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[filter] virtual destructor #110

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Aug 27, 2022
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[filter] virtual destructor #110

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20 changes: 9 additions & 11 deletions include/fcarouge/kalman.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,14 +82,16 @@ template <typename... Types> using pack = internal::pack<Types...>;

//! @brief Kalman filter.
//!
//! @details A Bayesian filter that uses multivariate Gaussians.
//! @details A Bayesian filter that uses multivariate Gaussians, a recursive
//! state estimator, and a linear quadratic estimator (LQE).
//!
//! Applicable for unimodal and uncorrelated uncertainties. Kalman filters
//! assume white noise, propagation and measurement functions are
//! differentiable, and that the uncertainty stays centered on the state
//! estimate. The filter updates estimates by multiplying Gaussians and predicts
//! estimates by adding Gaussians. Design the state (X, P), the process (F, Q),
//! the measurement (Z, R), the measurement function H, and if the system has
//! estimate. The filter is the optimal linear filter under assumptions. The
//! filter updates estimates by multiplying Gaussians and predicts estimates by
//! adding Gaussians. Design the state (X, P), the process (F, Q), the
//! measurement (Z, R), the measurement function H, and if the system has
//! control inputs (U, B). Designing a filter is as much art as science.
//!
//! Filters with `state x output x input` dimensions as 1x1x1 and 1x1x0 (no
Expand Down Expand Up @@ -152,9 +154,7 @@ template <typename... Types> using pack = internal::pack<Types...>;
//! @todo Would we want to support smoothers?
//! @todo How to add or associate constraints on the types and operation to
//! support compilation and semantics?
//! @todo Which constructors to support?
//! @todo Is the Kalman filter a recursive state estimation, confirm
//! terminology?
//! @todo Which constructors to support? Consider constructors? CTAD? Guides?
//! @todo Prepare support for larger dataset recording for graphing, metrics of
//! large test data to facilitate tuning.
//! @todo Support filter generator? Integration? Reflection in C++...
Expand All @@ -170,13 +170,11 @@ template <typename... Types> using pack = internal::pack<Types...>;
//! the state X always what the user would want?
//! @todo Consider if a fluent interface would be preferable for
//! characteristics?
//! @todo Consider additional constructors?
//! @todo Consider additional characteristics method overloads?
//! @todo A clear or reset member equivalent may be useful for real-time
//! re-initializations but to what default?
//! @todo Could the Input be void by default? Or empty?
//! @todo Expand std::format support with standard arguments and Eigen3 types.
//! @todo Support complex number filters?
//! @todo Support, test complex number filters?
template <
typename State = double, typename Output = double, typename Input = void,
typename Transpose = std::identity, typename Symmetrize = std::identity,
Expand Down Expand Up @@ -378,7 +376,7 @@ class kalman
//! @brief Destructs the kalman filter.
//!
//! @complexity Constant.
inline constexpr ~kalman() = default;
inline constexpr virtual ~kalman() = default;

//! @}

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