sc/scsl
sc
/
scsl
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

refactor namespaces

This commit is contained in:
Kyle Isom 2023-10-18 23:57:50 -07:00
parent 5f3dc6e9f6
commit 8d02d078e7
14 changed files with 84 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
CMakeLists.txt
View File

@ -44,6 +44,13 @@ set(HEADER_FILES
include/scsl/StringUtil.h
include/scsl/TLV.h
include/scmp/Math.h
include/scmp/Motion2D.h
include/scmp/geom/Coord2D.h
include/scmp/geom/Orientation.h
include/scmp/geom/Quaternion.h
include/scmp/geom/Vector.h
include/sctest/Assert.h
include/sctest/Report.h
)
@ -60,6 +67,12 @@ set(SOURCE_FILES
src/sl/StringUtil.cc
src/sl/TLV.cc
src/scmp/Math.cc
src/scmp/Coord2D.cc
src/scmp/Motion2D.cc
src/scmp/Orientation.cc
src/scmp/Quaternion.cc
src/test/Assert.cc
src/test/Report.cc
src/test/SimpleSuite.cc

2
include/scmp/math.h → include/scmp/Math.h
View File

@ -6,7 +6,7 @@
#include <cmath>
#include <vector>
namespace scmath {
namespace scmp {
// MAX_RADIAN is a precomputed 2 * M_PI, and MIN_RADIAN is -2 * M_PI.

6
include/scmp/motion2d.h → include/scmp/Motion2D.h
View File

@ -6,13 +6,13 @@
#define SCCCL_MOTION2D_H
#include <scccl/math/geom/vector.h>
#include <scmp/geom/Vector.h>
namespace scphys {
namespace scmp {
namespace basic {
scmath::geom::Vector2d Acceleration(double speed, double heading);
scmp::geom::Vector2d Acceleration(double speed, double heading);
} // namespace basic

2
include/scmp/geom/coord2d.h → include/scmp/geom/Coord2D.h
View File

@ -29,7 +29,7 @@
#include <vector>
namespace scmath {
namespace scmp {
namespace geom {

2
include/scmp/geom/orientation.h → include/scmp/geom/Orientation.h
View File

@ -9,7 +9,7 @@
#define SCMATH_GEOM_ORIENTATION_H
namespace scmath {
namespace scmp {
namespace geom {

20
include/scmp/geom/quaternion.h → include/scmp/geom/Quaternion.h
View File

@ -10,11 +10,11 @@
#include <iostream>
#include <ostream>
#include <scccl/math/math.h>
#include <scccl/math/geom/vector.h>
#include <scmp/Math.h>
#include <scmp/geom/Vector.h>
/// math contains the shimmering clarity math library.
namespace scmath {
namespace scmp {
/// geom contains geometric classes and functions.
namespace geom {
@ -47,7 +47,7 @@ public:
/// The default Quaternion constructor returns an identity quaternion.
Quaternion() : v(Vector<T, 3>{0.0, 0.0, 0.0}), w(1.0)
{
scmath::DefaultEpsilon(this->eps);
scmp::DefaultEpsilon(this->eps);
v.setEpsilon(this->eps);
};
@ -61,7 +61,7 @@ public:
Quaternion(Vector<T, 3> _axis, T _angle) : v(_axis), w(_angle)
{
this->constrainAngle();
scmath::DefaultEpsilon(this->eps);
scmp::DefaultEpsilon(this->eps);
v.setEpsilon(this->eps);
};
@ -75,7 +75,7 @@ public:
w(vector[0])
{
this->constrainAngle();
scmath::DefaultEpsilon(this->eps);
scmp::DefaultEpsilon(this->eps);
v.setEpsilon(this->eps);
}
@ -92,7 +92,7 @@ public:
this->w = it[0];
this->constrainAngle();
scmath::DefaultEpsilon(this->eps);
scmp::DefaultEpsilon(this->eps);
v.setEpsilon(this->eps);
}
@ -199,7 +199,7 @@ public:
bool
isIdentity() const {
return this->v.isZero() &&
scmath::WithinTolerance(this->w, (T)1.0, this->eps);
scmp::WithinTolerance(this->w, (T)1.0, this->eps);
}
@ -209,7 +209,7 @@ public:
bool
isUnitQuaternion() const
{
return scmath::WithinTolerance(this->norm(), (T) 1.0, this->eps);
return scmp::WithinTolerance(this->norm(), (T) 1.0, this->eps);
}
@ -338,7 +338,7 @@ public:
operator==(const Quaternion<T> &other) const
{
return (this->v == other.v) &&
(scmath::WithinTolerance(this->w, other.w, this->eps));
(scmp::WithinTolerance(this->w, other.w, this->eps));
}

