From ca54f71149cbe1ad92af16654b698fc666d085d2 Mon Sep 17 00:00:00 2001
From: Seth Parker <csparker247@gmail.com>
Date: Mon, 9 Dec 2024 12:15:47 -0500
Subject: [PATCH 1/4] Generalize MatVec multiplication types

---
 include/educelab/core/types/Mat.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/educelab/core/types/Mat.hpp b/include/educelab/core/types/Mat.hpp
index 6875e16..dc0e495 100644
--- a/include/educelab/core/types/Mat.hpp
+++ b/include/educelab/core/types/Mat.hpp
@@ -116,10 +116,10 @@ auto operator*(const Mat<M, N, T1>& A, const Mat<N, P, T2>& B) -> Mat<M, P, T1>
 }
 
 /** @brief Matrix-vector multiplication */
-template <typename T1, typename T2, std::size_t M, std::size_t N>
-auto operator*(const Mat<M, N, T1>& mat, const Vec<T2, N>& vec) -> Vec<T1, N>
+template <typename T, typename Vector, std::size_t M, std::size_t N>
+auto operator*(const Mat<M, N, T>& mat, const Vector& vec) -> Vector
 {
-    Vec<T1, N> res;
+    Vector res;
     for (std::size_t m{0}; m < M; m++) {
         for (std::size_t n{0}; n < N; n++) {
             res[m] += mat(m, n) * vec[n];

From 3a85308551364e631e862e756d0b6f1b981a3dd8 Mon Sep 17 00:00:00 2001
From: Seth Parker <csparker247@gmail.com>
Date: Mon, 9 Dec 2024 12:18:30 -0500
Subject: [PATCH 2/4] string: Add ref

---
 include/educelab/core/utils/String.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/educelab/core/utils/String.hpp b/include/educelab/core/utils/String.hpp
index 0b0d641..dda3b01 100644
--- a/include/educelab/core/utils/String.hpp
+++ b/include/educelab/core/utils/String.hpp
@@ -197,7 +197,7 @@ static auto split(std::string_view s, const Ds&... ds)
     // Split string
     std::vector<std::string_view> tokens;
     std::string_view::size_type begin{0};
-    for (const auto [end, size] : delimPos) {
+    for (const auto& [end, size] : delimPos) {
         // ignore nested delimiters
         if (end < begin) {
             continue;

From 7a526755d2be2b90bbdc2eac802eb8b819ca1202 Mon Sep 17 00:00:00 2001
From: Seth Parker <csparker247@gmail.com>
Date: Mon, 9 Dec 2024 14:16:37 -0500
Subject: [PATCH 3/4] Restore mat/vec

---
 include/educelab/core/types/Mat.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/educelab/core/types/Mat.hpp b/include/educelab/core/types/Mat.hpp
index dc0e495..6875e16 100644
--- a/include/educelab/core/types/Mat.hpp
+++ b/include/educelab/core/types/Mat.hpp
@@ -116,10 +116,10 @@ auto operator*(const Mat<M, N, T1>& A, const Mat<N, P, T2>& B) -> Mat<M, P, T1>
 }
 
 /** @brief Matrix-vector multiplication */
-template <typename T, typename Vector, std::size_t M, std::size_t N>
-auto operator*(const Mat<M, N, T>& mat, const Vector& vec) -> Vector
+template <typename T1, typename T2, std::size_t M, std::size_t N>
+auto operator*(const Mat<M, N, T1>& mat, const Vec<T2, N>& vec) -> Vec<T1, N>
 {
-    Vector res;
+    Vec<T1, N> res;
     for (std::size_t m{0}; m < M; m++) {
         for (std::size_t n{0}; n < N; n++) {
             res[m] += mat(m, n) * vec[n];

From 139481f036547aa802363bfb9120365a71925a45 Mon Sep 17 00:00:00 2001
From: Seth Parker <csparker247@gmail.com>
Date: Mon, 9 Dec 2024 14:44:43 -0500
Subject: [PATCH 4/4] Remove trailing semicolon

---
 include/educelab/core/types/Mat.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/educelab/core/types/Mat.hpp b/include/educelab/core/types/Mat.hpp
index 6875e16..25ebc7d 100644
--- a/include/educelab/core/types/Mat.hpp
+++ b/include/educelab/core/types/Mat.hpp
@@ -26,7 +26,7 @@ class Mat
     static constexpr std::size_t cols{Cols};
 
     /** Default constructor */
-    Mat() { vals_.fill(0); };
+    Mat() { vals_.fill(0); }
 
     /** @brief Constructor with fill values */
     template <typename... Args>