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Revert "Merge branch 'master-msvc-194-only-lib' into master-msvc-194"

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This reverts commit e3034c5554, reversing
changes made to 8be458b0b7.
This commit is contained in:
Jonas Hoppe committed 2024-09-09 12:10:39 +02:00
1 parent 1d0dbf48b1
commit aebf55c09a
34 files changed
+864 -855
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example/kalman_filter/kalman.h
+8 -8
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@@ -116,15 +116,15 @@ template<mp_units::Quantity Q1, mp_units::Quantity Q2>
}
// state update
template<typename QP, mp_units::QuantityPoint QM, mp_units::QuantityOf<mp_units::dimensionless> K>
template<typename QP, mp_units::QuantityPoint QM, mp_units::QuantityOf<(mp_units::dimensionless)> K>
requires(implicitly_convertible(QM::quantity_spec, QP::quantity_spec))
[[nodiscard]] constexpr system_state<QP> state_update(const system_state<QP>& predicted, QM measured, K gain)
{
return system_state<QP>{get<0>(predicted) + gain * (measured - get<0>(predicted))};
}
template<typename QP1, typename QP2, mp_units::QuantityPoint QM, mp_units::QuantityOf<mp_units::dimensionless> K,
mp_units::QuantityOf<mp_units::isq::time> T>
template<typename QP1, typename QP2, mp_units::QuantityPoint QM, mp_units::QuantityOf<(mp_units::dimensionless)> K,
mp_units::QuantityOf<(mp_units::isq::time)> T>
requires(implicitly_convertible(QM::quantity_spec, QP1::quantity_spec))
[[nodiscard]] constexpr system_state<QP1, QP2> state_update(const system_state<QP1, QP2>& predicted, QM measured,
std::array<K, 2> gain, T interval)
@@ -135,7 +135,7 @@ template<typename QP1, typename QP2, mp_units::QuantityPoint QM, mp_units::Quant
}
template<typename QP1, typename QP2, typename QP3, mp_units::QuantityPoint QM,
mp_units::QuantityOf<mp_units::dimensionless> K, mp_units::QuantityOf<mp_units::isq::time> T>
mp_units::QuantityOf<(mp_units::dimensionless)> K, mp_units::QuantityOf<(mp_units::isq::time)> T>
requires(implicitly_convertible(QM::quantity_spec, QP1::quantity_spec))
[[nodiscard]] constexpr system_state<QP1, QP2, QP3> state_update(const system_state<QP1, QP2, QP3>& predicted,
QM measured, std::array<K, 3> gain, T interval)
@@ -147,13 +147,13 @@ template<typename QP1, typename QP2, typename QP3, mp_units::QuantityPoint QM,
}
// covariance update
template<mp_units::Quantity Q, mp_units::QuantityOf<mp_units::dimensionless> K>
template<mp_units::Quantity Q, mp_units::QuantityOf<(mp_units::dimensionless)> K>
[[nodiscard]] constexpr Q covariance_update(Q uncertainty, K gain)
{
return (1 * mp_units::one - gain) * uncertainty;
}
template<mp_units::QuantityPoint... QPs, mp_units::QuantityPoint QP, mp_units::QuantityOf<mp_units::dimensionless> K>
template<mp_units::QuantityPoint... QPs, mp_units::QuantityPoint QP, mp_units::QuantityOf<(mp_units::dimensionless)> K>
[[nodiscard]] constexpr system_state_estimate<QPs...> state_estimate_update(
const system_state_estimate<QPs...>& previous, QP measurement, K gain)
{
@@ -162,7 +162,7 @@ template<mp_units::QuantityPoint... QPs, mp_units::QuantityPoint QP, mp_units::Q
// state extrapolation
template<typename QP1, typename QP2, mp_units::QuantityOf<mp_units::isq::time> T>
template<typename QP1, typename QP2, mp_units::QuantityOf<(mp_units::isq::time)> T>
[[nodiscard]] constexpr system_state<QP1, QP2> state_extrapolation(const system_state<QP1, QP2>& estimated, T interval)
{
auto to_quantity = [](const auto& qp) { return qp.quantity_ref_from(qp.point_origin); };
@@ -171,7 +171,7 @@ template<typename QP1, typename QP2, mp_units::QuantityOf<mp_units::isq::time> T
return system_state<QP1, QP2>{qp1, qp2};
}
template<typename QP1, typename QP2, typename QP3, mp_units::QuantityOf<mp_units::isq::time> T>
template<typename QP1, typename QP2, typename QP3, mp_units::QuantityOf<(mp_units::isq::time)> T>
[[nodiscard]] constexpr system_state<QP1, QP2, QP3> state_extrapolation(const system_state<QP1, QP2, QP3>& estimated,
T interval)
{