refactor namespaces

CMakeLists.txt

@@ -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

include/scmp/Math.h

@@ -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.

include/scmp/Motion2D.h

@@ -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

include/scmp/geom/Coord2D.h

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

include/scmp/geom/Orientation.h

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

include/scmp/geom/Quaternion.h

@@ -10,11 +10,11 @@
 #include <iostream>
 #include <ostream>
 
-#include <scccl/math/math.h>
+#include <scmp/Math.h>
-#include <scccl/math/geom/vector.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));
 	}
 
 

include/scmp/geom/Vector.h

@@ -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;
 			}
 		}

include/sctest/checks.h

@@ -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_FEQ(x, y)		{ float eps; scmp::DefaultEpsilon(eps); if (!scmp::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_DEQ(x, y)		{ double eps; scmp::DefaultEpsilon(eps); if (!scmp::WithinTolerance((x), (y), eps)) { return false; }}
 
 } // namespace test
 

src/scmp/Coord2D.cc

@@ -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 <scmp/Math.h>
-#include <scccl/math/geom/coord2d.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) &&
+	return scmp::WithinTolerance(r, rhs.r, eps) &&
-	       scmath::WithinTolerance(theta, rhs.theta, eps);
+	       scmp::WithinTolerance(theta, rhs.theta, eps);
 }
 
 

src/scmp/Math.cc

@@ -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)
 }
 
 
-
+static constexpr double Epsilon_double = 0.0001;
-
+static constexpr float  Epsilon_float = 0.0001;
-const double Epsilon_double = 0.0001;
-const float  Epsilon_float = 0.0001;
 
 
 void

src/scmp/Motion2D.cc

@@ -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});
 }
 
 

src/scmp/Orientation.cc

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

src/scmp/Quaternion.cc

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

src/sl/Roll.cc

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