[compatibility] mp-units support test

include/fcarouge/internal/utility.hpp

@@ -239,6 +239,9 @@ template <typename Pack> using repack_t = repack<Pack>::type;
 
 template <typename Pack> inline constexpr auto size{repack<Pack>::size};
 
+template <typename Pack>
+using size_t = std::remove_const_t<decltype(size<Pack>)>;
+
 template <typename Type, typename... Types> struct first_type {
   using type = Type;
 };
@@ -272,27 +275,22 @@ template <typename Type> struct not_implemented {
   static_assert(none, "This type is not implemented. See message.");
 };
 
-inline constexpr auto adl_transpose{
-    [](const auto &value) { return transpose(value); }};
-
 struct transposer final {
-  template <arithmetic Arithmetic>
-  [[nodiscard]] inline constexpr auto
-  operator()(const Arithmetic &value) const {
+  template <typename Type>
+  [[nodiscard]] inline constexpr auto operator()(const Type &value) const {
     return value;
   }
 
-  //! @todo Remove and always rely on ADL and require implementation in linear
-  //! algebra support?
   template <typename Matrix>
     requires requires(Matrix value) { value.transpose(); }
   [[nodiscard]] inline constexpr auto operator()(const Matrix &value) const {
     return value.transpose();
   }
 
   template <typename Matrix>
+    requires requires(Matrix value) { transpose(value); }
   [[nodiscard]] inline constexpr auto operator()(const Matrix &value) const {
-    return adl_transpose(value);
+    return transpose(value);
   }
 };
 
@@ -301,18 +299,24 @@ struct matrix_deducer final {
   [[nodiscard]] inline constexpr auto
   operator()(Lhs lhs, Rhs rhs) const -> decltype(lhs * transposer{}(rhs));
 
-  template <eigen Lhs, arithmetic Rhs>
+  template <typename Lhs, typename Rhs>
+    requires(eigen<Lhs> or eigen<Rhs>)
   [[nodiscard]] inline constexpr auto operator()(Lhs lhs, Rhs rhs) const ->
       typename decltype(lhs * transposer{}(rhs))::PlainMatrix;
 
-  template <typename Lhs, eigen Rhs>
-  [[nodiscard]] inline constexpr auto operator()(Lhs lhs, Rhs rhs) const ->
-      typename decltype(lhs * transposer{}(rhs))::PlainMatrix;
+  // Combine C1 and C2 in C?
+  template <template <typename, typename, typename> typename T, typename M1,
+            typename R1, typename C1, typename M2, typename R2, typename C2>
+    requires(eigen<M1> or eigen<M2>)
+  [[nodiscard]] inline constexpr auto operator()(T<M1, R1, C1> lhs,
+                                                 T<M2, R2, C2> rhs) const
+      -> T<typename decltype(M1{} * transposer{}(M2{}))::PlainMatrix, R1, R2>;
 };
 
 template <typename Lhs, typename Rhs>
 using deduce_matrix =
     std::remove_cvref_t<std::invoke_result_t<matrix_deducer, Lhs, Rhs>>;
+
 } // namespace fcarouge::internal
 
 #endif // FCAROUGE_INTERNAL_UTILITY_HPP

include/fcarouge/internal/x_z_p_r_f.hpp

@@ -48,22 +48,22 @@ template <typename State, typename Output> struct x_z_p_r_f {
   using estimate_uncertainty = deduce_matrix<state, state>;
   using output_uncertainty = deduce_matrix<output, output>;
   using state_transition = deduce_matrix<state, state>;
-  using gain = deduce_matrix<state, output>;
   using innovation = output;
   using innovation_uncertainty = output_uncertainty;
 
-  static inline const auto i{identity_v<deduce_matrix<state, state>>};
-
   state x{zero_v<state>};
   estimate_uncertainty p{identity_v<estimate_uncertainty>};
   output_uncertainty r{zero_v<output_uncertainty>};
   state_transition f{identity_v<state_transition>};
-  gain k{identity_v<gain>};
   innovation y{zero_v<innovation>};
   innovation_uncertainty s{identity_v<innovation_uncertainty>};
   output z{zero_v<output>};
   transposer t{};
 
+  using gain = std::remove_cvref_t<decltype(p / s)>;
+  gain k{identity_v<gain>};
+  static inline const auto i{identity_v<gain>};
+
   inline constexpr void update(const output &output_z) {
     z = output_z;
     s = p + r;

include/fcarouge/kalman.hpp

@@ -141,7 +141,7 @@ class kalman : public internal::conditional_member_types<Filter> {
   //! @details The internal implementation, filtering strategies, and presence
   //! of members vary based on the constructed, configured, declared, deduced
   //! filter.
-  using implementation = Filter;
+  using implementation = Filter; // Remove me (?) in a separate pull request.
   //! @}
 
   //! @name Private Member Variables

include/fcarouge/utility.hpp

@@ -146,6 +146,9 @@ using empty_pack = internal::empty_pack;
 //! @brief Unpack the first type of the type template parameter pack.
 template <typename... Types> using first_t = internal::first_t<Types...>;
 
