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FrancoisCarougeFrancoisCarouge
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[cicd] add conversion warning error flag and fixes (#189)
1 parent 23d9b4a commit efe63a3

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4 files changed

+219
-219
lines changed

4 files changed

+219
-219
lines changed

‎include/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,7 @@ else()
4848
"-Wall"
4949
"-Wcast-align"
5050
"-Wchar-subscripts"
51+
"-Wconversion"
5152
"-Wdouble-promotion"
5253
"-Wenum-conversion"
5354
"-Werror"

‎sample/ekf_4x1x0_soaring.cpp

+102-102
Original file line numberDiff line numberDiff line change
@@ -48,7 +48,7 @@ template <typename Type, auto Size> using vector = Eigen::Vector<Type, Size>;
4848
filter.x(trigger_strength, thermal_radius, thermal_position_x,
4949
thermal_position_y);
5050

51-
const float strength_covariance{0.0049};
51+
const float strength_covariance{0.0049f};
5252
const float radius_covariance{400};
5353
const float position_covariance{400};
5454
filter.p(kalman::estimate_uncertainty{{strength_covariance, 0, 0, 0},
@@ -114,107 +114,107 @@ template <typename Type, auto Size> using vector = Eigen::Vector<Type, Size>;
114114

115115
// A hundred randomly generated data point.
116116
constexpr data measured[]{
117-
{0.0756891, 0.749786, 0.878827, 0.806808, 0.155487},
118-
{0.506366, 0.261469, 0.886986, 0.332883, 0.434406},
119-
{0.249769, 0.242154, 0.616454, 0.672545, 0.24927},
120-
{0.358587, 0.556206, 0.909985, 0.370336, 0.553264},
121-
{0.370579, 0.368003, 0.491917, 0.635429, 0.73594},
122-
{0.82946, 0.0221123, 0.461047, 0.940697, 0.987409},
123-
{0.462132, 0.708865, 0.941915, 0.122432, 0.911597},
124-
{0.888334, 0.542419, 0.773781, 0.116075, 0.917592},
125-
{0.229376, 0.174244, 0.972009, 0.509611, 0.37637},
126-
{0.887738, 0.707866, 0.90959, 0.430274, 0.242523},
127-
{0.40713, 0.0696747, 0.456659, 0.979656, 0.11167},
128-
{0.77115, 0.183994, 0.944587, 0.467626, 0.0219546},
129-
{0.137442, 0.316077, 0.660742, 0.828009, 0.852228},
130-
{0.128113, 0.0757587, 0.742959, 0.360531, 0.3932},
131-
{0.161107, 0.709262, 0.690847, 0.161165, 0.237205},
132-
{0.664184, 0.658516, 0.972067, 0.465567, 0.807259},
133-
{0.669789, 0.236436, 0.341701, 0.430546, 0.229097},
134-
{0.159471, 0.122824, 0.975034, 0.833685, 0.78011},
135-
{0.284848, 0.917524, 0.358084, 0.82927, 0.0983398},
136-
{0.209027, 0.573124, 0.428336, 0.106116, 0.17974},
137-
{0.861987, 0.110099, 0.0994602, 0.208052, 0.0545667},
138-
{0.483002, 0.707016, 0.189368, 0.0626376, 0.992816},
139-
{0.588928, 0.644143, 0.763512, 0.444366, 0.251652},
140-
{0.419946, 0.338175, 0.286543, 0.97232, 0.908061},
141-
