[decorator] add printer support

include/CMakeLists.txt

@@ -46,6 +46,7 @@ target_sources(
             "HEADERS"
             FILES
             "fcarouge/kalman.hpp"
+            "fcarouge/printer.hpp"
             "fcarouge/utility.hpp")
 install(
   TARGETS kalman

include/fcarouge/kalman.hpp

@@ -48,6 +48,7 @@ For more information, please refer to <https://unlicense.org> */
 
 #include "internal/factory.hpp"
 #include "internal/format.hpp"
+#include "printer.hpp"
 #include "utility.hpp"
 
 #include <concepts>
@@ -131,7 +132,7 @@ namespace fcarouge {
 //! https://arxiv.org/pdf/1905.13002.pdf ? GPU implementation? Parallel
 //! implementation?
 template <typename Filter>
-class kalman final : public internal::conditional_member_types<Filter> {
+class kalman : public internal::conditional_member_types<Filter> {
 private:
   //! @name Private Member Types
   //! @{

include/fcarouge/printer.hpp

@@ -0,0 +1,96 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+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_PRINTER_HPP
+#define FCAROUGE_PRINTER_HPP
+
+#include <print>
+
+namespace fcarouge {
+namespace decorator {
+template <typename Filter> class printer : public Filter {
+public:
+  using Filter::p;
+  using Filter::x;
+
+  inline constexpr explicit printer([[maybe_unused]] Filter &&filter)
+      : Filter{std::forward<Filter>(filter)} {
+    std::println("{{\"event\": \"construction\", \"filter\":{}}}", *this);
+  }
+
+  inline constexpr ~printer() {
+    std::println("{{\"event\": \"destruction\", \"filter\":{}}}", *this);
+  }
+
+  inline constexpr void x(const auto &value, const auto &...values) {
+    Filter::x(value, values...);
+    std::println("{{\"event\": \"x\", \"filter\":{}}}", *this);
+  }
+
+  //! @todo Implement the remaining events.
+  inline constexpr void p(const auto &value, const auto &...values) {
+    Filter::p(value, values...);
+    std::println("{{\"event\": \"p\", \"filter\":{}}}", *this);
+  }
+
+  inline constexpr void predict(const auto &...arguments) {
+    Filter::predict(arguments...);
+    std::println("{{\"event\": \"predict\", \"filter\":{}}}", *this);
+  }
+
+  inline constexpr void update(const auto &...arguments) {
+    Filter::update(arguments...);
+    std::println("{{\"event\": \"update\", \"filter\":{}}}", *this);
+  }
+};
+} // namespace decorator
+
+//! @todo Support optional output streams?
+struct printer_decorator {};
+
+inline constexpr printer_decorator printer;
+
+template <typename Filter>
+inline constexpr auto
+operator|(Filter &&filter, [[maybe_unused]] const printer_decorator decorator) {
+  return decorator::printer<Filter>(std::forward<Filter>(filter));
+}
+
+} // namespace fcarouge
+
+#endif // FCAROUGE_PRINTER_HPP

test/CMakeLists.txt

@@ -44,7 +44,8 @@ foreach(
   "kalman_format_arguments.cpp"
   "kalman_format_float_1x1x1.cpp"
   "kalman_format.cpp"
-  "kalman_println_1x1x0.cpp")
+  "kalman_println_1x1x0.cpp"
+  "printer_1x1x0.cpp")
   get_filename_component(NAME ${TEST} NAME_WE)
   add_executable(kalman_test_${NAME}_driver ${TEST})
   target_link_libraries(kalman_test_${NAME}_driver PRIVATE kalman kalman_main
@@ -104,7 +105,8 @@ foreach(BACKEND IN ITEMS "eigen")
     "kalman_f_5x4x3.cpp"
     "kalman_h_5x4x3.cpp"
     "kalman_format_1x4x3.cpp"
-    "kalman_format_5x4x3.cpp")
+    "kalman_format_5x4x3.cpp"
+    "printer_2x3x4.cpp")
     get_filename_component(NAME ${TEST} NAME_WE)
     add_executable(kalman_test_${BACKEND}_${NAME}_driver ${TEST})
     target_link_libraries(

test/printer_1x1x0.cpp

@@ -0,0 +1,70 @@
+/*  __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+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 "fcarouge/kalman.hpp"
+
+#include <cassert>
+#include <cmath>
+
+namespace fcarouge::sample {
+namespace {
+//! @brief Verifies the printer adaptor for single-dimension filters.
+[[maybe_unused]] auto sample{[] {
+  auto filter{kalman{state{60.}, output<double>, estimate_uncertainty{225.},
+                     output_uncertainty{25.}} |
+              printer};
+
+  filter.update(48.54);
+  filter.update(47.11);
+  filter.update(55.01);
+  filter.update(55.15);
+  filter.update(49.89);
+  filter.update(40.85);
+  filter.update(46.72);
+  filter.update(50.05);
+  filter.update(51.27);
+  filter.update(49.95);
+
+  assert(std::abs(1 - filter.x() / 49.57) < 0.001 &&
+         "After 10 measurement and update iterations, the building estimated "
+         "height is: 49.57m.");
+
+  return 0;
+}()};
+} // namespace
+} // namespace fcarouge::sample

test/printer_2x3x4.cpp

@@ -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> */
+
+#include "fcarouge/kalman.hpp"
+#include "fcarouge/linalg.hpp"
+
+#include <cassert>
+#include <cmath>
+
+namespace fcarouge::sample {
+namespace {
+template <auto Size> using vector = column_vector<double, Size>;
+
+//! @brief Verifies the printer adaptor for multi-dimension filters with input
+//! control without additional arguments.
+[[maybe_unused]] auto sample{[] {
+  auto filter{kalman{state{vector<5>{0., 0., 0., 0., 0.}}, output<vector<4>>,
+                     input<vector<3>>} |
+              printer};
+
+  filter.predict(0., 0., 0.);
+
+  return 0;
+}()};
+} // namespace
+} // namespace fcarouge::sample