Line data    Source code

       1              : #ifndef A9EE36F9_16A8_4666_9CFE_801E34978BAC
       2              : #define A9EE36F9_16A8_4666_9CFE_801E34978BAC
       3              : 
       4              : #include "base/first_include.h"                     // IWYU pragma: keep
       5              : #include "math/linalg/covariance_matrix_policies.h" // IWYU pragma: keep
       6              : 
       7              : 
       8              : namespace tracking
       9              : {
      10              : namespace math
      11              : {
      12              : namespace contract
      13              : {
      14              : 
      15              : template <typename PolicyType>
      16              : struct CovarianceMatrixPolicyIntf
      17              : {
      18           68 :   CovarianceMatrixPolicyIntf()
      19              :   {
      20              : #if __cplusplus == 202002L
      21              :     // Check inheritance from base policy
      22              :     static_assert(std::is_base_of_v<math::CovarianceMatrixPolicyBase, PolicyType>,
      23              :                   "CovarianceMatrixPolicy must inherit from CovarianceMatrixPolicyBase");
      24              : 
      25              :     // Check that it has the required value_type alias
      26              :     static_assert(requires { PolicyType::is_factored; }, "CovarianceMatrixPolicy must define is_factored flag");
      27              : 
      28              :     // Check that it has the required value_type alias
      29              :     static_assert(requires { typename PolicyType::value_type; }, "CovarianceMatrixPolicy must define value_type");
      30              : 
      31              :     // Check that it has the required Instantiate template
      32              :     static_assert(
      33              :         requires { typename PolicyType::template Instantiate<4>; }, "CovarianceMatrixPolicy must define Instantiate template");
      34              : 
      35              :     // Additional check to ensure it's one of the concrete policy types
      36              :     static_assert(std::is_same_v<PolicyType, math::FullCovarianceMatrixPolicy<typename PolicyType::value_type>> ||
      37              :                       std::is_same_v<PolicyType, math::FactoredCovarianceMatrixPolicy<typename PolicyType::value_type>>,
      38              :                   "CovarianceMatrixPolicy must be either FullCovarianceMatrixPolicy or FactoredCovarianceMatrixPolicy");
      39              : #endif //__cplusplus == 202002L
      40              :   }
      41              : };
      42              : 
      43              : } // namespace contract
      44              : } // namespace math
      45              : } // namespace tracking
      46              : 
      47              : 
      48              : #endif // A9EE36F9_16A8_4666_9CFE_801E34978BAC