Document and refactor geom code, round 2.

- Doxygenate headers.
- Rename to bring methods and functions in line with everything else.

include/scmp/filter/Madgwick.h

@@ -174,7 +174,7 @@ public:
 	/// \note This must be explicitly called before calling any
 	///       method which uses the filter's internal Δt.
 	///
-	/// \param The time delta to use when no time delta is
+	/// \param newDeltaT The time delta to use when no time delta is
 	///	   provided.
 	void
 	DeltaT(T newDeltaT)

include/scmp/geom/Coord2D.h

@@ -39,8 +39,7 @@ class Point2D;
 
 class Polar2D;
 
-/// \brief Point2D is a logical grouping of a set of 2D cartesian
+/// \brief Point2D is a cartesian (X,Y) pairing.
-///        coordinates.
 class Point2D : public Vector<int, 2> {
 public:
 	/// \brief A Point2D defaults to (0,0).
@@ -97,37 +96,63 @@ public:
 	friend std::ostream &operator<<(std::ostream &outs, const Point2D &pt);
 };
 
-// A Polar2D is a 2D polar coordinate, specified in terms of the radius from
+/// \brief Polar2D is a pairing of a radius r and angle θ from some
-// some origin and the Angle from the positive X Axis of a cartesian coordinate
+///        reference point; in this library, it is assumed to be the
-// system.
+///        Cartesian origin (0, 0).
 class Polar2D : public Vector<double, 2> {
 public:
-	// A Polar2D can be initialised as a zeroised polar coordinate, by specifying
+	/// A Polar2D can be initialised as a zeroised polar coordinate, by specifying
-	// the radius and Angle directly, or via conversion from a Point2D.
+	/// the radius and Angle directly, or via conversion from a Point2D.
-	Polar2D();
-	Polar2D(double _r, double _theta);
-	Polar2D(const Point2D &);
 
+	/// \brief Construct a zero polar coordinate.
+	Polar2D();
+
+	/// \brief Construct a polar coordinate from a radius and
+	///        angle.
+	///
+	/// \param _r A radius
+	/// \param _theta An angle
+	Polar2D(double _r, double _theta);
+
+	/// \brief Construct a polar coordinate from a point.
+	///
+	/// This construct uses the origin (0,0) as the reference point.
+	///
+	/// \param point A 2D Cartesian point.
+	Polar2D(const Point2D& point);
+
+	/// \brief Return the radius component of this coordinate.
 	double R() const;
+
+	/// \brief Set the radius component of this coordinate.
 	void R(const double _r);
 
+	/// \brief Return the angle component of this coordinate.
 	double Theta() const;
+
+	/// \brief Set the angle component of this coordinate.
 	void Theta(const double _theta);
 
+	/// \brief Return the coordinate in string form.
 	std::string ToString();
-	void ToPoint(Point2D &);
 
-	// Rotate rotates the polar coordinate by the number of radians, storing the result
+	/// \brief Construct a Point2D representing this Polar2D.
-	// in the Polar2D argument.
+	void ToPoint(Point2D &point);
-	void Rotate(Polar2D &, double);
 
-	// RotateAround rotates this point about by theta radians, storing the rotated point
+	/// \brief Rotate polar coordinate by some angle.
-	// in result.
+	///
-	void RotateAround(const Point2D &other, Point2D &result, double tjeta);
+	/// \param rotated The rotated Polar2D will be stored in this
+	///        coordinate.
+	/// \param delta The angle to rotate by.
+	void Rotate(Polar2D &rotated, double delta);
+
+	/// \brief Rotate this polar coordinate around a 2D point.
+	///
+	/// \param other The reference point.
+	/// \param result The point where the result will stored.
+	/// \param delta The angle to rotate by.
+	void RotateAround(const Point2D &other, Point2D &result, double delta);
 
-	bool operator==(const Polar2D &) const;
-	bool operator!=(const Polar2D &rhs) const
-	{ return !(*this == rhs); }
 	friend std::ostream &operator<<(std::ostream &, const Polar2D &);
 };
 

include/scmp/geom/Quaternion.h

@@ -266,8 +266,8 @@ public:
 	/// Return the Euler angles for this MakeQuaternion as a vector of
 	/// <yaw, pitch, roll>.
 	///
-	/// \warn Users of this function should watch out for gimbal
+	/// \warning Users of this function should watch out for gimbal
-	///       lock.
+	///          lock.
 	///
 	/// \return A vector<T, 3> containing <yaw, pitch, roll>
 	Vector<T, 3>
@@ -492,7 +492,7 @@ MakeQuaternion(Vector<T, 3> axis, T angle)
 /// \return A Quaternion representation of the Orientation represented
 ///         by the Euler angles.
 /// \relatesalso Quaternion
-Quaternionf	QuaternionFromEuler(Vector3F euler);
+Quaternionf	FloatQuaternionFromEuler(Vector3F euler);
 
 
 /// \brief COnstruct a Quaternion from Euler angles.
@@ -504,7 +504,7 @@ Quaternionf	QuaternionFromEuler(Vector3F euler);
 /// \return A Quaternion representation of the Orientation represented
 ///         by the Euler angles.
 /// \relatesalso Quaternion
-Quaterniond	QuaternionFromEuler(Vector3D euler);
+Quaterniond	DoubleQuaternionFromEuler(Vector3D euler);
 
 
 /// \brief Linear interpolation for two Quaternions.

include/scsl/Flags.h

@@ -1,5 +1,5 @@
 ///
-/// \file Flag.h
+/// \file include/scsl/Flags.h
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-12
 /// \brief Flag declares a command-line flag parser.

