From 278dbace981044b955606c6ab27bc52609a2cab5 Mon Sep 17 00:00:00 2001
From: Mateusz Pusz <mateusz.pusz@gmail.com>
Date: Fri, 23 Dec 2022 19:23:00 +0100
Subject: [PATCH] refactor(example): remaining kalman filter examples
 refactored for V2

---
 example/kalman_filter/CMakeLists.txt          | 10 ++---
 example/kalman_filter/kalman.h                |  3 +-
 .../kalman_filter/kalman_filter-example_6.cpp | 44 ++++++-------------
 .../kalman_filter/kalman_filter-example_7.cpp | 44 ++++++-------------
 .../kalman_filter/kalman_filter-example_8.cpp | 43 +++++-------------
 5 files changed, 42 insertions(+), 102 deletions(-)

diff --git a/example/kalman_filter/CMakeLists.txt b/example/kalman_filter/CMakeLists.txt
index d2f62243..79bd7cfc 100644
--- a/example/kalman_filter/CMakeLists.txt
+++ b/example/kalman_filter/CMakeLists.txt
@@ -28,7 +28,6 @@ cmake_minimum_required(VERSION 3.2)
 function(add_example target)
     add_executable(${target} ${target}.cpp)
     target_link_libraries(${target} PRIVATE ${ARGN})
-    target_compile_definitions(${target} PRIVATE ${projectPrefix}NO_LITERALS ${projectPrefix}NO_ALIASES)
 endfunction()
 
 add_example(kalman_filter-example_1 mp-units::core-fmt mp-units::si)
@@ -36,9 +35,6 @@ add_example(kalman_filter-example_2 mp-units::core-fmt mp-units::si)
 add_example(kalman_filter-example_3 mp-units::core-fmt mp-units::si)
 add_example(kalman_filter-example_4 mp-units::core-fmt mp-units::si)
 add_example(kalman_filter-example_5 mp-units::core-fmt mp-units::si)
-
-if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
-    add_example(kalman_filter-example_6 mp-units::core-fmt mp-units::si)
-    add_example(kalman_filter-example_7 mp-units::core-fmt mp-units::si)
-    add_example(kalman_filter-example_8 mp-units::core-fmt mp-units::si)
-endif()
+add_example(kalman_filter-example_6 mp-units::core-fmt mp-units::si)
+add_example(kalman_filter-example_7 mp-units::core-fmt mp-units::si)
+add_example(kalman_filter-example_8 mp-units::core-fmt mp-units::si)
diff --git a/example/kalman_filter/kalman.h b/example/kalman_filter/kalman.h
index eb2a23ce..e9341d43 100644
--- a/example/kalman_filter/kalman.h
+++ b/example/kalman_filter/kalman.h
@@ -33,8 +33,7 @@
 namespace kalman {
 
 template<typename T>
-concept QuantityOrQuantityPoint =
-  units::Quantity<T> || units::QuantityPoint<T>;  // TODO Should it also account for `kinds`?
+concept QuantityOrQuantityPoint = units::Quantity<T> || units::QuantityPoint<T>;
 
 template<units::Dimension auto... Ds>
 inline constexpr bool are_time_derivatives = false;
diff --git a/example/kalman_filter/kalman_filter-example_6.cpp b/example/kalman_filter/kalman_filter-example_6.cpp
index b77d3d62..507a1b16 100644
--- a/example/kalman_filter/kalman_filter-example_6.cpp
+++ b/example/kalman_filter/kalman_filter-example_6.cpp
@@ -22,32 +22,13 @@
 
 #include "kalman.h"
 #include <units/format.h>
-#include <units/isq/si/thermodynamic_temperature.h>
+#include <units/isq/thermodynamics.h>
 #include <units/math.h>
 #include <units/quantity_point.h>
-#include <units/unit.h>
+#include <units/si/unit_symbols.h>
 #include <array>
 #include <iostream>
 
-// TODO Fix when Celsius is properly supported (#232)
-namespace units::isq::si {
-
-struct degree_celsius : alias_unit<kelvin, basic_symbol_text{"°C", "deg_C"}> {};
-
-namespace thermodynamic_temperature_references {
-
-inline constexpr auto deg_C = reference<dim_thermodynamic_temperature, degree_celsius>{};
-
-}  // namespace thermodynamic_temperature_references
-
-namespace references {
-
-using namespace thermodynamic_temperature_references;
-
-}  // namespace references
-
-}  // namespace units::isq::si
-
 // Based on: https://www.kalmanfilter.net/kalman1d.html#ex6
 
 using namespace units;
@@ -60,7 +41,7 @@ void print_header(kalman::estimation<QP> initial)
                                "Next Estimate");
 }
 
-template<QuantityPoint QP, Dimensionless K>
+template<QuantityPoint QP, quantity_of<dimensionless> K>
 void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current, kalman::estimation<QP> next)
 {
   std::cout << STD_FMT::format("{:2} | {:7%.4Q} | {:10%.3Q %q} | {:>18.3} | {:>18.3}\n", iteration, gain,
@@ -69,20 +50,21 @@ void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current,
 
 int main()
 {
+  constexpr auto deg_C = isq::Celsius_temperature[si::degree_Celsius];
+
   using namespace kalman;
-  using namespace units::isq;
-  using namespace units::isq::si::references;
 
   const auto process_noise_variance = 0.0001 * (deg_C * deg_C);
-  const estimation initial = {state{quantity_point(10. * deg_C)}, pow<2>(100. * deg_C)};
-  const std::array measurements = {quantity_point(49.95 * deg_C),  quantity_point(49.967 * deg_C),
-                                   quantity_point(50.1 * deg_C),   quantity_point(50.106 * deg_C),
-                                   quantity_point(49.992 * deg_C), quantity_point(49.819 * deg_C),
-                                   quantity_point(49.933 * deg_C), quantity_point(50.007 * deg_C),
-                                   quantity_point(50.023 * deg_C), quantity_point(49.99 * deg_C)};
+  const estimation initial = {state{quantity_point{10. * deg_C}}, pow<2>(100. * deg_C)};
+  const std::array measurements = {quantity_point{49.95 * deg_C},  quantity_point{49.967 * deg_C},
+                                   quantity_point{50.1 * deg_C},   quantity_point{50.106 * deg_C},
+                                   quantity_point{49.992 * deg_C}, quantity_point{49.819 * deg_C},
+                                   quantity_point{49.933 * deg_C}, quantity_point{50.007 * deg_C},
+                                   quantity_point{50.023 * deg_C}, quantity_point{49.99 * deg_C}};
   const auto measurement_uncertainty = pow<2>(0.1 * deg_C);
 
-  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement, Dimensionless auto gain) {
+  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement,
+                                      quantity_of<dimensionless> auto gain) {
     return estimation{state_update(previous.state, meassurement, gain), covariance_update(previous.uncertainty, gain)};
   };
 
diff --git a/example/kalman_filter/kalman_filter-example_7.cpp b/example/kalman_filter/kalman_filter-example_7.cpp
index 7387ab56..d0f53585 100644
--- a/example/kalman_filter/kalman_filter-example_7.cpp
+++ b/example/kalman_filter/kalman_filter-example_7.cpp
@@ -22,32 +22,13 @@
 
 #include "kalman.h"
 #include <units/format.h>
-#include <units/isq/si/thermodynamic_temperature.h>
+#include <units/isq/thermodynamics.h>
 #include <units/math.h>
 #include <units/quantity_point.h>
-#include <units/unit.h>
+#include <units/si/unit_symbols.h>
 #include <array>
 #include <iostream>
 
-// TODO Fix when Celsius is properly supported (#232)
-namespace units::isq::si {
-
-struct degree_celsius : alias_unit<kelvin, basic_symbol_text{"°C", "deg_C"}> {};
-
-namespace thermodynamic_temperature_references {
-
-inline constexpr auto deg_C = reference<dim_thermodynamic_temperature, degree_celsius>{};
-
-}  // namespace thermodynamic_temperature_references
-
-namespace references {
-
-using namespace thermodynamic_temperature_references;
-
-}  // namespace references
-
-}  // namespace units::isq::si
-
 // Based on: https://www.kalmanfilter.net/kalman1d.html#ex7
 
 using namespace units;
@@ -60,7 +41,7 @@ void print_header(kalman::estimation<QP> initial)
                                "Next Estimate");
 }
 
-template<QuantityPoint QP, Dimensionless K>
+template<QuantityPoint QP, quantity_of<dimensionless> K>
 void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current, kalman::estimation<QP> next)
 {
   std::cout << STD_FMT::format("{:2} | {:7%.4Q} | {:10%.3Q %q} | {:>18.3} | {:>18.3}\n", iteration, gain,
@@ -69,20 +50,21 @@ void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current,
 
 int main()
 {
+  constexpr auto deg_C = isq::Celsius_temperature[si::degree_Celsius];
+
   using namespace kalman;
-  using namespace units::isq;
-  using namespace units::isq::si::references;
 
   const auto process_noise_variance = 0.0001 * (deg_C * deg_C);
-  const estimation initial = {state{quantity_point(10. * deg_C)}, pow<2>(100. * deg_C)};
-  const std::array measurements = {quantity_point(50.45 * deg_C),  quantity_point(50.967 * deg_C),
-                                   quantity_point(51.6 * deg_C),   quantity_point(52.106 * deg_C),
-                                   quantity_point(52.492 * deg_C), quantity_point(52.819 * deg_C),
-                                   quantity_point(53.433 * deg_C), quantity_point(54.007 * deg_C),
-                                   quantity_point(54.523 * deg_C), quantity_point(54.99 * deg_C)};
+  const estimation initial = {state{quantity_point{10. * deg_C}}, pow<2>(100. * deg_C)};
+  const std::array measurements = {quantity_point{50.45 * deg_C},  quantity_point{50.967 * deg_C},
+                                   quantity_point{51.6 * deg_C},   quantity_point{52.106 * deg_C},
+                                   quantity_point{52.492 * deg_C}, quantity_point{52.819 * deg_C},
+                                   quantity_point{53.433 * deg_C}, quantity_point{54.007 * deg_C},
+                                   quantity_point{54.523 * deg_C}, quantity_point{54.99 * deg_C}};
   const auto measurement_uncertainty = pow<2>(0.1 * deg_C);
 
