[unit] arithmetic filters with units

.github/workflows/cppcheck.yml

@@ -41,15 +41,12 @@ jobs:
           --suppress=missingIncludeSystem \
           --suppress=preprocessorErrorDirective \
           --suppress=unusedFunction:include/fcarouge/format.hpp \
-          --suppress=syntaxError: test/units_kf_6x2x0_vehicle_location.cpp \
           --verbose \
           -I benchmark/include \
           -I include \
           -I support/eigen \
           -I support/generator \
-          -I support/indexed \
           -I support/lazy \
           -I support/mp_units \
           -I support/naive \
-          -I support/quantity \
           .

include/fcarouge/internal/x_z_p_q_r_h_f.hpp

@@ -50,8 +50,6 @@ template <typename State, typename Output> struct x_z_p_q_r_h_f {
   using output_uncertainty = ᴀʙᵀ<output, output>;
   using state_transition = ᴀʙᵀ<state, state>;
   using output_model = ᴀʙᵀ<output, state>;
-
-  //! @todo Fix me: this gain type is incorrect for physical arithmetic types.
   using gain = ᴀʙᵀ<state, output>;
   using innovation = output;
   using innovation_uncertainty = output_uncertainty;

include/fcarouge/kalman.hpp

@@ -231,11 +231,6 @@ class kalman : public internal::conditional_member_types<Filter> {
   //! @note Overloading the operator dot would have been nice had it existed.
   inline constexpr auto &&x(this auto &&self);
 
-  template <auto Index> inline constexpr auto x(this auto &&self) {
-    return std::forward<decltype(self)>(self)
-        .filter.x.template operator()<Index>();
-  }
-
   //! @brief Sets the state estimate column vector X.
   //!
   //! @param value The first copied initializer used to set the state estimate

include/fcarouge/utility.hpp

@@ -159,10 +159,6 @@ template <typename Type> struct evaluater {
   [[nodiscard]] inline constexpr auto operator()() const -> Type;
 };
 
-// template <arithmetic Arithmetic> struct evaluater<Arithmetic> {
-//   [[nodiscard]] inline constexpr auto operator()() const -> Arithmetic;
-// };
-
 //! @brief Evaluater helper type.
 template <typename Type> using evaluate = std::invoke_result_t<evaluater<Type>>;
 

support/CMakeLists.txt

@@ -37,11 +37,9 @@ OTHER DEALINGS IN THE SOFTWARE.
 For more information, please refer to <https://unlicense.org> ]]
 
 add_subdirectory("eigen")
-add_subdirectory("indexed")
 add_subdirectory("main")
 add_subdirectory("mp_units")
 add_subdirectory("naive")
-add_subdirectory("quantity")
 
 add_library(kalman_options INTERFACE)