[filter] auto type parameter on predict and update for API simplicity

FrancoisCarouge · Oct 6, 2024 · 222abe1 · 222abe1
1 parent 9f08e18
commit 222abe1
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Showing 5 changed files with 8 additions and 21 deletions.
diff --git a/include/fcarouge/internal/x_z_p_q_r_h_f.hpp b/include/fcarouge/internal/x_z_p_q_r_h_f.hpp
@@ -68,9 +68,7 @@ template <typename State, typename Output> struct x_z_p_q_r_h_f {
   output z{zero_v<output>};
   transpose t{};
 
-  template <typename Output0, typename... OutputN>
-  inline constexpr void update(const Output0 &output_z,
-                               const OutputN &...outputs_z) {
+  inline constexpr void update(const auto &output_z, const auto &...outputs_z) {
     z = output{output_z, outputs_z...};
     s = innovation_uncertainty{h * p * t(h) + r};
     k = p * t(h) / s;

diff --git a/include/fcarouge/internal/x_z_p_q_r_hh_us_ps.hpp b/include/fcarouge/internal/x_z_p_q_r_hh_us_ps.hpp
@@ -103,10 +103,8 @@ struct x_z_p_q_r_hh_us_ps<State, Output, pack<UpdateTypes...>,
   prediction_types prediction_arguments{};
   transpose t{};
 
-  template <typename Output0, typename... OutputN>
   inline constexpr void update(const UpdateTypes &...update_pack,
-                               const Output0 &output_z,
-                               const OutputN &...outputs_z) {
+                               const auto &output_z, const auto &...outputs_z) {
     update_arguments = {update_pack...};
     z = output{output_z, outputs_z...};
     h = observation_state_h(x, update_pack...);

diff --git a/include/fcarouge/internal/x_z_p_qq_rr_f.hpp b/include/fcarouge/internal/x_z_p_qq_rr_f.hpp
@@ -77,9 +77,7 @@ template <typename State, typename Output> struct x_z_p_qq_rr_f {
   output z{zero_v<output>};
   transpose t{};
 
-  template <typename Output0, typename... OutputN>
-  inline constexpr void update(const Output0 &output_z,
-                               const OutputN &...outputs_z) {
+  inline constexpr void update(const auto &output_z, const auto &...outputs_z) {
     z = output{output_z, outputs_z...};
     r = noise_observation_r(x, z);
     s = innovation_uncertainty{h * p * t(h) + r};

diff --git a/include/fcarouge/internal/x_z_u_p_q_r_f_g_ps.hpp b/include/fcarouge/internal/x_z_u_p_q_r_f_g_ps.hpp
@@ -95,9 +95,7 @@ struct x_z_u_p_q_r_f_g_ps<State, Output, Input, pack<UpdateTypes...>,
   prediction_types prediction_arguments{};
   transpose t{};
 
-  template <typename Output0, typename... OutputN>
-  inline constexpr void update(const Output0 &output_z,
-                               const OutputN &...outputs_z) {
+  inline constexpr void update(const auto &output_z, const auto &...outputs_z) {
     z = output{output_z, outputs_z...};
     s = h * p * t(h) + r;
     k = p * t(h) / s;
@@ -106,10 +104,8 @@ struct x_z_u_p_q_r_f_g_ps<State, Output, Input, pack<UpdateTypes...>,
     p = estimate_uncertainty{(i - k * h) * p * t(i - k * h) + k * r * t(k)};
   }
 
-  template <typename Input0, typename... InputN>
   inline constexpr void predict(const PredictionTypes &...prediction_pack,
-                                const Input0 &input_u,
-                                const InputN &...inputs_u) {
+                                const auto &input_u, const auto &...inputs_u) {
     prediction_arguments = {prediction_pack...};
     u = input{input_u, inputs_u...};
     f = transition_state_f(x, u, prediction_pack...);

diff --git a/include/fcarouge/internal/x_z_u_p_q_r_us_ps.hpp b/include/fcarouge/internal/x_z_u_p_q_r_us_ps.hpp
@@ -86,10 +86,8 @@ struct x_z_u_p_q_r_us_ps<State, Output, Input, pack<UpdateTypes...>,
   prediction_types prediction_arguments{};
   transpose t{};
 
-  template <typename Output0, typename... OutputN>
   inline constexpr void update(const UpdateTypes &...update_pack,
-                               const Output0 &output_z,
-                               const OutputN &...outputs_z) {
+                               const auto &output_z, const auto &...outputs_z) {
     update_arguments = {update_pack...};
     z = output{output_z, outputs_z...};
     s = h * p * t(h) + r;
@@ -99,10 +97,9 @@ struct x_z_u_p_q_r_us_ps<State, Output, Input, pack<UpdateTypes...>,
     p = (i - k * h) * p * t(i - k * h) + k * r * t(k);
   }
 
-  template <typename Input0, typename... InputN>
+  //! @todo Add convertible requirements on input and output packs?
   inline constexpr void predict(const PredictionTypes &...prediction_pack,
-                                const Input0 &input_u,
-                                const InputN &...inputs_u) {
+                                const auto &input_u, const auto &...inputs_u) {
     prediction_arguments = {prediction_pack...};
     u = input{input_u, inputs_u...};
     x = f * x + g * u;