+//! @brief Type of the count of the types in the pack.
+template <typename Pack> using size_t = internal::size_t<Pack>;
+
 //! @brief The matrix type satisfying `X * Row = Column`.
 //!
 //! @details The resulting type of a matrix division. The resulting matrix type
@@ -174,7 +177,7 @@ constexpr auto operator/(const Numerator &lhs, const Denominator &rhs)
 template <auto... Values>
 inline constexpr auto first_v{internal::first_v<Values...>};
 
-//! @brief Count of packed types.
+//! @brief Count the packed types.
 template <typename Pack> inline constexpr auto size{internal::size<Pack>};
 
 //! @brief The identity matrix.
@@ -192,6 +195,10 @@ template <typename Type>
   requires requires { Type::Identity(); }
 inline auto identity_v<Type>{Type::Identity()};
 
+template <typename Type>
+  requires requires { Type::identity(); }
+inline auto identity_v<Type>{Type::identity()};
+
 //! @brief The zero matrix.
 //!
 //! @details User-defined.
@@ -206,6 +213,10 @@ inline constexpr Arithmetic zero_v<Arithmetic>{0};
 template <typename Type>
   requires requires { Type::Zero(); }
 inline auto zero_v<Type>{Type::Zero()};
+
+template <typename Type>
+  requires requires { Type::zero(); }
+inline auto zero_v<Type>{Type::zero()};
 //! @}
 } // namespace fcarouge
 

linalg/CMakeLists.txt

@@ -37,4 +37,6 @@ OTHER DEALINGS IN THE SOFTWARE.
 For more information, please refer to <https://unlicense.org> ]]
 
 add_subdirectory("eigen")
+add_subdirectory("mp_units")
 add_subdirectory("naive")
+add_subdirectory("physical")

linalg/mp_units/CMakeLists.txt

@@ -0,0 +1,71 @@
+#[[ __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.4.0
+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(FetchContent)
+
+FetchContent_Declare(
+  fmt
+  GIT_REPOSITORY "https://github.com/fmtlib/fmt"
+  GIT_SHALLOW TRUE
+  FIND_PACKAGE_ARGS NAMES fmt)
+FetchContent_MakeAvailable(fmt)
+
+FetchContent_Declare(
+  gsl-lite
+  GIT_REPOSITORY "https://github.com/gsl-lite/gsl-lite"
+  GIT_SHALLOW TRUE
+  FIND_PACKAGE_ARGS NAMES gsl-lite)
+FetchContent_MakeAvailable(gsl-lite)
+
+FetchContent_Declare(
+  mp-units
+  GIT_REPOSITORY "https://github.com/mpusz/mp-units"
+  GIT_SHALLOW TRUE
+  SOURCE_SUBDIR "src" FIND_PACKAGE_ARGS NAMES mp-units)
+FetchContent_MakeAvailable(mp-units)
+
+target_compile_options(mp-units INTERFACE $<IF:$<CXX_COMPILER_ID:MSVC>, ,
+                                          -Wno-double-promotion>)
+target_compile_options(mp-units INTERFACE $<IF:$<CXX_COMPILER_ID:MSVC>, ,
+                                          -Wno-undef>)
+
+add_library(kalman_unit_mp_units INTERFACE)
+target_sources(
+  kalman_unit_mp_units INTERFACE FILE_SET "unit_headers" TYPE "HEADERS" FILES
+                                 "fcarouge/unit.hpp")
+target_link_libraries(kalman_unit_mp_units INTERFACE mp-units::mp-units)

linalg/mp_units/fcarouge/unit.hpp

@@ -0,0 +1,61 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.4.0
+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_UNIT_HPP
+#define FCAROUGE_UNIT_HPP
+
+#include <mp-units/framework/quantity.h>
+#include <mp-units/math.h>
+#include <mp-units/systems/si.h>
+
+namespace fcarouge {
+//! @brief The physical unit quantity.
+template <auto Reference, typename Representation>
+using quantity = mp_units::quantity<Reference, Representation>;
+
+template <mp_units::Quantity Type>
+inline constexpr auto identity_v<Type>{Type::one()};
+} // namespace fcarouge
+
+using mp_units::si::metre;
+using mp_units::si::second;
+using mp_units::si::unit_symbols::m;
+using mp_units::si::unit_symbols::s;
+using mp_units::si::unit_symbols::s2;
+
+#endif // FCAROUGE_UNIT_HPP

linalg/physical/CMakeLists.txt

@@ -0,0 +1,45 @@
+#[[ __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.4.0
+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> ]]
+
+add_library(kalman_physical_linalg_mp_units_eigen INTERFACE)
+target_sources(
+  kalman_physical_linalg_mp_units_eigen
+  INTERFACE FILE_SET "unit_headers" TYPE "HEADERS" FILES
+            "fcarouge/physical_linalg.hpp")
+target_link_libraries(kalman_physical_linalg_mp_units_eigen
+                      INTERFACE kalman kalman_unit_mp_units kalman_linalg_eigen)