include/scsl/StringUtil.h

@@ -89,7 +89,7 @@ std::vector<std::string>	SplitKeyValuePair(std::string line, char delimiter);
 /// \param maxCount The maximum number of parts to split. If 0, there is no
 ///	   	    limit to the number of parts.
 /// \return A vector containing all the parts of the string.
-std::vector<std::string>	SplitN(std::string, std::string delimiter, size_t maxCount=0);
+std::vector<std::string>	SplitN(std::string s, std::string delimiter, size_t maxCount=0);
 
 /// WrapText is a very simple wrapping function that breaks the line into
 /// lines of At most lineLength characters. It does this by breaking the

src/scmp/Coord2D.cc

@@ -155,9 +155,9 @@ Polar2D::Polar2D() : Vector<double, 2>{0.0, 0.0} {};
 Polar2D::Polar2D(double _r, double _theta) : Vector<double, 2>{_r, _theta}
 {}
 
-Polar2D::Polar2D(const Point2D &pt)
+Polar2D::Polar2D(const Point2D &point)
-    : Vector<double, 2>{std::sqrt((pt.X() * pt.X()) + (pt.Y() * pt.Y())),
+    : Vector<double, 2>{std::sqrt((point.X() * point.X()) + (point.Y() * point.Y())),
-      			std::atan2(pt.Y(), pt.X())}
+      			std::atan2(point.Y(), point.X())}
 {}
 
 
@@ -190,10 +190,10 @@ Polar2D::Theta(const double _theta)
 
 
 void
-Polar2D::ToPoint(Point2D &pt)
+Polar2D::ToPoint(Point2D &point)
 {
-	pt.Y(std::rint(std::sin(this->Theta()) * this->R()));
+	point.Y(std::rint(std::sin(this->Theta()) * this->R()));
-	pt.X(std::rint(std::cos(this->Theta()) * this->R()));
+	point.X(std::rint(std::cos(this->Theta()) * this->R()));
 }
 
 
@@ -206,22 +206,10 @@ Polar2D::ToString()
 
 
 void
-Polar2D::Rotate(Polar2D &rot, double delta)
+Polar2D::Rotate(Polar2D &rotated, double delta)
 {
-	rot.R(this->R());
+	rotated.R(this->R());
-	rot.Theta(RotateRadians(this->Theta(), delta));
+	rotated.Theta(RotateRadians(this->Theta(), delta));
-}
-
-
-bool
-Polar2D::operator==(const Polar2D &rhs) const
-{
-	static double eps = 0.0;
-	if (eps == 0.0) {
-		scmp::DefaultEpsilon(eps);
-	}
-	return scmp::WithinTolerance(this->R(), rhs.R(), eps) &&
-	       scmp::WithinTolerance(this->Theta(), rhs.Theta(), eps);
 }
 
 

src/scmp/Quaternion.cc

@@ -24,7 +24,7 @@ MakeQuaternion(Vector3D axis, double angle)
 
 
 Quaternionf
-QuaternionFromEuler(Vector3F euler)
+FloatQuaternionFromEuler(Vector3F euler)
 {
 	float x, y, z, w;
 	euler = euler / 2.0;
@@ -46,7 +46,7 @@ QuaternionFromEuler(Vector3F euler)
 
 
 Quaterniond
-QuaternionFromEuler(Vector3D euler)
+DoubleQuaternionFromEuler(Vector3D euler)
 {
 	double x, y, z, w;
 	euler = euler / 2.0;

src/sl/Flags.cc

@@ -1,5 +1,5 @@
 ///
-/// \file Flag.cc
+/// \file src/sl/Flags.cc
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-12
 /// \brief Flag defines a command-line flag parser.

test/madgwick.cc

@@ -153,7 +153,7 @@ SimpleAngularOrientation2InitialVector3f()
 bool
 SimpleAngularOrientation2InitialQuaternionf()
 {
-	const auto              initialFrame = geom::QuaternionFromEuler({0, 0, 0});
+	const auto              initialFrame = geom::FloatQuaternionFromEuler({0, 0, 0});
 	filter::Madgwickf       mflt(initialFrame);
 	const geom::Vector3F    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
 	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
@@ -207,7 +207,7 @@ SimpleAngularOrientation2InitialVector3d()
 bool
 SimpleAngularOrientation2InitialQuaterniond()
 {
-	const auto              initialFrame = geom::QuaternionFromEuler({0, 0, 0});
+	const auto              initialFrame = geom::DoubleQuaternionFromEuler({0, 0, 0});
 	filter::Madgwickd       mflt(initialFrame);
 	const geom::Vector3D    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
 	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.

test/quaternion.cc

@@ -51,7 +51,7 @@ Quaterniond_Euler()
 {
 	geom::Quaterniond	p = geom::MakeQuaternion(
 	    geom::Vector3D{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
-	geom::Quaterniond	q = geom::QuaternionFromEuler(p.Euler());
+	geom::Quaterniond	q = geom::DoubleQuaternionFromEuler(p.Euler());
 
 	SCTEST_CHECK_EQ(p, q);
 	
@@ -238,7 +238,7 @@ Quaternionf_Euler()
 {
 	geom::Quaternionf	p = geom::MakeQuaternion(
 	    geom::Vector3F{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
-	geom::Quaternionf	q = geom::QuaternionFromEuler(p.Euler());
+	geom::Quaternionf	q = geom::FloatQuaternionFromEuler(p.Euler());
 
 	SCTEST_CHECK_EQ(p, q);