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clang-tidy fixes, documentation, refactoring.

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This commit is contained in:
Kyle Isom
2023-10-21 02:07:59 -07:00
parent 4e83da345f
commit aee337f2e9
26 changed files with 325 additions and 238 deletions
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6
include/scmp/Math.h
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@@ -22,8 +22,8 @@
/// PERFORMANCE OF THIS SOFTWARE.
///
#ifndef SCCCL_MATH_H
#define SCCCL_MATH_H
#ifndef SCSL_SCMP_MATH_H
#define SCSL_SCMP_MATH_H
#include <cmath>
#include <vector>
@@ -118,4 +118,4 @@ WithinTolerance(T a, T b, T epsilon)
} // namespace scmp
#endif //SCCCL_MATH_H
#endif //SCSL_SCMP_MATH_H

21
include/scmp/Motion2D.h
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@@ -1,21 +0,0 @@
//
// Created by Kyle Isom on 2/21/20.
//
#ifndef SCCCL_MOTION2D_H
#define SCCCL_MOTION2D_H
#include <scmp/geom/Vector.h>
namespace scmp {
namespace basic {
scmp::geom::Vector2D Acceleration(double speed, double heading);
} // namespace basic
} // namespace phsyics
#endif //SCCCL_MOTION2D_H

39
include/scmp/estimation.h Normal file
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@@ -0,0 +1,39 @@
///
/// \file include/scmp/estimation.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-20
/// \brief
///
/// 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.
///
#include <scmp/estimation/Madgwick.h>
#ifndef SCSL_ESTIMATION_H
#define SCSL_ESTIMATION_H
namespace scmp {
/// \brief Algorithms for estimation position, and system state.
namespace estimation {}
}
#endif // SCSL_ESTIMATION_H