-  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement, Dimensionless auto gain) {
+  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement,
+                                      quantity_of<dimensionless> auto gain) {
     return estimation{state_update(previous.state, meassurement, gain), covariance_update(previous.uncertainty, gain)};
   };
 
diff --git a/example/kalman_filter/kalman_filter-example_8.cpp b/example/kalman_filter/kalman_filter-example_8.cpp
index c2e0e1f6..5b7df927 100644
--- a/example/kalman_filter/kalman_filter-example_8.cpp
+++ b/example/kalman_filter/kalman_filter-example_8.cpp
@@ -22,32 +22,13 @@
 
 #include "kalman.h"
 #include <units/format.h>
-#include <units/isq/si/thermodynamic_temperature.h>
+#include <units/isq/thermodynamics.h>
 #include <units/math.h>
 #include <units/quantity_point.h>
-#include <units/unit.h>
+#include <units/si/unit_symbols.h>
 #include <array>
 #include <iostream>
 
-// TODO Fix when Celsius is properly supported (#232)
-namespace units::isq::si {
-
-struct degree_celsius : alias_unit<kelvin, basic_symbol_text{"°C", "deg_C"}> {};
-
-namespace thermodynamic_temperature_references {
-
-inline constexpr auto deg_C = reference<dim_thermodynamic_temperature, degree_celsius>{};
-
-}  // namespace thermodynamic_temperature_references
-
-namespace references {
-
-using namespace thermodynamic_temperature_references;
-
-}  // namespace references
-
-}  // namespace units::isq::si
-
 // Based on: https://www.kalmanfilter.net/kalman1d.html#ex8
 
 using namespace units;
@@ -60,7 +41,7 @@ void print_header(kalman::estimation<QP> initial)
                                "Next Estimate");
 }
 
-template<QuantityPoint QP, Dimensionless K>
+template<QuantityPoint QP, quantity_of<dimensionless> K>
 void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current, kalman::estimation<QP> next)
 {
   std::cout << STD_FMT::format("{:2} | {:7%.3Q} | {:10%.3Q %q} | {:>16.2} | {:>16.2}\n", iteration, gain,
@@ -69,20 +50,20 @@ void print(auto iteration, K gain, QP measured, kalman::estimation<QP> current,
 
 int main()
 {
+  constexpr auto deg_C = isq::Celsius_temperature[si::degree_Celsius];
+
   using namespace kalman;
-  using namespace units::isq;
-  using namespace units::isq::si::references;
 
   const auto process_noise_variance = 0.15 * (deg_C * deg_C);
-  const estimation initial = {state{quantity_point(10. * deg_C)}, pow<2>(100. * deg_C)};
-  const std::array measurements = {quantity_point(50.45 * deg_C),  quantity_point(50.967 * deg_C),
-                                   quantity_point(51.6 * deg_C),   quantity_point(52.106 * deg_C),
-                                   quantity_point(52.492 * deg_C), quantity_point(52.819 * deg_C),
-                                   quantity_point(53.433 * deg_C), quantity_point(54.007 * deg_C),
-                                   quantity_point(54.523 * deg_C), quantity_point(54.99 * deg_C)};
+  const estimation initial = {state{quantity_point{10. * deg_C}}, pow<2>(100. * deg_C)};
+  const std::array measurements = {quantity_point{50.45 * deg_C},  quantity_point{50.967 * deg_C},
+                                   quantity_point{51.6 * deg_C},   quantity_point{52.106 * deg_C},
+                                   quantity_point{52.492 * deg_C}, quantity_point{52.819 * deg_C},
+                                   quantity_point{53.433 * deg_C}, quantity_point{54.007 * deg_C},
+                                   quantity_point{54.523 * deg_C}, quantity_point{54.99 * deg_C}};
   const auto measurement_uncertainty = pow<2>(0.1 * deg_C);
 
-  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement, Dimensionless auto gain) {
+  auto update = [=]<QuantityPoint QP>(const estimation<QP>& previous, const QP& meassurement, quantity_of<dimensionless> auto gain) {
     return estimation{state_update(previous.state, meassurement, gain), covariance_update(previous.uncertainty, gain)};
   };