From 3cabe7926a04d5120fb82478efa6045582ecc8c8 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 5 Feb 2018 10:58:25 +0100
Subject: filter/kalman: use "constexpr inline"

---
 filter-kalman/kalman.cpp |  6 ------
 filter-kalman/kalman.h   | 14 +++++++-------
 2 files changed, 7 insertions(+), 13 deletions(-)

diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 744c732b..82b1b0f1 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -8,12 +8,6 @@
 #include <QDebug>
 #include <cmath>
 
-constexpr double settings::adaptivity_window_length;
-constexpr double settings::deadzone_scale;
-constexpr double settings::deadzone_exponent;
-constexpr double settings::process_sigma_pos;
-constexpr double settings::process_sigma_rot;
-
 void KalmanFilter::init()
 {
     // allocate and initialize matrices
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index 607c8ddf..431041dc 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -20,8 +20,8 @@ using namespace options;
 
 #include <atomic>
 
-static constexpr int NUM_STATE_DOF = 12;
-static constexpr int NUM_MEASUREMENT_DOF = 6;
+static constexpr inline int NUM_STATE_DOF = 12;
+static constexpr inline int NUM_MEASUREMENT_DOF = 6;
 // These vectors are compile time fixed size, stack allocated
 using StateToMeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_STATE_DOF>;
 using StateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_STATE_DOF>;
@@ -90,11 +90,11 @@ struct settings : opts {
     value<slider_value> noise_rot_slider_value;
     value<slider_value> noise_pos_slider_value;
 
-    static constexpr double adaptivity_window_length = 0.25; // seconds
-    static constexpr double deadzone_scale = 8;
-    static constexpr double deadzone_exponent = 2.0;
-    static constexpr double process_sigma_pos = 0.5;
-    static constexpr double process_sigma_rot = 0.5;
+    static constexpr inline double adaptivity_window_length = 0.25; // seconds
+    static constexpr inline double deadzone_scale = 8;
+    static constexpr inline double deadzone_exponent = 2.0;
+    static constexpr inline double process_sigma_pos = 0.5;
+    static constexpr inline double process_sigma_rot = 0.5;
 
     static double map_slider_value(const slider_value &v_)
     {
-- 
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