[samples] power function tidy type narrowing

FrancoisCarouge · Feb 3, 2025 · e52397b · e52397b
1 parent 34e7925
commit e52397b
Showing 1 changed file with 20 additions and 20 deletions.
diff --git a/sample/kf_8x4x0_deep_sort_bounding_box.cpp b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
@@ -48,29 +48,29 @@ using state = fcarouge::state<vector<8>>;
       estimate_uncertainty{
           [&position_weight, &velocity_weight, &initial_box]() {
             matrix<float, 8, 8> value{zero<matrix<float, 8, 8>>};
-            value(0, 0) = std::pow(2.F * position_weight * initial_box(3), 2);
-            value(1, 1) = std::pow(2.F * position_weight * initial_box(3), 2);
-            value(2, 2) = std::pow(1e-2F, 2);
-            value(3, 3) = std::pow(2.F * position_weight * initial_box(3), 2);
-            value(4, 4) = std::pow(10.F * velocity_weight * initial_box(3), 2);
-            value(5, 5) = std::pow(10.F * velocity_weight * initial_box(3), 2);
-            value(6, 6) = std::pow(1e-5F, 2);
-            value(7, 7) = std::pow(10.F * velocity_weight * initial_box(3), 2);
+            value(0, 0) = std::powf(2.F * position_weight * initial_box(3), 2);
+            value(1, 1) = std::powf(2.F * position_weight * initial_box(3), 2);
+            value(2, 2) = std::powf(1e-2F, 2);
+            value(3, 3) = std::powf(2.F * position_weight * initial_box(3), 2);
+            value(4, 4) = std::powf(10.F * velocity_weight * initial_box(3), 2);
+            value(5, 5) = std::powf(10.F * velocity_weight * initial_box(3), 2);
+            value(6, 6) = std::powf(1e-5F, 2);
+            value(7, 7) = std::powf(10.F * velocity_weight * initial_box(3), 2);
             return value;
           }()},
       // Q
       process_uncertainty{[](const state::type &x) {
         const float weight_position{1.F / 20.F};
         const float weight_velocity{1.F / 160.F};
         matrix<float, 8, 8> value{zero<matrix<float, 8, 8>>};
-        value(0, 0) = std::pow(weight_position * x(3), 2);
-        value(1, 1) = std::pow(weight_position * x(3), 2);
-        value(2, 2) = std::pow(1e-2F, 2);
-        value(3, 3) = std::pow(weight_position * x(3), 2);
-        value(4, 4) = std::pow(weight_velocity * x(3), 2);
-        value(5, 5) = std::pow(weight_velocity * x(3), 2);
-        value(6, 6) = std::pow(1e-5F, 2);
-        value(7, 7) = std::pow(weight_velocity * x(3), 2);
+        value(0, 0) = std::powf(weight_position * x(3), 2);
+        value(1, 1) = std::powf(weight_position * x(3), 2);
+        value(2, 2) = std::powf(1e-2F, 2);
+        value(3, 3) = std::powf(weight_position * x(3), 2);
+        value(4, 4) = std::powf(weight_velocity * x(3), 2);
+        value(5, 5) = std::powf(weight_velocity * x(3), 2);
+        value(6, 6) = std::powf(1e-5F, 2);
+        value(7, 7) = std::powf(weight_velocity * x(3), 2);
         return value;
       }},
       // R
@@ -79,10 +79,10 @@ using state = fcarouge::state<vector<8>>;
           [](const state::type &x, [[maybe_unused]] const vector<4> &z) {
             const float weight_position{1.F / 20.F};
             matrix<float, 4, 4> value{zero<matrix<float, 4, 4>>};
-            value(0, 0) = std::pow(weight_position * x(3), 2);
-            value(1, 1) = std::pow(weight_position * x(3), 2);
-            value(2, 2) = std::pow(1e-1F, 2);
-            value(3, 3) = std::pow(weight_position * x(3), 2);
+            value(0, 0) = std::powf(weight_position * x(3), 2);
+            value(1, 1) = std::powf(weight_position * x(3), 2);
+            value(2, 2) = std::powf(1e-1F, 2);
+            value(3, 3) = std::powf(weight_position * x(3), 2);
             return value;
           }},
       // The state transition F: