||
| namespace fcarouge { | ||
|
|
||
| // Decorator? | ||
| template <typename KalmanFilter> class printer final { | ||
|
|
||
| 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; | ||
|
|
||
| inline constexpr explicit printer(KalmanFilter &&kalman_filter) | ||
| : filter{std::forward<KalmanFilter>(kalman_filter)} { | ||
| std::println("{{\"event\": \"construction\", \"filter\":{}}}", filter); | ||
| } | ||
|
|
||
| inline constexpr printer(printer &&other) noexcept = default; | ||
| inline constexpr auto operator=(printer &&other) noexcept | ||
| -> printer & = default; | ||
|
|
||
| inline constexpr ~printer() { | ||
| std::println("{{\"event\": \"destruction\", \"filter\":{}}}", filter); | ||
| std::flush(std::cout); | ||
| } | ||
|
|
||
| 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; | ||
| }; | ||
|
|
||
| } // namespace fcarouge | ||
|
|
||
| #endif // FCAROUGE_PRINTER_HPP |
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