{0.0625373, 0.855109, 0.763831, 0.622934, 0.364608},
142-
{0.55833, 0.505803, 0.600797, 0.342724, 0.735087},
143-
{0.664873, 0.224638, 0.385409, 0.892807, 0.695},
144-
{0.255295, 0.0264766, 0.229274, 0.723291, 0.552242},
145-
{0.412129, 0.856404, 0.395075, 0.261842, 0.947885},
146-
{0.468212, 0.849367, 0.00615251, 0.842904, 0.700869},
147-
{0.311582, 0.293401, 0.299637, 0.567025, 0.659598},
148-
{0.695464, 0.941376, 0.21219, 0.27813, 0.289406},
149-
{0.000397467, 0.301337, 0.71608, 0.296278, 0.718923},
150-
{0.36314, 0.263077, 0.193163, 0.295399, 0.0523569},
151-
{0.128381, 0.572157, 0.971297, 0.516492, 0.921166},
152-
{0.596215, 0.909239, 0.133898, 0.506903, 0.0335569},
153-
{0.444556, 0.997721, 0.348369, 0.644847, 0.80885},
154-
{0.891465, 0.0797467, 0.85753, 0.369457, 0.418543},
155-
{0.861948, 0.520583, 0.900797, 0.153884, 0.080031},
156-
{0.169696, 0.981169, 0.406729, 0.292696, 0.831505},
157-
{0.172591, 0.349291, 0.782213, 0.534652, 0.214628},
158-
{0.875081, 0.746097, 0.0806311, 0.15685, 0.357471},
159-
{0.519389, 0.007303, 0.18117, 0.370993, 0.427305},
160-
{0.961372, 0.218945, 0.486608, 0.618755, 0.168813},
161-
{0.537862, 0.451312, 0.384422, 0.540216, 0.525636},
162-
{0.494387, 0.162124, 0.0136825, 0.127037, 0.803511},
163-
{0.409087, 0.991167, 0.276877, 0.188698, 0.155701},
164-
{0.851474, 0.54778, 0.133586, 0.37391, 0.137362},
165-
{0.0148137, 0.97396, 0.945259, 0.297432, 0.260494},
166-
{0.906864, 0.13484, 0.214258, 0.924681, 0.618572},
167-
{0.141742, 0.563986, 0.502602, 0.416297, 0.97038},
168-
{0.698555, 0.406929, 0.558199, 0.875364, 0.736008},
169-
{0.175105, 0.270328, 0.332957, 0.145101, 0.765857},
170-
{0.68083, 0.125673, 0.922594, 0.831683, 0.457214},
171-
{0.520728, 0.26214, 0.458674, 0.306454, 0.783164},
172-
{0.780442, 0.472245, 0.125185, 0.460146, 0.0847598},
173-
{0.360083, 0.0686402, 0.328997, 0.799852, 0.818809},
174-
{0.71546, 0.717884, 0.253842, 0.812915, 0.0141433},
175-
{0.441185, 0.171204, 0.0432966, 0.739241, 0.448679},
176-
{0.399117, 0.148854, 0.743042, 0.0230124, 0.378786},
177-
{0.841239, 0.292533, 0.391296, 0.734326, 0.0597166},
178-
{0.350847, 0.519149, 0.808508, 0.113644, 0.673261},
179-
{0.229909, 0.814871, 0.118688, 0.612729, 0.354682},
180-
{0.734755, 0.675693, 0.646155, 0.0296504, 0.405621},
181-
{0.121731, 0.231111, 0.47879, 0.733299, 0.270893},
182-
{0.732981, 0.813999, 0.597652, 0.455436, 0.691262},
183-
{0.10297, 0.534613, 0.553605, 0.777385, 0.553588},
184-
{0.441429, 0.974205, 0.120671, 0.279931, 0.624484},
185-
{0.531836, 0.697762, 0.274009, 0.827927, 0.741129},
186-
{0.745307, 0.085542, 0.473629, 0.286912, 0.175756},
187-
{0.758466, 0.268705, 0.108006, 0.291002, 0.559732},
188-
{0.632262, 0.733193, 0.919653, 0.165692, 0.84716},
