Major updates, start orientation, start documentation.

.gitignore

@@ -2,3 +2,5 @@
 /cmake-build-*/
 /stage/
 /package/
+/docs/html/
+/docs/latex/

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "tools/googletest"]
+	path = extern/googletest
+	url = https://github.com/google/googletest

CMakeLists.txt

@@ -4,7 +4,7 @@ cmake_policy(SET CMP0048 NEW)
 
 ## CONFIG
 
-project(wrnav VERSION 0.0.1 LANGUAGES CXX)
+project(wrmath VERSION 0.0.1 LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -16,14 +16,15 @@ add_compile_options(-fprofile-arcs -ftest-coverage)
 add_link_options(-fprofile-arcs -ftest-coverage)
 endif()
 
-find_package(PkgConfig)
-pkg_search_module(GTEST REQUIRED gtest_main)
 
 include_directories(include)
 
+file(GLOB_RECURSE ${PROJECT_NAME}_HEADERS include/**.h)
+file(GLOB_RECURSE ${PROJECT_NAME}_SOURCES src/*.cc)
 
 ## BUILD
 
+add_library(lib${PROJECT_NAME} ${${PROJECT_NAME}_SOURCES})
 # add_library(LIBNAME
 #     SOURCES
 # )
@@ -44,11 +45,23 @@ install(DIRECTORY include/${PROJECT_NAME}
 
 # From Modern CMake:
 # https://cliutils.gitlab.io/modern-cmake/chapters/testing/googletest.html
+add_subdirectory("${PROJECT_SOURCE_DIR}/extern/googletest" "extern/googletest")
+include_directories("${gtest_SOURCE_DIR}/include")
+mark_as_advanced(
+    BUILD_GMOCK BUILD_GTEST BUILD_SHARED_LIBS
+    gmock_build_tests gtest_build_samples gtest_build_tests
+    gtest_disable_pthreads gtest_force_shared_crt gtest_hide_internal_symbols
+)
+set_target_properties(gtest PROPERTIES FOLDER extern)
+set_target_properties(gtest_main PROPERTIES FOLDER extern)
+set_target_properties(gmock PROPERTIES FOLDER extern)
+set_target_properties(gmock_main PROPERTIES FOLDER extern)
+
 include(CTest)
 set(TEST_EXECS)
 macro(package_add_gtest TESTNAME)
 	add_executable(${TESTNAME} ${ARGN})
-	target_link_libraries(${TESTNAME} ${GTEST_LDFLAGS})
+	target_link_libraries(${TESTNAME} gtest_main lib${PROJECT_NAME})
 	target_compile_options(${TESTNAME} PUBLIC ${GTEST_CFLAGS})
 	add_test(NAME ${TESTNAME} COMMAND ${TESTNAME})
 	set_target_properties(${TESTNAME} PROPERTIES
@@ -57,7 +70,9 @@ macro(package_add_gtest TESTNAME)
 	list(APPEND TEST_EXECS ${TESTNAME})
 endmacro()
 
+# define the tests
 package_add_gtest(vector_test test/vector_test.cc)
+package_add_gtest(orientation_test test/orientation_test.cc)
 
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --verbose DEPENDS ${TEST_EXECS})
 
@@ -65,3 +80,7 @@ add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --verbose DEPENDS ${TEST_
 ## DEPLOY
 
 include(CMakePack.txt)
+
+
+## DOCUMENTATE
+add_subdirectory ("docs")

docs/CMakeLists.txt

@@ -0,0 +1,17 @@
+find_package(Doxygen REQUIRED)
+
+# Find all the public headers
+get_target_property(WRMATH_PUBLIC_HEADER_DIR libwrmath INTERFACE_INCLUDE_DIRECTORIES)
+file(GLOB_RECURSE WRMATH_PUBLIC_HEADERS ${WRMATH_PUBLIC_HEADER_DIR}/*.h)
+
+#This will be the main output of our command
+set(DOXYGEN_INDEX_FILE ${CMAKE_CURRENT_SOURCE_DIR}/html/index.html)
+
+add_custom_command(OUTPUT ${DOXYGEN_INDEX_FILE}
+		DEPENDS ${WRMATH_PUBLIC_HEADERS}
+		COMMAND ${DOXYGEN_EXECUTABLE} Doxyfile
+		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+		MAIN_DEPENDENCY Doxyfile
+		COMMENT "Generating docs")
+
+add_custom_target(Doxygen ALL DEPENDS ${DOXYGEN_INDEX_FILE})

docs/requirements.txt

@@ -0,0 +1,2 @@
+sphinx
+breathe

extern/googletest

@@ -0,0 +1 @@
+Subproject commit 4e29e48840e611ecbef33d10960d7480d2e9034a

include/wrmath/geom.h

@@ -0,0 +1,7 @@
+#ifndef __WRMATH_GEOM_H
+#define __WRMATH_GEOM_H
+
+#include <wrmath/geom/vector.h>
+#include <wrmath/geom/orientation.h>
+
+#endif // __WRMATH_GEOM_H

include/wrmath/geom/orientation.h

@@ -0,0 +1,63 @@
+//
+// Created by kyle on 8/3/19.
+//
+
+#ifndef __WRMATH_GEOM_ORIENTATION_H
+#define __WRMATH_GEOM_ORIENTATION_H
+
+
+#include <wrmath/geom/vector.h>
+
+
+namespace wr {
+namespace geom {
+
+
+float	RadiansToDegreesF(float rads);
+double	RadiansToDegreesD(double rads);
+float	DegreesToRadiansF(float degrees);
+double	DegreesToRadiansD(double degrees);
+
+
+constexpr uint8_t Basis_i = 0;
+constexpr uint8_t Basis_j = 1;
+constexpr uint8_t Basis_k = 2;
+
+
+static const Vector2d Basis2d[] = {
+	Vector2d{1, 0},
+	Vector2d{0, 1},
+};
+
+
+static const Vector2f Basis2f[] = {
+	Vector2f{1, 0},
+	Vector2f{0, 1},
+};
+
+
+static const Vector3d Basis3d[] = {
+	Vector3d{1, 0, 0},
+	Vector3d{0, 1, 0},
+	Vector3d{0, 0, 1},
+};
+
+
+static const Vector3f Basis3f[] = {
+	Vector3f{1, 0, 0},
+	Vector3f{0, 1, 0},
+	Vector3f{0, 0, 1},
+};
+
+
+
+float	Heading2f(Vector2f vec);
+double	Heading2d(Vector2d vec);
+float	Heading3f(Vector3f vec);
+double	Heading3d(Vector3d vec);
+
+} // namespace geom
+} // namespace wr
+
+
+#endif // __WRMATH_ORIENTATION_H

