clang-tidy fixes, documentation, refactoring.

2023-10-21 02:07:59 -07:00
parent 4e83da345f
commit aee337f2e9
26 changed files with 325 additions and 238 deletions
--- a/include/scmp/Math.h
+++ b/include/scmp/Math.h
@@ -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
--- a/include/scmp/Motion2D.h
+++ b/include/scmp/Motion2D.h
@@ -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
--- a/include/scmp/estimation.h
+++ b/include/scmp/estimation.h
@@ -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
--- a/include/scmp/estimation/Madgwick.h
+++ b/include/scmp/estimation/Madgwick.h
@@ -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


--- a/include/scmp/geom/Orientation.h
+++ b/include/scmp/geom/Orientation.h
@@ -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