189-
{0.0107621, 0.694084, 0.35781, 0.793076, 0.0818898},
190-
{0.17388, 0.333606, 0.867638, 0.969285, 0.887633},
191-
{0.255376, 0.180532, 0.737631, 0.869954, 0.875926},
192-
{0.525821, 0.882517, 0.224126, 0.906093, 0.557676},
193-
{0.516693, 0.986614, 0.644313, 0.00903489, 0.207868},
194-
{0.00175451, 0.49772, 0.436713, 0.0418148, 0.63547},
195-
{0.559954, 0.192099, 0.0787102, 0.976933, 0.552542},
196-
{0.983202, 0.165426, 0.136735, 0.467933, 0.626612},
197-
{0.520497, 0.593702, 0.0155549, 0.791301, 0.635127},
198-
{0.934924, 0.0663795, 0.513404, 0.791586, 0.68594},
199-
{0.977299, 0.682359, 0.0689664, 0.769369, 0.169862},
200-
{0.681586, 0.900795, 0.312534, 0.854568, 0.113097},
201-
{0.0783791, 0.340692, 0.23686, 0.5932, 0.38193},
202-
{0.430041, 0.401364, 0.88266, 0.226286, 0.514185},
203-
{0.422123, 0.713778, 0.813105, 0.960577, 0.794308},
204-
{0.0531423, 0.930818, 0.913336, 0.382305, 0.372521},
205-
{0.91698, 0.128078, 0.901849, 0.0860355, 0.432365},
206-
{0.749259, 0.198112, 0.538301, 0.739992, 0.909026},
207-
{0.903781, 0.206122, 0.743227, 0.700662, 0.784729},
208-
{0.914658, 0.625943, 0.697374, 0.333459, 0.213769},
209-
{0.313091, 0.0485961, 0.625018, 0.916347, 0.363119},
210-
{0.455916, 0.982769, 0.245987, 0.555492, 0.938798},
211-
{0.0737146, 0.324519, 0.325405, 0.677491, 0.148078},
212-
{0.918677, 0.537612, 0.917458, 0.611973, 0.965844},
213-
{0.832977, 0.466222, 0.528761, 0.348765, 0.472975},
214-
{0.784042, 0.866144, 0.00524178, 0.217837, 0.145246},
215-
{0.308576, 0.993283, 0.0244056, 0.543786, 0.575841},
216-
{0.285113, 0.12198, 0.74075, 0.834888, 0.561457},
217-
{0.635992, 0.590228, 0.629378, 0.112457, 0.78253}};
117+
{0.0756891f, 0.749786f, 0.878827f, 0.806808f, 0.155487f},
118+
{0.506366f, 0.261469f, 0.886986f, 0.332883f, 0.434406f},
119+
{0.249769f, 0.242154f, 0.616454f, 0.672545f, 0.24927f},
120+
{0.358587f, 0.556206f, 0.909985f, 0.370336f, 0.553264f},
121+
{0.370579f, 0.368003f, 0.491917f, 0.635429f, 0.73594f},
122+
{0.82946f, 0.0221123f, 0.461047f, 0.940697f, 0.987409f},
123+
{0.462132f, 0.708865f, 0.941915f, 0.122432f, 0.911597f},
124+
{0.888334f, 0.542419f, 0.773781f, 0.116075f, 0.917592f},
125+
{0.229376f, 0.174244f, 0.972009f, 0.509611f, 0.37637f},
126+
{0.887738f, 0.707866f, 0.90959f, 0.430274f, 0.242523f},
127+
{0.40713f, 0.0696747f, 0.456659f, 0.979656f, 0.11167f},
128+
{0.77115f, 0.183994f, 0.944587f, 0.467626f, 0.0219546f},
129+
{0.137442f, 0.316077f, 0.660742f, 0.828009f, 0.852228f},
130+
{0.128113f, 0.0757587f, 0.742959f, 0.360531f, 0.3932f},
131+
{0.161107f, 0.709262f, 0.690847f, 0.161165f, 0.237205f},
132+
{0.664184f, 0.658516f, 0.972067f, 0.465567f, 0.807259f},
133+
{0.669789f, 0.236436f, 0.341701f, 0.430546f, 0.229097f},