67
include/scmp/filter/Madgwick.h → include/scmp/estimation/Madgwick.h
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@@ -1,8 +1,8 @@
///
/// \file include/scmp/filter/Madgwick.h
/// \file include/scmp/estimation/Madgwick.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2019-08-06
/// \brief Implementation of a Madgwick filter.
/// \brief Implementation of a Madgwick estimation.
///
/// See https://courses.cs.washington.edu/courses/cse466/14au/labs/l4/madgwick_internal_report.pdf.
///
@@ -33,29 +33,29 @@
/// scmp contains the chimmering clarity math and physics code.
namespace scmp {
/// filter contains filtering algorithms.
namespace filter {
namespace estimation {
/// @brief Madgwick implements an efficient Orientation filter for IMUs.
/// \brief Madgwick implements an efficient Orientation estimation for
/// Intertial Measurement Units (IMUs).
///
/// Madgwick is a novel Orientation filter applicable to IMUs
/// Madgwick is a novel Orientation estimation applicable to IMUs
/// consisting of tri-Axis gyroscopes and accelerometers, and MARG
/// sensor arrays that also include tri-Axis magnetometers. The MARG
/// implementation incorporates magnetic distortionand gyroscope bias
/// drift compensation.
///
/// It is described in the paper [An efficient Orientation filter for inertial and inertial/magnetic sensor arrays](http://x-io.co.uk/res/doc/madgwick_internal_report.pdf).
/// It is described in the paper [An efficient Orientation estimation for inertial and inertial/magnetic sensor arrays](http://x-io.co.uk/res/doc/madgwick_internal_report.pdf).
///
/// \tparam T A floating point type.
template <typename T>
class Madgwick {
public:
/// \brief The Madgwick filter is initialised with an identity MakeQuaternion.
/// \brief The Madgwick estimation is initialised with an identity MakeQuaternion.
Madgwick() : deltaT(0.0), previousSensorFrame(), sensorFrame()
{};
/// \brief The Madgwick filter is initialised with a sensor frame.
/// \brief The Madgwick estimation is initialised with a sensor frame.
///
/// \param sf A sensor frame; if zero, the sensor frame will be
/// initialised as an identity MakeQuaternion.
@@ -66,7 +66,7 @@ public:
}
}
/// \brief Initialise the filter with a sensor frame MakeQuaternion.
/// \brief Initialise the estimation with a sensor frame MakeQuaternion.
///
/// \param sf A MakeQuaternion representing the current Orientation.
Madgwick(scmp::geom::Quaternion<T> sf) :
@@ -74,7 +74,7 @@ public:
{};
/// \brief Return the current orientation as measured by the
/// filter.
/// estimation.
///
/// \return The current sensor frame.
scmp::geom::Quaternion<T>
@@ -83,15 +83,16 @@ public:
return this->sensorFrame;
}
/// \brief Return the filter's rate of angular change from a
/// \brief Return the estimation's rate of angular change from a
/// sensor frame.
///
/// Return the rate of change of the Orientation of the earth frame
/// with respect to the sensor frame.
/// Return the rate of change of the Orientation of the earth
/// frame with respect to the sensor frame.
///
/// \param gyro A three-dimensional vector containing gyro readings
/// as w_x, w_y, w_z.
/// \return A MakeQuaternion representing the rate of angular change.
/// \param gyro A three-dimensional vector containing gyro
/// readings as w_x, w_y, w_z.
/// \return A MakeQuaternion representing the rate of angular
/// change.
scmp::geom::Quaternion<T>
AngularRate(const scmp::geom::Vector<T, 3> &gyro) const
{
@@ -112,8 +113,8 @@ public:
/// \brief Update the sensor frame to a new frame.
///
/// \warning The filter's default Δt must be set before calling
// this.
/// \warning The estimation's default Δt must be set before
/// calling this.
///
/// \param sf The new sensor frame replacing the previous one.
void
@@ -129,9 +130,10 @@ public:
/// the compile flag NDEBUG, but may be useful to catch
/// possible errors.
///
/// \param gyro A three-dimensional vector containing gyro readings
/// as w_x, w_y, w_z.
/// \param delta The time step between readings. It must not be zero.
/// \param gyro A three-dimensional vector containing gyro
/// readings as w_x, w_y, w_z.
/// \param delta The time step between readings. It must not
/// be zero.
void
UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta)
{
@@ -147,20 +149,21 @@ public:
/// \brief Update the sensor frame with a gyroscope reading.
///
/// If no Δt is provided, the filter's default is used.
/// If no Δt is provided, the estimation's default is used.
///
/// \warning The default Δt must be explicitly set using DeltaT
/// before calling this.
///
/// \param gyro A three-dimensional vector containing gyro readings
/// as w_x, w_y, w_z.
/// \param gyro A three-dimensional vector containing gyro
/// readings as w_x, w_y, w_z.
void
UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro)
{
this->UpdateAngularOrientation(gyro, this->deltaT);
}
/// \brief Retrieve a vector of the Euler angles in ZYX Orientation.
/// \brief Retrieve a vector of the Euler angles in ZYX
/// Orientation.
///
/// \return A vector of Euler angles as <ψ, θ, ϕ>.
scmp::geom::Vector<T, 3>
@@ -172,19 +175,19 @@ public:
/// \brief Set the default Δt.
///
/// \note This must be explicitly called before calling any
/// method which uses the filter's internal Δt.
/// method which uses the estimation's internal Δt.
///
/// \param newDeltaT The time delta to use when no time delta is
/// provided.
/// \param newDeltaT The time delta to use when no time delta
/// is provided.
void
DeltaT(T newDeltaT)
{
this->deltaT = newDeltaT;
}
/// \brief Retrieve the filter's current ΔT.
/// \brief Retrieve the estimation's current ΔT.
///
/// \return The current value the filter will default to using
/// \return The current value the estimation will default to using
/// if no time delta is provided.
T DeltaT() { return this->deltaT; }
@@ -202,7 +205,7 @@ using Madgwickd = Madgwick<double>;
using Madgwickf = Madgwick<float>;
} // namespace filter
} // namespace estimation
} // namespace scmp

8
include/scmp/geom/Orientation.h
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@@ -91,19 +91,19 @@ float Heading2F(Vector2F vec);
///
/// \param vec A vector Orientation.
/// \return The compass heading of the vector in radians.
double Heading2d(Vector2D vec);
double Heading2D(Vector2D vec);
/// \brief Compass heading for a Vector2F.
///
/// \param vec A vector Orientation.
/// \return The compass heading of the vector in radians.
float Heading3f(Vector3F vec);
float Heading3F(Vector3F vec);
/// Heading3d returns a compass heading for a Vector2F.
/// Heading3D returns a compass heading for a Vector2F.
///
/// \param vec A vector Orientation.
/// \return The compass heading of the vector in radians.
double Heading3d(Vector3D vec);
double Heading3D(Vector3D vec);
} // namespace geom

2
include/scsl/Arena.h
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@@ -61,7 +61,7 @@ enum class ArenaType
};
/// Arena is the class that implements a memory arena.
/// \brief Fixed, pre-allocated memory.
///
/// The Arena uses the concept of a cursor to point to memory in the arena. The
/// #Start and #End methods return pointers to the start and end of the

