SigmaPoints.hpp

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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
#pragma once
 
#include <concepts>
 
#include "wpi/math/linalg/EigenCore.hpp"
 
namespace wpi::math {
 
template <typename T, int States>
concept SigmaPoints =
    requires(T t, Vectord<States> x, Matrixd<States, States> S, int i) {
      { T::NumSigmas } -> std::convertible_to<const int>;
      {
        t.SquareRootSigmaPoints(x, S)
      } -> std::same_as<Matrixd<States, T::NumSigmas>>;
      { t.Wm() } -> std::convertible_to<Vectord<T::NumSigmas>>;
      { t.Wm(i) } -> std::same_as<double>;
      { t.Wc() } -> std::convertible_to<Vectord<T::NumSigmas>>;
      { t.Wc(i) } -> std::same_as<double>;
    } && std::default_initializable<T>;
 
}  // namespace wpi::math