18
include/scmp/geom/vector.h → include/scmp/geom/Vector.h
View File

@ -31,7 +31,7 @@
#include <ostream>
#include <iostream>
#include <scccl/math/math.h>
#include <scmp/Math.h>
// This implementation is essentially a C++ translation of a Python library
@ -39,7 +39,7 @@
// of the test vectors come from quiz questions in the class.
namespace scmath {
namespace scmp {
namespace geom {
@ -65,7 +65,7 @@ public:
this->arr[i] = unitLength;
}
scmath::DefaultEpsilon(this->epsilon);
scmp::DefaultEpsilon(this->epsilon);
}
@ -76,7 +76,7 @@ public:
{
assert(ilst.size() == N);
scmath::DefaultEpsilon(this->epsilon);
scmp::DefaultEpsilon(this->epsilon);
std::copy(ilst.begin(), ilst.end(), this->arr.begin());
}
@ -110,7 +110,7 @@ public:
isZero() const
{
for (size_t i = 0; i < N; i++) {
if (!scmath::WithinTolerance(this->arr[i], (T)0.0, this->epsilon)) {
if (!scmp::WithinTolerance(this->arr[i], (T)0.0, this->epsilon)) {
return false;
}
}
@ -132,7 +132,7 @@ public:
bool
isUnitVector() const
{
return scmath::WithinTolerance(this->magnitude(), (T)1.0, this->epsilon);
return scmp::WithinTolerance(this->magnitude(), (T)1.0, this->epsilon);
}
@ -163,7 +163,7 @@ public:
}
T angle = this->angle(other);
if (scmath::WithinTolerance(angle, (T)0.0, this->epsilon)) {
if (scmp::WithinTolerance(angle, (T)0.0, this->epsilon)) {
return true;
}
@ -182,7 +182,7 @@ public:
return true;
}
return scmath::WithinTolerance(*this * other, (T)0.0, this->epsilon);
return scmp::WithinTolerance(*this * other, (T)0.0, this->epsilon);
}
@ -318,7 +318,7 @@ public:
operator==(const Vector<T, N> &other) const
{
for (size_t i = 0; i<N; i++) {
if (!scmath::WithinTolerance(this->arr[i], other.arr[i], this->epsilon)) {
if (!scmp::WithinTolerance(this->arr[i], other.arr[i], this->epsilon)) {
return false;
}
}

6
include/sctest/checks.h
View File

@ -24,7 +24,7 @@
#ifndef __SCTEST_CHECKS_H
#define __SCTEST_CHECKS_H
#include <scccl/math/math.h>
#include <scmp/Math.h>
namespace sctest {
@ -41,8 +41,8 @@ namespace sctest {
#define SCTEST_CHECK_GEZ(x) if ((x) >= 0) { return false; }
#define SCTEST_CHECK_LEZ(x) if ((x) <= 0) { return false; }
#define SCTEST_CHECK_LTZ(x) if ((x) < 0) { return false; }
#define SCTEST_CHECK_FEQ(x, y) { float eps; scmath::DefaultEpsilon(eps); if (!scmath::WithinTolerance((x), (y), eps)) { return false; }}
#define SCTEST_CHECK_DEQ(x, y) { double eps; scmath::DefaultEpsilon(eps); if (!scmath::WithinTolerance((x), (y), eps)) { return false; }}
#define SCTEST_CHECK_FEQ(x, y) { float eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
#define SCTEST_CHECK_DEQ(x, y) { double eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
} // namespace test

