[tidy] fix move const performance (#354)

Author: FrancoisCarouge

.clang-tidy

@@ -23,14 +23,11 @@ Checks: '*,
         -hicpp-avoid-c-arrays,
         -hicpp-move-const-arg,
         -hicpp-no-array-decay,
-        -hicpp-static-assert,
-        -hicpp-uppercase-literal-suffix,
         -llvmlibc-callee-namespace,
         -llvmlibc-implementation-in-namespace,
         -llvmlibc-restrict-system-libc-headers,
         -misc-const-correctness,
         -modernize-avoid-c-arrays,
-        -performance-move-const-arg,
         -performance-no-automatic-move,
         -performance-unnecessary-copy-initialization,
         -portability-simd-intrinsics,

sample/kf_6x2x0_vehicle_location.cpp

@@ -67,7 +67,7 @@ using no_input = void;
       {0.25, 0.5, 0.5, 0, 0, 0}, {0.5, 1, 1, 0, 0, 0}, {0.5, 1, 1, 0, 0, 0},
       {0, 0, 0, 0.25, 0.5, 0.5}, {0, 0, 0, 0.5, 1, 1}, {0, 0, 0, 0.5, 1, 1}};
   q *= 0.2 * 0.2;
-  filter.q(std::move(q));
+  filter.q(q);
 
   // The state transition matrix F would be:
   filter.f(kalman::state_transition{{1, 1, 0.5, 0, 0, 0},

test/kalman_f.cpp

@@ -58,38 +58,26 @@ namespace {
 
   {
     const auto f{3.};
-    filter.f(std::move(f));
-    assert(filter.f() == 3);
-  }
-
-  {
-    const auto f{4.};
     filter.f(f);
-    assert(filter.f() == 4);
-  }
-
-  {
-    const auto f{5.};
-    filter.f(std::move(f));
-    assert(filter.f() == 5);
+    assert(filter.f() == 3);
   }
 
   {
     const auto f{[]([[maybe_unused]] const kalman::state &x)
-                     -> kalman::state_transition { return 6.; }};
+                     -> kalman::state_transition { return 4.; }};
     filter.f(f);
-    assert(filter.f() == 5);
+    assert(filter.f() == 3);
     filter.predict();
-    assert(filter.f() == 6);
+    assert(filter.f() == 4);
   }
 
   {
     const auto f{[]([[maybe_unused]] const kalman::state &x)
-                     -> kalman::state_transition { return 7.; }};
+                     -> kalman::state_transition { return 5.; }};
     filter.f(std::move(f));
-    assert(filter.f() == 6);
+    assert(filter.f() == 4);
     filter.predict();
-    assert(filter.f() == 7);
+    assert(filter.f() == 5);
   }
 
   return 0;

test/kalman_f_5x4x3.cpp

@@ -70,15 +70,9 @@ template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
 
   assert(filter.f() == i5x5);
 
-  {
-    const auto f{i5x5};
-    filter.f(f);
-    assert(filter.f() == i5x5);
-  }
-
   {
     const auto f{z5x5};
-    filter.f(std::move(f));
+    filter.f(f);
     assert(filter.f() == z5x5);
   }
 
@@ -88,24 +82,18 @@ template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
     assert(filter.f() == i5x5);
   }
 
-  {
-    const auto f{z5x5};
-    filter.f(std::move(f));
-    assert(filter.f() == z5x5);
-  }
-
   {
     const auto f{
         []([[maybe_unused]] const kalman::state &x,
            [[maybe_unused]] const kalman::input &u,
            [[maybe_unused]] const int &i, [[maybe_unused]] const float &fp,
            [[maybe_unused]] const double &d) -> kalman::state_transition {
-          return identity_v<matrix<5, 5>>;
+          return zero_v<matrix<5, 5>>;
         }};
     filter.f(f);
-    assert(filter.f() == z5x5);
-    filter.predict(0, 0.F, 0., z3);
     assert(filter.f() == i5x5);
+    filter.predict(0, 0.F, 0., z3);
+    assert(filter.f() == z5x5);
   }
 
