Document and refactor geom code, round 2.
- Doxygenate headers. - Rename to bring methods and functions in line with everything else.
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@ -174,7 +174,7 @@ public:
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/// \note This must be explicitly called before calling any
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/// method which uses the filter's internal Δt.
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///
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/// \param The time delta to use when no time delta is
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/// \param newDeltaT The time delta to use when no time delta is
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/// provided.
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void
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DeltaT(T newDeltaT)
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@ -39,8 +39,7 @@ class Point2D;
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class Polar2D;
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/// \brief Point2D is a logical grouping of a set of 2D cartesian
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/// coordinates.
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/// \brief Point2D is a cartesian (X,Y) pairing.
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class Point2D : public Vector<int, 2> {
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public:
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/// \brief A Point2D defaults to (0,0).
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@ -97,37 +96,63 @@ public:
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friend std::ostream &operator<<(std::ostream &outs, const Point2D &pt);
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};
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// A Polar2D is a 2D polar coordinate, specified in terms of the radius from
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// some origin and the Angle from the positive X Axis of a cartesian coordinate
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// system.
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/// \brief Polar2D is a pairing of a radius r and angle θ from some
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/// reference point; in this library, it is assumed to be the
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/// Cartesian origin (0, 0).
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class Polar2D : public Vector<double, 2> {
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public:
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// A Polar2D can be initialised as a zeroised polar coordinate, by specifying
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// the radius and Angle directly, or via conversion from a Point2D.
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Polar2D();
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Polar2D(double _r, double _theta);
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Polar2D(const Point2D &);
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/// A Polar2D can be initialised as a zeroised polar coordinate, by specifying
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/// the radius and Angle directly, or via conversion from a Point2D.
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/// \brief Construct a zero polar coordinate.
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Polar2D();
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/// \brief Construct a polar coordinate from a radius and
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/// angle.
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///
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/// \param _r A radius
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/// \param _theta An angle
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Polar2D(double _r, double _theta);
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/// \brief Construct a polar coordinate from a point.
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///
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/// This construct uses the origin (0,0) as the reference point.
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///
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/// \param point A 2D Cartesian point.
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Polar2D(const Point2D& point);
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/// \brief Return the radius component of this coordinate.
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double R() const;
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/// \brief Set the radius component of this coordinate.
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void R(const double _r);
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/// \brief Return the angle component of this coordinate.
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double Theta() const;
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/// \brief Set the angle component of this coordinate.
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void Theta(const double _theta);
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/// \brief Return the coordinate in string form.
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std::string ToString();
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void ToPoint(Point2D &);
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// Rotate rotates the polar coordinate by the number of radians, storing the result
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// in the Polar2D argument.
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void Rotate(Polar2D &, double);
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/// \brief Construct a Point2D representing this Polar2D.
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void ToPoint(Point2D &point);
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// RotateAround rotates this point about by theta radians, storing the rotated point
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// in result.
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void RotateAround(const Point2D &other, Point2D &result, double tjeta);
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/// \brief Rotate polar coordinate by some angle.
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///
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/// \param rotated The rotated Polar2D will be stored in this
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/// coordinate.
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/// \param delta The angle to rotate by.
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void Rotate(Polar2D &rotated, double delta);
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/// \brief Rotate this polar coordinate around a 2D point.
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///
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/// \param other The reference point.
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/// \param result The point where the result will stored.
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/// \param delta The angle to rotate by.
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void RotateAround(const Point2D &other, Point2D &result, double delta);
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bool operator==(const Polar2D &) const;
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bool operator!=(const Polar2D &rhs) const
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{ return !(*this == rhs); }
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friend std::ostream &operator<<(std::ostream &, const Polar2D &);
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};
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@ -266,8 +266,8 @@ public:
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/// Return the Euler angles for this MakeQuaternion as a vector of
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/// <yaw, pitch, roll>.
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///
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/// \warn Users of this function should watch out for gimbal
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/// lock.
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/// \warning Users of this function should watch out for gimbal
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/// lock.
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///
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/// \return A vector<T, 3> containing <yaw, pitch, roll>
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Vector<T, 3>
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@ -492,7 +492,7 @@ MakeQuaternion(Vector<T, 3> axis, T angle)
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/// \return A Quaternion representation of the Orientation represented
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/// by the Euler angles.
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/// \relatesalso Quaternion
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Quaternionf QuaternionFromEuler(Vector3F euler);
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Quaternionf FloatQuaternionFromEuler(Vector3F euler);
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/// \brief COnstruct a Quaternion from Euler angles.
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@ -504,7 +504,7 @@ Quaternionf QuaternionFromEuler(Vector3F euler);
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/// \return A Quaternion representation of the Orientation represented
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/// by the Euler angles.
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/// \relatesalso Quaternion
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Quaterniond QuaternionFromEuler(Vector3D euler);
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Quaterniond DoubleQuaternionFromEuler(Vector3D euler);
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/// \brief Linear interpolation for two Quaternions.
