Document and refactor geom code.

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

src/scmp/Coord2D.cc

@@ -1,33 +1,32 @@
+///
+/// \file include/scmp/geom/Coord2D.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief 2D point and polar coordinate systems.
+///
+/// Copyright 2023 K. Isom <kyle@imap.cc>
+///
+/// Permission to use, copy, modify, and/or distribute this software for
+/// any purpose with or without fee is hereby granted, provided that
+/// the above copyright notice and this permission notice appear in all /// copies.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
+/// WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
+/// WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE
+/// AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL
+/// DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA
+/// OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
+/// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
+/// PERFORMANCE OF THIS SOFTWARE.
+///
 
-//
-// Project: scccl
-// File: src/math/geom2d.cpp
-// Author: Kyle Isom
-// Date: 2017-06-05
-// Namespace: math::geom
-//
-// geom2d.cpp contains the implementation of 2D geometry in the math::geom
-// namespace.
-//
-// Copyright 2017 Kyle Isom <kyle@imap.cc>
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
 #include <cmath>
 #include <iostream>
 #include <vector>
 
 #include <scmp/Math.h>
 #include <scmp/geom/Coord2D.h>
+#include <scmp/geom/Orientation.h>
 #include <scmp/geom/Vector.h>
 
 
@@ -61,21 +60,21 @@ Point2D::Point2D(const Polar2D &pol)
 int
 Point2D::X() const
 {
-	return this->at(0);
+	return this->At(0);
 }
 
 
 void
 Point2D::X(int _x)
 {
-	this->Set(0, _x);
+	this->Set(BasisX, _x);
 }
 
 
 int
 Point2D::Y() const
 {
-	return this->at(1);
+	return this->At(1);
 }
 
 
@@ -165,7 +164,7 @@ Polar2D::Polar2D(const Point2D &pt)
 double
 Polar2D::R() const
 {
-	return this->at(0);
+	return this->At(0);
 }
 
 
@@ -179,7 +178,7 @@ Polar2D::R(const double _r)
 double
 Polar2D::Theta() const
 {
-	return this->at(1);
+	return this->At(1);
 }
 
 

src/scmp/Motion2D.cc

@@ -5,13 +5,13 @@ namespace scmp {
 namespace basic {
 
 
-scmp::geom::Vector2d
+scmp::geom::Vector2D
 Acceleration(double speed, double heading)
 {
 	auto dx = std::cos(heading) * speed;
 	auto dy = std::sin(heading) * speed;
 
-	return scmp::geom::Vector2d({dx, dy});
+	return scmp::geom::Vector2D({dx, dy});
 }
 
 

src/scmp/Orientation.cc

@@ -7,31 +7,31 @@ namespace geom {
 
 
 float
-Heading2f(Vector2f vec)
+Heading2F(Vector2F vec)
 {
-	return vec.angle(Basis2f[Basis_x]);
+	return vec.Angle(Basis2F[BasisX]);
 }
 
 
 float
-Heading3f(Vector3f vec)
+Heading3f(Vector3F vec)
 {
-	Vector2f	vec2f {vec[0], vec[1]};
-	return Heading2f(vec2f);
+	Vector2F vec2f {vec[0], vec[1]};
+	return Heading2F(vec2f);
 }
 
 
 double
-Heading2d(Vector2d vec)
+Heading2d(Vector2D vec)
 {
-	return vec.angle(Basis2d[Basis_x]);
+	return vec.Angle(Basis2D[BasisX]);
 }
 
 
 double
-Heading3d(Vector3d vec)
+Heading3d(Vector3D vec)
 {
-	Vector2d	vec2d {vec[0], vec[1]};
+	Vector2D vec2d {vec[0], vec[1]};
 	return Heading2d(vec2d);
 }
 

src/scmp/Quaternion.cc

@@ -8,23 +8,23 @@ namespace geom {
 
 
 Quaternionf
-quaternionf(Vector3f axis, float angle)
+MakeQuaternion(Vector3F axis, float angle)
 {
-	return Quaternionf(axis.unitVector() * std::sin(angle / 2.0),
+	return Quaternionf(axis.UnitVector() * std::sin(angle / 2.0),
 			   std::cos(angle / 2.0));
 }
 
 
 Quaterniond
-quaterniond(Vector3d axis, double angle)
+MakeQuaternion(Vector3D axis, double angle)
 {
-	return Quaterniond(axis.unitVector() * std::sin(angle / 2.0),
+	return Quaterniond(axis.UnitVector() * std::sin(angle / 2.0),
 			   std::cos(angle / 2.0));
 }
 
 
 Quaternionf
-quaternionf_from_euler(Vector3f euler)
+QuaternionFromEuler(Vector3F euler)
 {
 	float x, y, z, w;
 	euler = euler / 2.0;
@@ -41,12 +41,12 @@ quaternionf_from_euler(Vector3f euler)
 	z = (cos_yaw * cos_pitch * sin_roll) + (sin_yaw * sin_pitch * cos_roll);
 	w = (cos_yaw * cos_pitch * cos_roll) - (sin_yaw * sin_pitch * sin_roll);
 
-	return Quaternionf(Vector4f{w, x, y, z});
+	return Quaternionf(Vector4F{w, x, y, z});
 }
 
 
 Quaterniond
-quaterniond_from_euler(Vector3d euler)
+QuaternionFromEuler(Vector3D euler)
 {
 	double x, y, z, w;
 	euler = euler / 2.0;
@@ -63,21 +63,21 @@ quaterniond_from_euler(Vector3d euler)
 	z = (cos_yaw * cos_pitch * sin_roll) + (sin_yaw * sin_pitch * cos_roll);
 	w = (cos_yaw * cos_pitch * cos_roll) - (sin_yaw * sin_pitch * sin_roll);
 
-	return Quaterniond(Vector4d{w, x, y, z});
+	return Quaterniond(Vector4D{w, x, y, z});
 }
 
 
 void
-Quaternion_SelfTest()
+QuaternionSelfTest()
 {
 #ifndef NDEBUG
-	Vector3f		v {1.0, 0.0, 0.0};
-	Vector3f		yAxis {0.0, 1.0, 0.0};
+	Vector3F		v {1.0, 0.0, 0.0};
+	Vector3F		yAxis {0.0, 1.0, 0.0};
 	float			angle = M_PI / 2;
 
 	Quaternionf		p = quaternionf(yAxis, angle);
 	Quaternionf		q;
-	Vector3f		vr {0.0, 0.0, 1.0};
+	Vector3F		vr {0.0, 0.0, 1.0};
 
 	assert(p.isUnitQuaternion());
 	std::cerr << p.rotate(v) << std::endl;

src/test/Assert.cc

@@ -58,7 +58,7 @@ Assert(bool condition)
 #else
 	std::stringstream msg;
 
-	msg << "assertion failed at " << __FILE__ << ":" << __LINE__;
+	msg << "assertion failed At " << __FILE__ << ":" << __LINE__;
 	throw AssertionFailed(msg.str());
 #endif
 #else