include/wrmath/geom/vector.h

@@ -0,0 +1,363 @@
+#ifndef __WRMATH_GEOM_VECTOR_H
+#define __WRMATH_GEOM_VECTOR_H
+
+
+#include <array>
+#include <cassert>
+#include <cmath>
+#include <initializer_list>
+#include <ostream>
+#include <iostream>
+
+#include <wrmath/util/math.h>
+
+
+namespace wr {
+namespace geom {
+
+/**
+ * Vector provides a standard interface for dimensionless fixed-size
+ * vectors. Once instantiated, they cannot be modified. Note that while
+ * the type is generic, it's intended to be used with floating-point
+ * types. They can be indexed like arrays, and they contain an epsilon
+ * value that defines a tolerance for equality.
+ */
+template <typename T, size_t N>
+class Vector {
+public:
+    	/**
+    	 * The default constructor creates a zero vector for a given
+    	 * type and size.
+    	 */
+	Vector() { wr::util::DefaultEpsilon(this->epsilon); }
+
+	/**
+	 * If given an initializer_list, the vector is created with
+	 * those values. There must be exactly N elements in the list.
+	 * @param ilst
+	 */
+	Vector(std::initializer_list<T>	ilst)
+	{
+		assert(ilst.size() == N);
+
+		wr::util::DefaultEpsilon(this->epsilon);
+		std::copy(ilst.begin(), ilst.end(), this->arr.begin());
+	}	
+
+
+	/**
+	 * Magnitude computes the length of the vector.
+	 * @return The length of the vector.
+	 */
+	T magnitude() const {
+		T	result = 0;
+
+		for (size_t i = 0; i < N; i++) {
+			result += (this->arr[i] * this->arr[i]);
+		}
+		return std::sqrt(result);
+	};
+
+
+	/**
+	 * Set the tolerance for equality checks. At a minimum, this allows
+	 * for systemic errors in floating math arithmetic.
+	 *
+	 * @param eps is the maximum difference between this vector and
+	 *            another.
+	 */
+	void
+	setEpsilon(T eps)
+	{
+		this->epsilon = eps;
+	}
+
+
+	/**
+	 * Determine whether this is a zero vector.
+	 * @return true if the vector is zero.
+	 */
+	bool
+	isZero() const
+	{
+		for (size_t i = 0; i < N; i++) {
+			if (!wr::util::WithinTolerance(this->arr[i], (T)0.0, this->epsilon)) {
+				return false;
+			}
+		}
+		return true;
+	}
+
+
+	/**
+	 * Obtain the unit vector for this vector.
+	 * @return The unit vector
+	 */
+	Vector
+	unitVector() const
+	{
+		return *this / this->magnitude();
+	}
+
+
+	/**
+	 * Determine if this is a unit vector, e.g. if its length is 1.
+	 * @return true if the vector is a unit vector.
+	 */
+	bool
+	isUnitVector() const
+	{
+		return wr::util::WithinTolerance(this->magnitude(), (T)1.0, this->epsilon);
+	}
+
+
+	/**
+	 * Compute the angle between two other vectors.
+	 * @param other Another vector.
+	 * @return The angle in radians between the two vectors.
+	 */
+	T
+	angle(const Vector<T, N> &other) const
+	{
+		Vector<T, N>	unitA = this->unitVector();
+		Vector<T, N>	unitB = other.unitVector();
+
+		// Can't compute angles with a zero vector.
+		assert(!this->isZero());
+		assert(!other.isZero());
+		return std::acos(unitA * unitB);
+	}
+
+
+	/**
+	 * Determine whether two vectors are parallel.
+	 * @param other Another vector
+	 * @return True if the angle between the vectors is zero.
+	 */
+	bool
+	isParallel(const Vector<T, N> &other) const
+	{
+		if (this->isZero() || other.isZero()) {
+			return true;
+		}
+
+		T angle = this->angle(other);
+		if (wr::util::WithinTolerance(angle, (T)0.0, this->epsilon)) {
+			return true;
+		}
+
+		return false;
+	}
+
+
+	/**
+	 * Determine if two vectors are orthogonal or perpendicular to each
+	 * other.
+	 * @param other Another vector
+	 * @return True if the two vectors are orthogonal.
+	 */
+	bool
+	isOrthogonal(const Vector<T, N> &other) const
+	{
+		if (this->isZero() || other.isZero()) {
+			return true;
+		}
+
+		return wr::util::WithinTolerance(*this * other, (T)0.0, this->epsilon);
+	}
+
+
+	/**
+	 * Project this vector onto some basis vector.
+	 * @param basis The basis vector to be projected onto.
+	 * @return A vector that is the projection of this onto the basis
+	 *         vector.
+	 */
+	Vector
+	projectParallel(const Vector<T, N> &basis) const
+	{
+		Vector<T, N>	unit_basis = basis.unitVector();
+
+		return unit_basis * (*this * unit_basis);
+	}
+
+
+	/**
+	 * Project this vector perpendicularly onto some basis vector.
+	 * This is also called the rejection of the vector.
+	 * @param basis The basis vector to be projected onto.
+	 * @return A vector that is the orthogonal projection of this onto
+	 *         the basis vector.
+	 */
+	Vector
+	projectOrthogonal(const Vector<T, N> &basis)
+	{
+		Vector<T, N>	spar = this->projectParallel(basis);
+		return *this - spar;
+	}
+
+
+	/**
+	 * Perform vector addition with another vector.
+	 * @param other The vector to be added.
+	 * @return A new vector that is the result of adding this and the
+	 *         other vector.
+	 */
+	Vector operator+(const Vector<T, N> &other) const {
+		Vector<T, N>	vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] + other.arr[i];
+		}
+
+		return vec;
+	}
+
+
+	/**
+	 * Perform vector subtraction with another vector.
+	 * @param other The vector to be subtracted from this vector.
+	 * @return A new vector that is the result of subtracting the
+	 *         other vector from this one.
+	 */
+	Vector operator-(const Vector<T, N> &other) const {
+		Vector<T, N>	vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] - other.arr[i];
+		}
+
+		return vec;
+	}
+
+
+	/**
+	 * Perform scalar multiplication of this vector by some scale factor.
+	 * @param k The scaling value.
+	 * @return A new vector that is this vector scaled by k.
+	 */
+	Vector operator*(const T k) const {
+		Vector<T, N>	vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] * k;
+		}
+
+		return vec;
+	}
+
+
+	/**
+	 * Perform scalar division of this vector by some scale factor.
+	 * @param k The scaling value
+	 * @return A new vector that is this vector scaled by 1/k.
+	 */
+	Vector operator/(const T k) const {
+		Vector<T, N>	vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] / k;
+		}
+
+		return vec;
+	}
+
+
+	/**
+	 * Compute the dot product between two vectors.
+	 * @param other The other vector.
+	 * @return A scalar value that is the dot product of the two vectors.
+	 */
+	T operator*(const Vector<T, N> &other) const {
+		T	result = 0;
+
+		for (size_t i = 0; i < N; i++) {
+			result += (this->arr[i] * other.arr[i]);
+		}
+
+		return result;
+	}
+
+
+	/**
+	 * Compare two vectors for equality.
+	 * @param other The other vector.
+	 * @return Return true if all the components of both vectors are
+	 *         within the tolerance value.
+	 */
+	bool operator==(const Vector<T, N> &other) const {
+		for (size_t i = 0; i<N; i++) {
+			if (!wr::util::WithinTolerance(this->arr[i], other.arr[i], this->epsilon)) {
+				return false;
+			}
+		}
+		return true;
+	}
+
+
+	/**
+	 * Compare two vectors for inequality.
+	 * @param other The other vector.
+	 * @return Return true if any of the components of both vectors are
+	 *         not within the tolerance value.
+	 */
+	bool operator!=(const Vector<T, N> &other) const {
+		return !(*this == other);
+	}
+
+
+	/**
+	 * Support array indexing into vector.
+	 * @param i The component index.
+	 * @return The value of the vector component at i.
+	 */
+	T operator[](size_t i) const {
+		return this->arr[i];
+	}
+
+
+	/**
+	 * Support outputting vectors in the form "<i, j, ...>".
+	 * @param outs An output stream.
+	 * @param vec The vector to be formatted.
+	 * @return The output stream.
+	 */
+	friend std::ostream& operator<<(std::ostream& outs, const Vector<T, N>& vec) {
+		outs << "<";
+		for (size_t i = 0; i < N; i++) {
+			outs << vec.arr[i];
+			if (i < (N-1)) {
+				outs << ", ";
+			}
+		}
+		outs << ">";
+		return outs;
+	}
+
+private:
+	static const size_t	dim = N;
+	T			epsilon;
+	std::array<T, N>	arr;
+};
+
+
+/**
+ * A number of shorthand aliases for vectors are provided. They follow
+ * the form of VectorNt, where N is the dimension and t is the type.
+ * For example, a 2D float vector is Vector2f.
+ */
+
+typedef Vector<float,  2>	Vector2f;
+typedef Vector<float,  3>	Vector3f;
+typedef Vector<float,  4>	Vector4f;
+
+typedef Vector<double,  2>	Vector2d;
+typedef	Vector<double, 3>	Vector3d;
+typedef Vector<double, 4>	Vector4d;
+
+
+} // namespace geom
+} // namespace wr
+
+
+#endif //  __WRMATH_GEOM_VECTOR_H

include/wrmath/util/math.h

@@ -1,5 +1,5 @@
-#ifndef __WRNAV_UTIL_MATH_H
-#define __WRNAV_UTIL_MATH_H
+#ifndef __WRMATH_UTIL_MATH_H
+#define __WRMATH_UTIL_MATH_H
 
 
 namespace wr {
@@ -10,14 +10,14 @@ const double Epsilon_double = 0.0001;
 const float  Epsilon_float = 0.0001;
 
 
-void
+static void
 DefaultEpsilon(double &epsilon)
 {
 	epsilon = Epsilon_double;
 }
 
 
-void
+static void
 DefaultEpsilon(float &epsilon)
 {
 	epsilon = Epsilon_float;
@@ -25,7 +25,7 @@ DefaultEpsilon(float &epsilon)
 
 
 template <typename T>
-T
+static T
 WithinTolerance(T a, T b, T epsilon)
 {
 	return std::abs(a - b) < epsilon;
@@ -36,4 +36,4 @@ WithinTolerance(T a, T b, T epsilon)
 } // namespace wr
 
 
-#endif // __WRNAV_UTIL_MATH_H
+#endif // __WRMATH_UTIL_MATH_H

include/wrnav/geom/vector.h

@@ -1,180 +0,0 @@
-#ifndef __WRNAV_GEOM_VECTOR_H
-#define __WRNAV_GEOM_VECTOR_H
-
-
-#include <array>
-#include <cassert>
-#include <cmath>
-#include <initializer_list>
-#include <ostream>
-#include <iostream>
-
-#include <wrnav/util/math.h>
-
-
-namespace wr {
-namespace geom {
-
-template <typename T, size_t N>
-class Vector {
-public:
-	Vector() { wr::util::DefaultEpsilon(this->epsilon); }
-
-	Vector(std::initializer_list<T>	ilst)
-	{
-		assert(ilst.size() == N);
-
-		wr::util::DefaultEpsilon(this->epsilon);
-		std::copy(ilst.begin(), ilst.end(), this->arr.begin());
-	}	
-
-
-	T magnitude() const {
-		T	result = 0;
-
-		for (size_t i = 0; i < N; i++) {
-			result += (this->arr[i] * this->arr[i]);
-		}
-		return std::sqrt(result);
-	};
-
-
-	void
-	setEpsilon(T epsilon)
-	{
-		this->epsilon = epsilon;
-	}
-
-
-	bool
-	isZero() const
-	{
-		for (size_t i = 0; i < N; i++) {
-			if (!wr::util::WithinTolerance(this->arr[i], 0.0, this->epsilon)) {
-				return false;
-			}
-		}
-		return true;
-	}
-
-
-	Vector
-	unitVector() const
-	{
-		return *this / this->magnitude();
-	}
-
-
-	T
-	angle(const Vector<T, N> &rhs) const
-	{
-		Vector<T, N>	unitA = this->unitVector();
-		Vector<T, N>	unitB = rhs.unitVector();
-
-		return std::acos(unitA * unitB);
-	}
-
-
-	Vector operator+(const Vector<T, N> &rhs) const {
-		Vector<T, N>	vec;
-
-		for (size_t i = 0; i < N; i++) {
-			vec.arr[i] = this->arr[i] + rhs.arr[i];
-		}
-
-		return vec;
-	}
-
-
-	Vector operator-(const Vector<T, N> &rhs) const {
-		Vector<T, N>	vec;
-
-		for (size_t i = 0; i < N; i++) {
-			vec.arr[i] = this->arr[i] - rhs.arr[i];
-		}
-
-		return vec;
-	}
-
-
-	// Scalar multiplication.
-	Vector operator*(const T k) const {
-		Vector<T, N>	vec;
-
-		for (size_t i = 0; i < N; i++) {
-			vec.arr[i] = this->arr[i] * k;
-		}
-
-		return vec;
-	}
-
-
-	// Scalar division.
-	Vector operator/(const T k) const {
-		Vector<T, N>	vec;
-
-		for (size_t i = 0; i < N; i++) {
-			vec.arr[i] = this->arr[i] / k;
-		}
-
-		return vec;
-	}
-
-
-	// Dot product.
-	T operator*(const Vector<T, N> &rhs) const {
-		T	result = 0;
-
-		for (size_t i = 0; i < N; i++) {
-			result += (this->arr[i] * rhs.arr[i]);
-		}
-
-		return result;
-	}
-
-
-	bool operator==(const Vector<T, N> &rhs) const {
-		for (size_t i = 0; i<N; i++) {
-			if (!wr::util::WithinTolerance(this->arr[i], rhs.arr[i], this->epsilon)) {
-				return false;
-			}
-		}
-		return true;
-	}
-
-
-	bool operator!=(const Vector<T, N> &rhs) const {
-		return !(*this == rhs);
-	}
-
-
-	friend std::ostream& operator<<(std::ostream& outs, const Vector<T, N>& vec) {
-		outs << "<";
-		for (size_t i = 0; i < N; i++) {
-			outs << vec.arr[i];
-			if (i < (N-1)) {
-				outs << ", ";
-			}
-		}
-		outs << ">";
-		return outs;
-	}
-
-private:
-	static const size_t	dim = N;
-	T			epsilon;
-	std::array<T, N>	arr;
-};
-
-
-typedef Vector<float,  3>	Vector3f;
-typedef Vector<float,  4>	Vector4f;
-typedef	Vector<double, 3>	Vector3d;
-typedef Vector<double, 4>	Vector4d;
-
-
-} // namespace geom
-} // namespace wr
-
-
-#endif //  __WRNAV_GEOM_VECTOR_H

src/orientation.cc

@@ -0,0 +1,68 @@
+#include <cmath>
+#include <wrmath/geom/orientation.h>
+
+
+namespace wr {
+namespace geom {
+
+
+float
+RadiansToDegreesF(float rads)
+{
+	return rads * (180.0 / M_PI);
+}
+
+
+double
+RadiansToDegreesD(double rads)
+{
+	return rads * (180.0 / M_PI);
+}
+
+
+float
+DegreesToRadiansF(float degrees)
+{
+	return degrees * M_PI / 180.0;
+}
+
+
+double
+DegreesToRadiansD(double degrees)
+{return degrees * M_PI / 180.0;
+	return degrees * M_PI / 180.0;
+}
+
+
+float
+Heading2f(Vector2f vec)
+{
+	return vec.angle(Basis2f[Basis_i]);
+}
+
+
+float
+Heading3f(Vector3f vec)
+{
+	Vector2f	vec2f {vec[0], vec[1]};
+	return Heading2f(vec2f);
+}
+
+
+double
+Heading2d(Vector2d vec)
+{
+	return vec.angle(Basis2d[Basis_i]);
+}
+
+
+double
+Heading3d(Vector3d vec)
+{
+	Vector2d	vec2d {vec[0], vec[1]};
+	return Heading2d(vec2d);
+}
+
+
+} // namespace geom
+} // namespace wr

test/orientation_test.cc

@@ -0,0 +1,46 @@
+#include <gtest/gtest.h>
+#include <wrmath/geom/vector.h>
+#include <wrmath/geom/orientation.h>
+
+using namespace std;
+using namespace wr;
+
+
+TEST(Orientation2f, Heading)
+{
+	geom::Vector2f	a {2.0, 2.0};
+
+	EXPECT_FLOAT_EQ(geom::Heading2f(a), geom::DegreesToRadiansF(45));
+}
+
+
+TEST(Orientation3f, Heading)
+{
+	geom::Vector3f	a {2.0, 2.0, 2.0};
+
+	EXPECT_FLOAT_EQ(geom::Heading3f(a), geom::DegreesToRadiansF(45));
+}
+
+
+TEST(Orientation2d, Heading)
+{
+	geom::Vector2d	a {2.0, 2.0};
+
+	EXPECT_NEAR(geom::Heading2d(a), geom::DegreesToRadiansF(45), 0.000001);
+}
+
+
+TEST(Orientation3d, Heading)
+{
+	geom::Vector3d	a {2.0, 2.0, 2.0};
+
+	EXPECT_NEAR(geom::Heading3d(a), geom::DegreesToRadiansF(45), 0.000001);
+}
+
+
+int
+main(int argc, char **argv)
+{
+	::testing::InitGoogleTest(&argc, argv);
+	return RUN_ALL_TESTS();
+}

test/vector_test.cc

@@ -1,6 +1,5 @@
-#include <iostream>
 #include <gtest/gtest.h>
-#include <wrnav/geom/vector.h>
+#include <wrmath/geom/vector.h>
 
 using namespace std;
 using namespace wr;
@@ -82,6 +81,8 @@ TEST(Vector3FloatTests, UnitVector)
 	geom::Vector3f	unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
 
 	EXPECT_EQ(vec3.unitVector(), unit);
+	EXPECT_FALSE(vec3.isUnitVector());
+	EXPECT_TRUE(unit.isUnitVector());
 }
 
 
@@ -96,6 +97,37 @@ TEST(Vector3FloatTests, Angle)
 	EXPECT_NEAR(c.angle(d), 1.052, 0.001);
 }
 
+TEST(Vector3FloatTests, ParallelOrthogonalVectors)
+{
+	geom::Vector3f	a {-2.029, 9.97, 4.172};
+	geom::Vector3f	b {-9.231, -6.639, -7.245};
+	geom::Vector3f	c {-2.328, -7.284, -1.214};
+	geom::Vector3f	d {-1.821, 1.072, -2.94};
+	geom::Vector3f	e {-2.0, 1.0, 3.0};
+	geom::Vector3f	f {-6.0, 3.0, 9.0};
+
+	EXPECT_FALSE(a.isParallel(b));
+	EXPECT_FALSE(a.isOrthogonal(b));
+
+	EXPECT_FALSE(c.isParallel(d));
+	EXPECT_TRUE(c.isOrthogonal(d));
+
+	EXPECT_TRUE(e.isParallel(f));
+	EXPECT_FALSE(e.isOrthogonal(f));
+}
+
+
+TEST(Vector3FloatTests, Projections)
+{
+	geom::Vector4f	a {3.009, -6.172, 3.692, -2.510};
+	geom::Vector4f	b {6.404, -9.144, 2.759, 8.718};
+	geom::Vector4f	c {1.9685, -2.8108, 0.8481, 2.6798};
+	geom::Vector4f	d {1.0405, -3.3612, 2.8439, -5.1898};
+
+	ASSERT_EQ(a.projectParallel(b), c);
+	ASSERT_EQ(a.projectOrthogonal(b), d);
+}
+
 
 TEST(Vector3DoubleTests, Magnitude)
 {
@@ -173,6 +205,8 @@ TEST(Vector3DoubleTests, UnitVector)
 	geom::Vector3d	unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
 
 	EXPECT_EQ(vec3.unitVector(), unit);
+	EXPECT_FALSE(vec3.isUnitVector());
+	EXPECT_TRUE(unit.isUnitVector());
 }
 
 
@@ -188,6 +222,38 @@ TEST(Vector3DoubleTests, Angle)
 }
 
 
+TEST(Vector3DoubleTests, ParallelOrthogonalVectors)
+{
+	geom::Vector3d	a {-2.029, 9.97, 4.172};
+	geom::Vector3d	b {-9.231, -6.639, -7.245};
+	geom::Vector3d	c {-2.328, -7.284, -1.214};
+	geom::Vector3d	d {-1.821, 1.072, -2.94};
+	geom::Vector3d	e {-2.0, 1.0, 3.0};
+	geom::Vector3d	f {-6.0, 3.0, 9.0};
+
+	EXPECT_FALSE(a.isParallel(b));
+	EXPECT_FALSE(a.isOrthogonal(b));
+
+	EXPECT_FALSE(c.isParallel(d));
+	EXPECT_TRUE(c.isOrthogonal(d));
+
+	EXPECT_TRUE(e.isParallel(f));
+	EXPECT_FALSE(e.isOrthogonal(f));
+}
+
+
+TEST(Vector3DoubleTests, Projections)
+{
+	geom::Vector4d	a {3.009, -6.172, 3.692, -2.510};
+	geom::Vector4d	b {6.404, -9.144, 2.759, 8.718};
+	geom::Vector4d	c {1.9685, -2.8108, 0.8481, 2.6798};
+	geom::Vector4d	d {1.0405, -3.3612, 2.8439, -5.1898};
+
+	ASSERT_EQ(a.projectParallel(b), c);
+	ASSERT_EQ(a.projectOrthogonal(b), d);
+}
+
+
 int
 main(int argc, char **argv)
 {