134+
{0.159471f, 0.122824f, 0.975034f, 0.833685f, 0.78011f},
135+
{0.284848f, 0.917524f, 0.358084f, 0.82927f, 0.0983398f},
136+
{0.209027f, 0.573124f, 0.428336f, 0.106116f, 0.17974f},
137+
{0.861987f, 0.110099f, 0.0994602f, 0.208052f, 0.0545667f},
138+
{0.483002f, 0.707016f, 0.189368f, 0.0626376f, 0.992816f},
139+
{0.588928f, 0.644143f, 0.763512f, 0.444366f, 0.251652f},
140+
{0.419946f, 0.338175f, 0.286543f, 0.97232f, 0.908061f},
141+
{0.0625373f, 0.855109f, 0.763831f, 0.622934f, 0.364608f},
142+
{0.55833f, 0.505803f, 0.600797f, 0.342724f, 0.735087f},
143+
{0.664873f, 0.224638f, 0.385409f, 0.892807f, 0.695f},
144+
{0.255295f, 0.0264766f, 0.229274f, 0.723291f, 0.552242f},
145+
{0.412129f, 0.856404f, 0.395075f, 0.261842f, 0.947885f},
146+
{0.468212f, 0.849367f, 0.00615251f, 0.842904f, 0.700869f},
147+
{0.311582f, 0.293401f, 0.299637f, 0.567025f, 0.659598f},
148+
{0.695464f, 0.941376f, 0.21219f, 0.27813f, 0.289406f},
149+
{0.000397467f, 0.301337f, 0.71608f, 0.296278f, 0.718923f},
150+
{0.36314f, 0.263077f, 0.193163f, 0.295399f, 0.0523569f},
151+
{0.128381f, 0.572157f, 0.971297f, 0.516492f, 0.921166f},
152+
{0.596215f, 0.909239f, 0.133898f, 0.506903f, 0.0335569f},
153+
{0.444556f, 0.997721f, 0.348369f, 0.644847f, 0.80885f},
154+
{0.891465f, 0.0797467f, 0.85753f, 0.369457f, 0.418543f},
155+
{0.861948f, 0.520583f, 0.900797f, 0.153884f, 0.080031f},
156+
{0.169696f, 0.981169f, 0.406729f, 0.292696f, 0.831505f},
157+
{0.172591f, 0.349291f, 0.782213f, 0.534652f, 0.214628f},
158+
{0.875081f, 0.746097f, 0.0806311f, 0.15685f, 0.357471f},
159+
{0.519389f, 0.007303f, 0.18117f, 0.370993f, 0.427305f},
160+
{0.961372f, 0.218945f, 0.486608f, 0.618755f, 0.168813f},
161+
{0.537862f, 0.451312f, 0.384422f, 0.540216f, 0.525636f},
162+
{0.494387f, 0.162124f, 0.0136825f, 0.127037f, 0.803511f},
163+
{0.409087f, 0.991167f, 0.276877f, 0.188698f, 0.155701f},
164+
{0.851474f, 0.54778f, 0.133586f, 0.37391f, 0.137362f},
165+
{0.0148137f, 0.97396f, 0.945259f, 0.297432f, 0.260494f},
166+
{0.906864f, 0.13484f, 0.214258f, 0.924681f, 0.618572f},
167+
{0.141742f, 0.563986f, 0.502602f, 0.416297f, 0.97038f},
168+
{0.698555f, 0.406929f, 0.558199f, 0.875364f, 0.736008f},
169+
{0.175105f, 0.270328f, 0.332957f, 0.145101f, 0.765857f},
170+
{0.68083f, 0.125673f, 0.922594f, 0.831683f, 0.457214f},
171+
{0.520728f, 0.26214f, 0.458674f, 0.306454f, 0.783164f},
172+
{0.780442f, 0.472245f, 0.125185f, 0.460146f, 0.0847598f},
173+
{0.360083f, 0.0686402f, 0.328997f, 0.799852f, 0.818809f},
174+
{0.71546f, 0.717884f, 0.253842f, 0.812915f, 0.0141433f},
175+
{0.441185f, 0.171204f, 0.0432966f, 0.739241f, 0.448679f},
176+
{0.399117f, 0.148854f, 0.743042f, 0.0230124f, 0.378786f},
177+
