[filter] deducing this

FrancoisCarouge · Oct 11, 2024 · ae7d55b · ae7d55b
1 parent dc6a05f
commit ae7d55b
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Showing 2 changed files with 6 additions and 13 deletions.
diff --git a/include/fcarouge/internal/kalman.tpp b/include/fcarouge/internal/kalman.tpp
@@ -46,17 +46,10 @@ inline constexpr kalman<Filter>::kalman(Arguments... arguments)
     : filter(internal::filter<implementation>(arguments...)) {}
 
 template <typename Filter>
-[[nodiscard("The returned state estimate column vector X is unexpectedly "
-            "discarded.")]] inline constexpr auto
-kalman<Filter>::x() const -> const state & {
-  return filter.x;
-}
-
-template <typename Filter>
-[[nodiscard("The returned state estimate column vector X is unexpectedly "
-            "discarded.")]] inline constexpr auto
-kalman<Filter>::x() -> state & {
-  return filter.x;
+[[nodiscard(
+    "The returned state estimate column vector X is unexpectedly discarded.")]]
+inline constexpr auto &&kalman<Filter>::x(this auto &&self) {
+  return std::forward<decltype(self)>(self).filter.x;
 }
 
 template <typename Filter>

diff --git a/include/fcarouge/kalman.hpp b/include/fcarouge/kalman.hpp
@@ -274,8 +274,8 @@ class kalman final : public internal::conditional_member_types<Filter> {
   //!
   //! @todo Collapse cv-ref qualifier-aware member functions per C++23 P0847 to
   //! avoid duplication: `inline constexpr auto & x(this auto&& self)`.
-  inline constexpr auto x() const -> const state &;
-  inline constexpr auto x() -> state &;
+
+  inline constexpr auto &&x(this auto &&self);
 
   //! @brief Sets the state estimate column vector X.
   //!