13
src/scmp/coord2d.cc → src/scmp/Coord2D.cc
View File

@ -1,3 +1,4 @@
//
// Project: scccl
// File: src/math/geom2d.cpp
@ -25,8 +26,8 @@
#include <iostream>
#include <vector>
#include <scccl/math/math.h>
#include <scccl/math/geom/coord2d.h>
#include <scmp/Math.h>
#include <scmp/geom/Coord2D.h>
// coord2d.cpp contains 2D geometric functions and data structures, such as
@ -34,7 +35,7 @@
// TODO: deprecate Point2D in favour of Vector
namespace scmath {
namespace scmp {
namespace geom {
@ -152,10 +153,10 @@ Polar2D::operator==(const Polar2D& rhs) const
{
static double eps = 0.0;
if (eps == 0.0) {
scmath::DefaultEpsilon(eps);
scmp::DefaultEpsilon(eps);
}
return scmath::WithinTolerance(r, rhs.r, eps) &&
scmath::WithinTolerance(theta, rhs.theta, eps);
return scmp::WithinTolerance(r, rhs.r, eps) &&
scmp::WithinTolerance(theta, rhs.theta, eps);
}

32
src/scmp/math.cc → src/scmp/Math.cc
View File

@ -1,13 +1,35 @@
///
/// \file Math.cc
/// \author K. Isom <kyle@imap.cc>
/// \date 2020-02-26
/// \brief Mathematical convience functions.
///
/// Copyright 2020 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.
///
#include <algorithm>
#include <functional>
#include <numeric>
#include <random>
#include <vector>
#include <scccl/math/math.h>
#include <scmp/Math.h>
namespace scmath {
namespace scmp {
std::vector<int>
@ -104,10 +126,8 @@ RotateRadians(double theta0, double theta1)
}
const double Epsilon_double = 0.0001;
const float Epsilon_float = 0.0001;
static constexpr double Epsilon_double = 0.0001;
static constexpr float Epsilon_float = 0.0001;
void

8
src/scmp/motion2d.cc → src/scmp/Motion2D.cc
View File

@ -1,17 +1,17 @@
#include <cmath>
#include <scccl/phys/basic/motion2d.h>
#include <scmp/Motion2D.h>
namespace scphys {
namespace scmp {
namespace basic {
scmath::geom::Vector2d
scmp::geom::Vector2d
Acceleration(double speed, double heading)
{
auto dx = std::cos(heading) * speed;
auto dy = std::sin(heading) * speed;
return scmath::geom::Vector2d({dx, dy});
return scmp::geom::Vector2d({dx, dy});
}

6
src/scmp/orientation.cc → src/scmp/Orientation.cc
View File

@ -1,8 +1,8 @@
#include <scccl/math/geom/vector.h>
#include <scccl/math/geom/orientation.h>
#include <scmp/geom/Vector.h>
#include <scmp/geom/Orientation.h>
namespace scmath {
namespace scmp {
namespace geom {

4
src/scmp/quaternion.cc → src/scmp/Quaternion.cc
View File

@ -1,9 +1,9 @@
#include <iostream>
#include <scccl/math/geom/quaternion.h>
#include <scmp/geom/Quaternion.h>
namespace scmath {
namespace scmp {
namespace geom {

4
src/sl/Roll.cc
View File

@ -2,9 +2,7 @@
#include <string>
#include <vector>
#include <scccl/math/math.h>
using namespace std;
using namespace scmath;
#include <scmp/Math.h>
static void