From 8d0ceda3bbeee3e6dcbda8a123c70a9f5a008fe0 Mon Sep 17 00:00:00 2001
From: Francois Carouge <francois.carouge@gmail.com>
Date: Sat, 23 Jul 2022 22:29:22 -0700
Subject: [PATCH] [msvc] fix compatibility

---
 include/fcarouge/internal/kalman.hpp | 23 ++++++++++-------------
 test/f.cpp                           |  5 +++--
 test/h.cpp                           | 11 ++++++-----
 3 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/include/fcarouge/internal/kalman.hpp b/include/fcarouge/internal/kalman.hpp
index 7b0ee2f31..953dac76b 100644
--- a/include/fcarouge/internal/kalman.hpp
+++ b/include/fcarouge/internal/kalman.hpp
@@ -183,8 +183,9 @@ struct kalman<State, Output, void, Transpose, Symmetrize, Divide, Identity,
   //! does the compiler/linker do it for us?
   //! @todo Do we want to support extended custom y = output_difference(z,
   //! observation(x))?
+  template <typename... Outputs>
   inline constexpr void update(const UpdateTypes &...arguments,
-                               const auto &...output_z)
+                               const Outputs &...output_z)
   {
     const auto i{ identity.template operator()<estimate_uncertainty>() };
 
@@ -207,9 +208,10 @@ struct kalman<State, Output, void, Transpose, Symmetrize, Divide, Identity,
     p = symmetrize(estimate_uncertainty{ f * p * transpose(f) + q });
   }
 
+  template <typename... Outputs>
   inline constexpr void
   operator()(const PredictionTypes &...prediction_arguments,
-             const UpdateTypes &...update_arguments, const auto &...output_z)
+             const UpdateTypes &...update_arguments, const Outputs &...output_z)
   {
     update(update_arguments..., output_z...);
     predict(prediction_arguments...);
@@ -341,8 +343,9 @@ struct kalman<State, Output, Input, Transpose, Symmetrize, Divide, Identity,
   //! does the compiler/linker do it for us?
   //! @todo Do we want to support extended custom y = output_difference(z,
   //! observation(x))?
+  template <typename... Outputs>
   inline constexpr void update(const UpdateTypes &...arguments,
-                               const auto &...output_z)
+                               const Outputs &...output_z)
   {
     const auto i{ identity.template operator()<estimate_uncertainty>() };
 
@@ -363,8 +366,9 @@ struct kalman<State, Output, Input, Transpose, Symmetrize, Divide, Identity,
   //! input pack to the function?
   //! @todo Should input U be passed to noise process Q compute? Probably?
   //! @todo How to extended next state x = f * x + g * u?
+  template <typename... Inputs>
   inline constexpr void predict(const PredictionTypes &...arguments,
-                                const auto &...input_u)
+                                const Inputs &...input_u)
   {
     u = input{ input_u... };
     f = transition_state_f(x, arguments..., u);
@@ -374,17 +378,10 @@ struct kalman<State, Output, Input, Transpose, Symmetrize, Divide, Identity,
     p = symmetrize(estimate_uncertainty{ f * p * transpose(f) + q });
   }
 
-  inline constexpr void predict(const PredictionTypes &...arguments)
-  {
-    f = transition_state_f(x, arguments..., input{});
-    q = noise_process_q(x, arguments...);
-    x = transition(x, arguments...);
-    p = symmetrize(estimate_uncertainty{ f * p * transpose(f) + q });
-  }
-
+  template <typename... Inputs>
   inline constexpr void
   operator()(const PredictionTypes &...prediction_arguments,
-             const UpdateTypes &...update_arguments, const auto &...input_u,
+             const UpdateTypes &...update_arguments, const Inputs &...input_u,
              const auto &...output_z)
   {
     update(update_arguments..., output_z...);
diff --git a/test/f.cpp b/test/f.cpp
index 706c9180e..24e3bb737 100644
--- a/test/f.cpp
+++ b/test/f.cpp
@@ -111,6 +111,7 @@ namespace
   kalman k;
   const auto i5x5{ Eigen::Matrix<double, 5, 5>::Identity() };
   const auto z5x5{ Eigen::Matrix<double, 5, 5>::Zero() };
+  const Eigen::Matrix<double, 3, 1> z3x1{ Eigen::Matrix<double, 3, 1>::Zero() };
 
   assert(k.f() == i5x5);
 
@@ -152,7 +153,7 @@ namespace
     } };
     k.f(f);
     assert(k.f() == z5x5);
-    k.predict(0, 0, 0.f, 0.);
+    k.predict(char(0), 0, 0.f, 0., z3x1);
     assert(k.f() == i5x5);
   }
 
@@ -170,7 +171,7 @@ namespace
     } };
     k.f(std::move(f));
     assert(k.f() == i5x5);
-    k.predict(0, 0, 0.f, 0.);
+    k.predict(0, 0, 0.f, 0., z3x1);
     assert(k.f() == z5x5);
   }
 
diff --git a/test/h.cpp b/test/h.cpp
index f0ac7b63c..ef1989a0b 100644
--- a/test/h.cpp
+++ b/test/h.cpp
@@ -46,7 +46,7 @@ namespace
 {
 //! @test Verifies the observation transition matrix H management overloads for
 //! the default filter type.
-[[maybe_unused]] auto h111{ [] {
+[[maybe_unused]] auto h110{ [] {
   fcarouge::kalman k;
   using kalman = decltype(k);
 
@@ -83,7 +83,7 @@ namespace
     } };
     k.h(h);
     assert(k.h() == 5);
-    k.update(0.);
+    k.update();
     assert(k.h() == 6);
   }
 
@@ -94,7 +94,7 @@ namespace
     } };
     k.h(std::move(h));
     assert(k.h() == 6);
-    k.update(0.);
+    k.update();
     assert(k.h() == 7);
   }
 
@@ -111,6 +111,7 @@ namespace
   kalman k;
   const auto i4x5{ Eigen::Matrix<double, 4, 5>::Identity() };
   const auto z4x5{ Eigen::Matrix<double, 4, 5>::Zero() };
+  const Eigen::Matrix<double, 4, 1> z4x1{ Eigen::Matrix<double, 4, 1>::Zero() };
 
   assert(k.h() == i4x5);
 
@@ -150,7 +151,7 @@ namespace
     } };
     k.h(h);
     assert(k.h() == z4x5);
-    k.update(0., 0.f, 0, 0);
+    k.update(0., 0.f, 0, char(0), z4x1);
     assert(k.h() == i4x5);
   }
 
@@ -166,7 +167,7 @@ namespace
     } };
     k.h(std::move(h));
     assert(k.h() == i4x5);
-    k.update(0., 0.f, 0, 0);
+    k.update(0., 0.f, 0, char(0), z4x1);
     assert(k.h() == z4x5);
   }