4
include/scsl/Buffer.h
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@@ -1,5 +1,5 @@
///
/// \file Buffer.h
/// \file include/scsl/Buffer.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-09
/// \brief Buffer implements basic line buffers.
@@ -33,7 +33,7 @@
namespace scsl {
/// Buffer is a basic line buffer.
/// \brief Basic line buffer.
///
/// The buffer manages its own internal memory, growing and shrinking
/// as needed. Its capacity is separate from its length; the optimal

6
include/scsl/Commander.h
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@@ -1,5 +1,5 @@
///
/// \file Commander.h
/// \file include/scsl/Commander.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-10
/// \brief Subprogram tooling.
@@ -47,6 +47,8 @@ namespace scsl {
using CommanderFunc = std::function<bool (int, char **)>;
/// \brief Subcommands used by Commander.
///
/// Subcommands are the individual commands for the program. A Subcommand
/// will check that it has enough arguments before running its function.
class Subcommand {
@@ -89,6 +91,8 @@ private:
std::string command;
};
/// \brief Subcommander manager for programs.
///
/// Commander collects subcommands and can run the apppropriate one.
///
/// For example:

8
include/scsl/Dictionary.h
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@@ -1,5 +1,5 @@
///
/// \file Dictionary.h
/// \file include/scsl/Dictionary.h
/// \author kyle (kyle@imap.cc)
/// \date 2023-10-12
/// \brief Key-value store built on top of Arena and TLV.
@@ -39,11 +39,7 @@ static constexpr uint8_t DICTIONARY_TAG_VAL = 2;
namespace scsl {
/*
* A Dictionary is a collection of key-value pairs, similar to how
* a dictionary is a mapping of names to definitions.
*/
/// Dictionary implements a key-value store on top of Arena and TLV::Record.
/// \brief Key-value store on top of Arena and TLV::Record.
///
/// Keys and vales are stored as sequential pairs of TLV records; they are
/// expected to contain string values but this isn't necessarily the case. The

6
include/scsl/Flags.h
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@@ -55,7 +55,7 @@ typedef union {
} FlagValue;
/// Flag describes an individual command-line flag.
/// \brief Individual command-line flag
typedef struct {
FlagType Type; ///< The type of the value in the flag.
bool WasSet; ///< The flag was set on the command-line.
@@ -64,7 +64,7 @@ typedef struct {
FlagValue Value; ///< The flag's value.
} Flag;
/// NewFlag is a helper function for constructing a new flag.
/// \brief NewFlag is a helper function for constructing a new flag.
///
/// \param fName The name of the flag.
/// \param fType The type of the flag.
@@ -72,7 +72,7 @@ typedef struct {
/// \return A pointer to a flag.
Flag *NewFlag(std::string fName, FlagType fType, std::string fDescription);
/// Flags provides a basic facility for processing command line flags.
/// \brief Basic facility for processing command line flags.
///
/// Any remaining arguments after the args are added to the parser as
/// arguments that can be accessed with NumArgs, Args, and Arg.

12
include/scsl/StringUtil.h
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@@ -1,5 +1,5 @@
///
/// \file StringUtil.h
/// \file include/scsl/StringUtil.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-14
/// \brief Utilities for working with strings.
@@ -32,11 +32,8 @@
namespace scsl {
/// namespace U contains utilities.
namespace U {
/// namespace S contains string-related functions.
namespace S {
/// String-related utility functions.
namespace string {
/// Remove any whitespace At the beginning of the string. The string
@@ -125,8 +122,7 @@ std::ostream &VectorToString(std::ostream &os, const std::vector<std::string> &s
std::string VectorToString(const std::vector<std::string> &svec);
} // namespace S
} // namespace U
} // namespace string
} // namespace scsl

6
include/scsl/TLV.h
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@@ -1,5 +1,5 @@
///
/// \file TLV.h
/// \file include/scsl/TLV.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-06
/// \brief TLV.h implements basic tag-length-value records.
@@ -21,6 +21,8 @@
namespace scsl {
/// \brief Tag-length-value record tooling
namespace TLV {
@@ -31,7 +33,7 @@ static constexpr size_t TLV_MAX_LEN = 253;
static constexpr uint8_t TAG_EMPTY = 0;
/// Record describes a tag-length-value record.
/// \brief Tag-length-value record with single byte tags and lengths.
///
/// TLV records occupy a fixed size in memory, which can be controlled with the
/// TLV_MAX_LEN define. If this isn't defined, it defaults to a size of 253.