   {
@@ -114,12 +102,12 @@ template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
            [[maybe_unused]] const kalman::input &u,
            [[maybe_unused]] const int &i, [[maybe_unused]] const float &fp,
            [[maybe_unused]] const double &d) -> kalman::state_transition {
-          return zero_v<matrix<5, 5>>;
+          return identity_v<matrix<5, 5>>;
         }};
     filter.f(std::move(f));
-    assert(filter.f() == i5x5);
-    filter.predict(0, 0.F, 0., z3);
     assert(filter.f() == z5x5);
+    filter.predict(0, 0.F, 0., z3);
+    assert(filter.f() == i5x5);
   }
 
   return 0;

test/kalman_h.cpp

@@ -58,42 +58,30 @@ namespace {
 
   {
     const auto h{3.};
-    filter.h(std::move(h));
-    assert(filter.h() == 3);
-  }
-
-  {
-    const auto h{4.};
     filter.h(h);
-    assert(filter.h() == 4);
-  }
-
-  {
-    const auto h{5.};
-    filter.h(std::move(h));
-    assert(filter.h() == 5);
+    assert(filter.h() == 3);
   }
 
   {
     const auto h{
         []([[maybe_unused]] const kalman::state &x) -> kalman::output_model {
-          return 6.;
+          return 4.;
         }};
     filter.h(h);
-    assert(filter.h() == 5);
+    assert(filter.h() == 3);
     filter.update(0.);
-    assert(filter.h() == 6);
+    assert(filter.h() == 4);
   }
 
   {
     const auto h{
         []([[maybe_unused]] const kalman::state &x) -> kalman::output_model {
-          return 7.;
+          return 5.;
         }};
     filter.h(std::move(h));
-    assert(filter.h() == 6);
+    assert(filter.h() == 4);
     filter.update(0.);
-    assert(filter.h() == 7);
+    assert(filter.h() == 5);
   }
 
   return 0;

test/kalman_h_5x4x3.cpp

@@ -68,15 +68,9 @@ template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
 
   assert(filter.h() == i4x5);
 
-  {
-    const auto h{i4x5};
-    filter.h(h);
-    assert(filter.h() == i4x5);
-  }
-
   {
     const auto h{z4x5};
-    filter.h(std::move(h));
+    filter.h(h);
     assert(filter.h() == z4x5);
   }
 
@@ -86,36 +80,30 @@ template <auto Row, auto Column> using matrix = matrix<double, Row, Column>;
     assert(filter.h() == i4x5);
   }
 
-  {
-    const auto h{z4x5};
-    filter.h(std::move(h));
-    assert(filter.h() == z4x5);
-  }
-
   {
     const auto h{[]([[maybe_unused]] const kalman::state &x,
                     [[maybe_unused]] const double &d,
                     [[maybe_unused]] const float &f,
                     [[maybe_unused]] const int &i) -> kalman::output_model {
-      return identity_v<matrix<4, 5>>;
+      return zero_v<matrix<4, 5>>;
     }};
     filter.h(h);
-    assert(filter.h() == z4x5);
-    filter.update(0., 0.F, 0, z4);
     assert(filter.h() == i4x5);
+    filter.update(0., 0.F, 0, z4);
+    assert(filter.h() == z4x5);
   }
 
   {
     const auto h{[]([[maybe_unused]] const kalman::state &x,
                     [[maybe_unused]] const double &d,
                     [[maybe_unused]] const float &f,
                     [[maybe_unused]] const int &i) -> kalman::output_model {
-      return zero_v<matrix<4, 5>>;
+      return identity_v<matrix<4, 5>>;
     }};
     filter.h(std::move(h));
-    assert(filter.h() == i4x5);
-    filter.update(0., 0.F, 0, z4);
     assert(filter.h() == z4x5);
+    filter.update(0., 0.F, 0, z4);
+    assert(filter.h() == i4x5);
   }
 
   return 0;