linalg.hpp

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Kalman Filter
Version 0.2.0
https://github.com/FrancoisCarouge/Kalman

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#ifndef FCAROUGE_LINALG_HPP
#define FCAROUGE_LINALG_HPP

//! @file
//! @brief Linear algebra facade for Eigen3 third party implementation.
//!
//! @details Matrix, vectors, and named algebraic values.
//!
//! @note The Eigen3 linear algebra is not constexpr-compatible as of July 2023.

#include "fcarouge/utility.hpp"

#include <Eigen/Eigen>

namespace fcarouge {
//! @name Algebraic Types
//! @{
//! @brief Compile-time sized Eigen3 matrix.
template <typename Type = double, auto Row = 1, auto Column = 1>
using matrix = Eigen::Matrix<Type, Row, Column>;

//! @brief Compile-time sized Eigen3 row vector.
template <typename Type = double, auto Column = 1>
using row_vector = Eigen::RowVector<Type, Column>;

//! @brief Compile-time sized Eigen3 column vector.
template <typename Type = double, auto Row = 1>
using column_vector = Eigen::Vector<Type, Row>;
//! @}

//! @name Algebraic Named Values
//! @{
//! @brief The identity matrix Eigen specialization.
template <eigen Matrix>
inline const auto identity_v<Matrix>{Matrix::Identity()};

//! @brief The zero matrix Eigen specialization.
template <eigen Matrix> inline const auto zero_v<Matrix>{Matrix::Zero()};
//! @}
} // namespace fcarouge

#endif // FCAROUGE_LINALG_HPP