4
include/sctest/Exceptions.h
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@@ -1,5 +1,5 @@
///
/// \file Exceptions.h
/// \file include/sctest/Exceptions.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-10
/// \brief Custom exceptions for use in SCSL used in writing test programs.
@@ -31,7 +31,7 @@
namespace sctest {
/// NotImplemented is an exception reserved for unsupported platforms.
/// \brief Exception reserved for unsupported platforms.
///
/// It is used to mark functionality included for compatibility, and useful for
/// debugging.

87
include/sctest/Report.h
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@@ -1,26 +1,25 @@
//
// Project: scccl
// File: include/test/Report.h
// Author: Kyle Isom
// Date: 2017-06-05
// Namespace: test
//
// Report.h defines a Report structure that contains information about
// the results of unit tests.
//
// 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.
///
/// \file include/sctest/Report.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2017-06-05
/// \brief Unit test reporting class.
///
/// Copyright 2017 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.
///
#ifndef SCTEST_REPORT_H
#define SCTEST_REPORT_H
@@ -28,9 +27,15 @@
namespace sctest {
/// \brief A Report holds test run results.
///
/// This is designed to work with SimpleSuite, but might be useful
/// for other things.
class Report {
public:
/// \brief Construct a new Report, zeroed out.
Report();
/// \brief Failing returns the count of failed tests.
///
/// \details If a test is run and expected to pass, but fails,
@@ -40,24 +45,48 @@ public:
/// \return The number of tests that failed.
size_t Failing() const;
/// \brief Returns the number of tests that have passed
/// successfully.
/// \brief The number of tests that have passed successfully.
size_t Passing() const;
/// \brief Total is the number of tests registered.
/// \brief The number of tests registered.
size_t Total() const;
/// \brief Report a test as having failed.
void Failed();
/// \brief Report a test as having passed.
void Passed();
/// \brief Register more tests in the report.
///
/// This is used to track the total number of tests in the
/// report.
void AddTest(size_t testCount = 0);
/// \brief Reset the internal state.
///
/// All fields in the Report will be zeroed out.
///
/// \param testCount
void Reset(size_t testCount = 0);
/// \brief Mark the start of test runs.
///
/// This is used for tracking how long the tests took to complete.
void Start();
/// \brief Mark the end of test runs.
///
/// This is used for tracking how long the tests took to complete.
void End();
/// \brief Retrieve how long the tests took to run.
///
/// This only makes sense to run after called to Start and End.
///
/// \return The number of milliseconds that have elapsed.
std::chrono::duration<double, std::milli>
Elapsed() const;
Report();
private:
size_t failing;
size_t passed;

16
include/sctest/SimpleSuite.h
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@@ -1,5 +1,5 @@
///
/// \file SimpleSuite.h
/// \file include/sctest/SimpleSuite.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2017-06-05
/// \brief Defines a simple unit testing framework.
@@ -33,8 +33,9 @@
namespace sctest {
/// \brief UnitTest describes a single unit test. It is a predicate:
/// did the test pass?
/// \brief UnitTest describes a single unit test.
///
/// It is a predicate: did the test pass?
struct UnitTest {
/// What name should be shown when running tests?
std::string name;
@@ -99,12 +100,13 @@ public:
/// resetting the suite's internal state.
void Reset();
/// \brief
// HasRun returns true if a report is ready.
/// \brief Returns true if Run has been called.
bool HasRun() const;
// Report returns a Report.
Report GetReport(void);
/// \brief Retrieve the test run results.
///
/// The results will only be valid if Run has been called.
Report GetReport();
private:
bool quiet;

37
include/sctest/sctest.h Normal file
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@@ -0,0 +1,37 @@
///
/// \file include/sctest/sctest.h
/// \author K. Isom <kyle@imap.cc>
/// \date 2023-10-20
/// \brief Shimmering Clarity testing code.
///
/// 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.
///
#include <sctest/Assert.h>
#include <sctest/Checks.h>
#include <sctest/Debug.h>
#include <sctest/Exceptions.h>
#include <sctest/Report.h>
#include <sctest/SimpleSuite.h>
#ifndef SCSL_SCTEST_H
#define SCSL_SCTEST_H
/// \brief Shimmering Clarity testing library.
namespace sctest {}
#endif // SCSL_SCTEST_H