refactor: Add concepts for Track(State) backends #2093
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…ement access
This changes the contract between `TrackContainer`, `MultiTrajectory`
and their backends. Notably it
- Adds dedicated methods for surface manipulation that are used by the
backend:
- `referenceSurface_impl` to get a reference surface
by index. It returns a pointer, and a new method
`hasReferenceSurface` on the proxies compares it to `nullptr` to
check if a reference surface is set
- `setReferenceSurface_impl` to set a reference surface
- `has_impl` for both backend types is not expected to respond to `referenceSurface` anymore.
- In `MultiTrajectory`, the backend is no longer expected to return an
index referencing a jacobian, measurement or measurement covariance.
Instead, the dedicated methods `jacobian_impl`, `measurement_impl` and
`measurementCovariance_impl` are now called by the proxy with the
state index directly, leaving the backend to implement index
traversal. `has_impl` is not expected to respond to `calibrated`,
`calibratedCov`, `jacobian` anymore.
|
/cc @benjaminhuth |
Codecov Report
@@ Coverage Diff @@
## main #2093 +/- ##
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Coverage 49.46% 49.46%
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Files 434 434
Lines 25015 25015
Branches 11525 11525
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Hits 12374 12374
Misses 4489 4489
Partials 8152 8152
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This PR adds concepts for the
MultiTrajectoryandTrackContainerbackends. It also centralizes the index typedef andkInvalidsentinel value definition.Blocked by: