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CHANGELOG.md

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@@ -954,7 +954,7 @@ This page documents the version history and changes for the **mp-units** library
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- libfmt updated to 6.2.0
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- Added absolute functions and epsilon to math.h (thanks [@mikeford3](https://github.com/mikeford3))
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- Added a lot of prefixes to named units and introduced `alias_unit` (thanks [@yasamoka](https://github.com/yasamoka))
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- Linking with Conan targets only when they exists ([#98](https://github.com/mpusz/units/issues/98))
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- Linking with Conan targets only when they exists ([#98](https://github.com/mpusz/mp-units/issues/98))
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- All physical dimensions and units put into `physical` namespace
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- CMake improvements
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- Velocity renamed to speed

docs/examples/kalman_filter.md

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<!-- markdownlint-disable MD013 -->
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# Kalman Filter Examples
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[:material-file-code: `example/kalman_filter/`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter)
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[:material-file-code: `example/kalman_filter/`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter)
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**Framework:**
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- [`kalman.h`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman.h) - Type-safe Kalman filter abstractions
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- [`kalman.h`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman.h) - Type-safe Kalman filter abstractions
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**Examples:**
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- [`kalman_filter-example_1.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_1.cpp) - Golden bar weight estimation (α filter)
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- [`kalman_filter-example_2.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_2.cpp) - Vehicle position tracking (α-β filter)
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- [`kalman_filter-example_3.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_3.cpp) - Vehicle tracking with acceleration (α-β filter)
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- [`kalman_filter-example_4.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_4.cpp) - Full α-β-γ filter
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- [`kalman_filter-example_5.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_5.cpp) - Building height (Kalman filter)
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- [`kalman_filter-example_6.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_6.cpp) - Gold bar temperature (Kalman filter)
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- [`kalman_filter-example_7.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_7.cpp) - Liquid temperature (Kalman filter)
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- [`kalman_filter-example_8.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_8.cpp) - Warming liquid (Kalman filter)
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- [`kalman_filter-example_1.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_1.cpp) - Golden bar weight estimation (α filter)
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- [`kalman_filter-example_2.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_2.cpp) - Vehicle position tracking (α-β filter)
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- [`kalman_filter-example_3.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_3.cpp) - Vehicle tracking with acceleration (α-β filter)
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- [`kalman_filter-example_4.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_4.cpp) - Full α-β-γ filter
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- [`kalman_filter-example_5.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_5.cpp) - Building height (Kalman filter)
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- [`kalman_filter-example_6.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_6.cpp) - Gold bar temperature (Kalman filter)
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- [`kalman_filter-example_7.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_7.cpp) - Liquid temperature (Kalman filter)
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- [`kalman_filter-example_8.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_8.cpp) - Warming liquid (Kalman filter)
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<!-- markdownlint-enable MD013 -->
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These examples demonstrate implementing Kalman filtering algorithms with **mp-units**,
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## Type-Safe Kalman Filter Framework
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The [`kalman.h`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman.h#L1)
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The [`kalman.h`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman.h#L1)
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header provides generic, type-safe abstractions for Kalman filtering:
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### System State Representation
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Simple fixed-gain filters with manually tuned gains:
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| Example | Description | State Variables | Fixed Gains | Measurement |
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|-----------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------|----------------------------------------|---------------------------|---------------|
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| [**1**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_1.cpp) | Golden bar _weight_ estimation | _mass_ | α = 1/n (dynamic) | 1D _mass_ |
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| [**2**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_2.cpp) | Vehicle _position_ tracking (constant velocity) | _position_, velocity | α = 0.2, β = 0.1 | 1D _position_ |
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| [**3**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_3.cpp) | Vehicle tracking with _acceleration_ | _position_, velocity | α = 0.2, β = 0.1 | 1D _position_ |
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| [**4**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_4.cpp) | Full α-β-γ filter (constant _acceleration_) | _position_, _velocity_, _acceleration_ | α = 0.5, β = 0.4, γ = 0.1 | 1D _position_ |
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| Example | Description | State Variables | Fixed Gains | Measurement |
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|--------------------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------------|----------------------------------------|---------------------------|---------------|
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| [**1**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_1.cpp) | Golden bar _weight_ estimation | _mass_ | α = 1/n (dynamic) | 1D _mass_ |
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| [**2**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_2.cpp) | Vehicle _position_ tracking (constant velocity) | _position_, velocity | α = 0.2, β = 0.1 | 1D _position_ |
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| [**3**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_3.cpp) | Vehicle tracking with _acceleration_ | _position_, velocity | α = 0.2, β = 0.1 | 1D _position_ |
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| [**4**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_4.cpp) | Full α-β-γ filter (constant _acceleration_) | _position_, _velocity_, _acceleration_ | α = 0.5, β = 0.4, γ = 0.1 | 1D _position_ |
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**Key Feature**: Examples 2-4 demonstrate multi-state tracking where:
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Adaptive-gain filters that compute Kalman gain from measurement and process uncertainty:
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| Example | Description | Measurement | Process Noise | Initial Uncertainty |
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|-----------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------|---------------------------|---------------|---------------------|
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| [**5**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_5.cpp) | Building _height_ (static) | _height_ (σ = 5 m) | None | 15 m |
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| [**6**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_6.cpp) | Liquid _temperature_ (stable) | _temperature_ (σ = 0.1°C) | 0.0001 °C² | 100°C |
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| [**7**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_7.cpp) | Liquid _temperature_ (changing) | _temperature_ (σ = 0.1°C) | 0.0001 °C² | 100°C |
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| [**8**](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_8.cpp) | Liquid _temperature_ (high-noise) | _temperature_ (σ = 0.1°C) | 0.15 °C² | 100°C |
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| Example | Description | Measurement | Process Noise | Initial Uncertainty |
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|--------------------------------------------------------------------------------------------------------------------------------------------|-----------------------------------|---------------------------|---------------|---------------------|
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| [**5**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_5.cpp) | Building _height_ (static) | _height_ (σ = 5 m) | None | 15 m |
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| [**6**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_6.cpp) | Liquid _temperature_ (stable) | _temperature_ (σ = 0.1°C) | 0.0001 °C² | 100°C |
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| [**7**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_7.cpp) | Liquid _temperature_ (changing) | _temperature_ (σ = 0.1°C) | 0.0001 °C² | 100°C |
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| [**8**](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/kalman_filter/kalman_filter-example_8.cpp) | Liquid _temperature_ (high-noise) | _temperature_ (σ = 0.1°C) | 0.15 °C² | 100°C |
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**Key Feature**: The Kalman gain is **computed dynamically** from uncertainty estimates:
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docs/examples/unmanned_aerial_vehicle.md

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<!-- markdownlint-disable MD013 -->
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**Library:**
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- [`include/geographic.h`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/include/geographic.h) - Geographic primitives (MSL altitude, position)
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- [`include/geographic.h`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/include/geographic.h) - Geographic primitives (MSL altitude, position)
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- [`unmanned_aerial_vehicle.cpp`](https://github.com/mpusz/units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/unmanned_aerial_vehicle.cpp) - UAV altitude reference systems
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- [`unmanned_aerial_vehicle.cpp`](https://github.com/mpusz/mp-units/blob/c54d18e4892d8b4c0173054750aca5507fbf8e2e/example/unmanned_aerial_vehicle.cpp) - UAV altitude reference systems
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This advanced example demonstrates a critical challenge in aviation software: managing

docs/index.md

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System of Quantities (ISQ).
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The library source code is hosted on [GitHub](https://github.com/mpusz/mp-units) with a
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permissive [MIT license](https://github.com/mpusz/units/blob/master/LICENSE.md).
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permissive [MIT license](https://github.com/mpusz/mp-units/blob/master/LICENSE.md).
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=== "C++ modules"
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