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@ -1,5 +1,5 @@
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///
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/// \file Flag.h
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/// \file include/scsl/Flags.h
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/// \author K. Isom <kyle@imap.cc>
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/// \date 2023-10-12
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/// \brief Flag declares a command-line flag parser.
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@ -89,7 +89,7 @@ std::vector<std::string> SplitKeyValuePair(std::string line, char delimiter);
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/// \param maxCount The maximum number of parts to split. If 0, there is no
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/// limit to the number of parts.
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/// \return A vector containing all the parts of the string.
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std::vector<std::string> SplitN(std::string, std::string delimiter, size_t maxCount=0);
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std::vector<std::string> SplitN(std::string s, std::string delimiter, size_t maxCount=0);
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/// WrapText is a very simple wrapping function that breaks the line into
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/// lines of At most lineLength characters. It does this by breaking the
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@ -155,9 +155,9 @@ Polar2D::Polar2D() : Vector<double, 2>{0.0, 0.0} {};
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Polar2D::Polar2D(double _r, double _theta) : Vector<double, 2>{_r, _theta}
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{}
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Polar2D::Polar2D(const Point2D &pt)
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: Vector<double, 2>{std::sqrt((pt.X() * pt.X()) + (pt.Y() * pt.Y())),
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std::atan2(pt.Y(), pt.X())}
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Polar2D::Polar2D(const Point2D &point)
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: Vector<double, 2>{std::sqrt((point.X() * point.X()) + (point.Y() * point.Y())),
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std::atan2(point.Y(), point.X())}
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{}
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@ -190,10 +190,10 @@ Polar2D::Theta(const double _theta)
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void
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Polar2D::ToPoint(Point2D &pt)
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Polar2D::ToPoint(Point2D &point)
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{
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pt.Y(std::rint(std::sin(this->Theta()) * this->R()));
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pt.X(std::rint(std::cos(this->Theta()) * this->R()));
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point.Y(std::rint(std::sin(this->Theta()) * this->R()));
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point.X(std::rint(std::cos(this->Theta()) * this->R()));
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}
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@ -206,22 +206,10 @@ Polar2D::ToString()
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void
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Polar2D::Rotate(Polar2D &rot, double delta)
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Polar2D::Rotate(Polar2D &rotated, double delta)
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{
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rot.R(this->R());
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rot.Theta(RotateRadians(this->Theta(), delta));
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}
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bool
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Polar2D::operator==(const Polar2D &rhs) const
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{
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static double eps = 0.0;
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if (eps == 0.0) {
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scmp::DefaultEpsilon(eps);
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}
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return scmp::WithinTolerance(this->R(), rhs.R(), eps) &&
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scmp::WithinTolerance(this->Theta(), rhs.Theta(), eps);
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rotated.R(this->R());
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rotated.Theta(RotateRadians(this->Theta(), delta));
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}
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@ -24,7 +24,7 @@ MakeQuaternion(Vector3D axis, double angle)
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Quaternionf
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QuaternionFromEuler(Vector3F euler)
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FloatQuaternionFromEuler(Vector3F euler)
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{
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float x, y, z, w;
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euler = euler / 2.0;
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@ -46,7 +46,7 @@ QuaternionFromEuler(Vector3F euler)
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Quaterniond
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QuaternionFromEuler(Vector3D euler)
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DoubleQuaternionFromEuler(Vector3D euler)
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{
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double x, y, z, w;
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euler = euler / 2.0;
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@ -1,5 +1,5 @@
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///
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/// \file Flag.cc
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/// \file src/sl/Flags.cc
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/// \author K. Isom <kyle@imap.cc>
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/// \date 2023-10-12
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/// \brief Flag defines a command-line flag parser.
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@ -153,7 +153,7 @@ SimpleAngularOrientation2InitialVector3f()
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bool
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SimpleAngularOrientation2InitialQuaternionf()
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{
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const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
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const auto initialFrame = geom::FloatQuaternionFromEuler({0, 0, 0});
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filter::Madgwickf mflt(initialFrame);
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const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
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const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
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@ -207,7 +207,7 @@ SimpleAngularOrientation2InitialVector3d()
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bool
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SimpleAngularOrientation2InitialQuaterniond()
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{
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const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
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const auto initialFrame = geom::DoubleQuaternionFromEuler({0, 0, 0});
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filter::Madgwickd mflt(initialFrame);
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const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
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const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
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@ -51,7 +51,7 @@ Quaterniond_Euler()
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{
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geom::Quaterniond p = geom::MakeQuaternion(
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geom::Vector3D{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
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geom::Quaterniond q = geom::QuaternionFromEuler(p.Euler());
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geom::Quaterniond q = geom::DoubleQuaternionFromEuler(p.Euler());
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SCTEST_CHECK_EQ(p, q);
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@ -238,7 +238,7 @@ Quaternionf_Euler()
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{
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geom::Quaternionf p = geom::MakeQuaternion(
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geom::Vector3F{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
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geom::Quaternionf q = geom::QuaternionFromEuler(p.Euler());
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geom::Quaternionf q = geom::FloatQuaternionFromEuler(p.Euler());
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SCTEST_CHECK_EQ(p, q);
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