{0.841239f, 0.292533f, 0.391296f, 0.734326f, 0.0597166f},
178+
{0.350847f, 0.519149f, 0.808508f, 0.113644f, 0.673261f},
179+
{0.229909f, 0.814871f, 0.118688f, 0.612729f, 0.354682f},
180+
{0.734755f, 0.675693f, 0.646155f, 0.0296504f, 0.405621f},
181+
{0.121731f, 0.231111f, 0.47879f, 0.733299f, 0.270893f},
182+
{0.732981f, 0.813999f, 0.597652f, 0.455436f, 0.691262f},
183+
{0.10297f, 0.534613f, 0.553605f, 0.777385f, 0.553588f},
184+
{0.441429f, 0.974205f, 0.120671f, 0.279931f, 0.624484f},
185+
{0.531836f, 0.697762f, 0.274009f, 0.827927f, 0.741129f},
186+
{0.745307f, 0.085542f, 0.473629f, 0.286912f, 0.175756f},
187+
{0.758466f, 0.268705f, 0.108006f, 0.291002f, 0.559732f},
188+
{0.632262f, 0.733193f, 0.919653f, 0.165692f, 0.84716f},
189+
{0.0107621f, 0.694084f, 0.35781f, 0.793076f, 0.0818898f},
190+
{0.17388f, 0.333606f, 0.867638f, 0.969285f, 0.887633f},
191+
{0.255376f, 0.180532f, 0.737631f, 0.869954f, 0.875926f},
192+
{0.525821f, 0.882517f, 0.224126f, 0.906093f, 0.557676f},
193+
{0.516693f, 0.986614f, 0.644313f, 0.00903489f, 0.207868f},
194+
{0.00175451f, 0.49772f, 0.436713f, 0.0418148f, 0.63547f},
195+
{0.559954f, 0.192099f, 0.0787102f, 0.976933f, 0.552542f},
196+
{0.983202f, 0.165426f, 0.136735f, 0.467933f, 0.626612f},
197+
{0.520497f, 0.593702f, 0.0155549f, 0.791301f, 0.635127f},
198+
{0.934924f, 0.0663795f, 0.513404f, 0.791586f, 0.68594f},
199+
{0.977299f, 0.682359f, 0.0689664f, 0.769369f, 0.169862f},
200+
{0.681586f, 0.900795f, 0.312534f, 0.854568f, 0.113097f},
201+
{0.0783791f, 0.340692f, 0.23686f, 0.5932f, 0.38193f},
202+
{0.430041f, 0.401364f, 0.88266f, 0.226286f, 0.514185f},
203+
{0.422123f, 0.713778f, 0.813105f, 0.960577f, 0.794308f},
204+
{0.0531423f, 0.930818f, 0.913336f, 0.382305f, 0.372521f},
205+
{0.91698f, 0.128078f, 0.901849f, 0.0860355f, 0.432365f},
206+
{0.749259f, 0.198112f, 0.538301f, 0.739992f, 0.909026f},
207+
{0.903781f, 0.206122f, 0.743227f, 0.700662f, 0.784729f},
208+
{0.914658f, 0.625943f, 0.697374f, 0.333459f, 0.213769f},
209+
{0.313091f, 0.0485961f, 0.625018f, 0.916347f, 0.363119f},
210+
{0.455916f, 0.982769f, 0.245987f, 0.555492f, 0.938798f},
211+
{0.0737146f, 0.324519f, 0.325405f, 0.677491f, 0.148078f},
212+
{0.918677f, 0.537612f, 0.917458f, 0.611973f, 0.965844f},
213+
{0.832977f, 0.466222f, 0.528761f, 0.348765f, 0.472975f},
214+
{0.784042f, 0.866144f, 0.00524178f, 0.217837f, 0.145246f},
215+
{0.308576f, 0.993283f, 0.0244056f, 0.543786f, 0.575841f},
216+
{0.285113f, 0.12198f, 0.74075f, 0.834888f, 0.561457f},
217+
{0.635992f, 0.590228f, 0.629378f, 0.112457f, 0.78253f}};
218218

219219
for (const auto &output : measured) {
220220
filter.predict(output.drift_x, output.drift_y);

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