adding more to intro

There should be a devlog entry shortly describing this, but the
code for IsParallel wasn't working on arm64 (Linux or Darwin).
Floating point math is weird.

.circleci/config.yml

@@ -1,25 +1,18 @@
-# Use the latest 2.1 version of CircleCI pipeline process engine.
-# See: https://circleci.com/docs/configuration-reference
 version: 2.1
 
-# Define a job to be invoked later in a workflow.
-# See: https://circleci.com/docs/configuration-reference/#jobs
 jobs:
   ctest:
-    # Specify the execution environment. You can specify an image from Docker Hub or use one of our convenience images from CircleCI's Developer Hub.
-    # See: https://circleci.com/docs/configuration-reference/#executor-job
     docker:
       - image: git.wntrmute.dev/sc/dev:alpine
-    # Add steps to the job
-    # See: https://circleci.com/docs/configuration-reference/#steps
     steps:
       - checkout
       - run:
           name: Setup cmake build
-          command: setup-cmake.sh
+          command: cmake-build-and-test.sh
+      - run:
+          name: Valgrind checks.
+          command: cmake-run-valgrind.sh
 
-# Orchestrate jobs using workflows
-# See: https://circleci.com/docs/configuration-reference/#workflows
 workflows:
   ctest:
     jobs:

.clang-format

@@ -0,0 +1,67 @@
+# Generated from CLion C/C++ Code Style settings
+BasedOnStyle: LLVM
+AccessModifierOffset: -8
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: Consecutive
+AlignOperands: Align
+AllowAllArgumentsOnNextLine: false
+AllowAllConstructorInitializersOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: Always
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Always
+AllowShortLambdasOnASingleLine: All
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterReturnType: TopLevel
+AlwaysBreakTemplateDeclarations: Yes
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterCaseLabel: false
+  AfterClass: false
+  AfterControlStatement: Never
+  AfterEnum: false
+  AfterFunction: true
+  AfterNamespace: false
+  AfterUnion: false
+  BeforeCatch: false
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: true
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
+ColumnLimit: 0
+CompactNamespaces: false
+ContinuationIndentWidth: 4
+IndentCaseLabels: false
+IndentPPDirectives: None
+IndentWidth: 8
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: None
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+QualifierAlignment: Left
+PointerAlignment: Right
+ReflowComments: false
+SpaceAfterCStyleCast: true
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 0
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+TabWidth: 8
+UseTab: ForContinuationAndIndentation

.clang-tidy

@@ -7,11 +7,13 @@ Checks: >-
   performance-*,
   readability-*,
   -bugprone-lambda-function-name,
+  -bugprone-easily-swappable-parameters,
   -bugprone-reserved-identifier,
   -cppcoreguidelines-avoid-goto,
   -cppcoreguidelines-avoid-magic-numbers,
   -cppcoreguidelines-avoid-non-const-global-variables,
   -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+  -cppcoreguidelines-pro-bounds-pointer-arithmetic,
   -cppcoreguidelines-pro-type-vararg,
   -google-readability-braces-around-statements,
   -google-readability-function-size,
@@ -20,14 +22,10 @@ Checks: >-
   -modernize-use-nodiscard,
   -modernize-use-trailing-return-type,
   -performance-unnecessary-value-param,
-  -readability-magic-numbers,
+  -readability-identifier-length,
+  -readability-magic-numbers
 
 CheckOptions:
-  - key: readability-function-cognitive-complexity.Threshold
-    value: 100
-  - key: readability-function-cognitive-complexity.IgnoreMacros
-    value: true
-  # Set naming conventions for your style below (there are dozens of naming settings possible):
-  # See https://clang.llvm.org/extra/clang-tidy/checks/readability/identifier-naming.html
-  - key: readability-identifier-naming.ClassCase
-    value: CamelCase
+  readability-function-cognitive-complexity.Threshold: 100
+  readability-function-cognitive-complexity.IgnoreMacros: true
+  readability-identifier-naming.ClassCase: CamelCase

.gitignore

@@ -1,4 +1,3 @@
-.trunk
 .vc
 .vscode
 
@@ -10,6 +9,7 @@ build
 core
 core.*
 cmake-build-*
+compile_commands.json
 
 bufferTest
 dictionaryTest

.idea/codeStyles/Project.xml

@@ -7,6 +7,9 @@
       <option name="FUNCTION_BRACE_PLACEMENT" value="2" />
       <option name="FUNCTION_TOP_AFTER_RETURN_TYPE_WRAP" value="2" />
     </Objective-C>
+    <clangFormatSettings>
+      <option name="ENABLED" value="true" />
+    </clangFormatSettings>
     <files>
       <extensions>
         <pair source="cc" header="h" fileNamingConvention="PASCAL_CASE" />

.idea/inspectionProfiles/Project_Default.xml

@@ -1,6 +1,7 @@
 <component name="InspectionProjectProfileManager">
   <profile version="1.0">
     <option name="myName" value="Project Default" />
+    <inspection_tool class="ClangTidy" enabled="false" level="WARNING" enabled_by_default="false" />
     <inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
     <inspection_tool class="SpellCheckingInspection" enabled="false" level="TYPO" enabled_by_default="false">
       <option name="processCode" value="true" />

.trunk/.gitignore

@@ -0,0 +1,8 @@
+*out
+*logs
+*actions
+*notifications
+*tools
+plugins
+user_trunk.yaml
+user.yaml

.trunk/trunk.yaml

@@ -0,0 +1,27 @@
+# This file controls the behavior of Trunk: https://docs.trunk.io/cli
+# To learn more about the format of this file, see https://docs.trunk.io/reference/trunk-yaml
+version: 0.1
+cli:
+  version: 1.17.1
+plugins:
+  sources:
+    - id: trunk
+      ref: v1.2.6
+      uri: https://github.com/trunk-io/plugins
+runtimes:
+  enabled:
+    - python@3.10.8
+lint:
+  enabled:
+    - include-what-you-use@0.20
+    - checkov@2.5.9
+    - circleci@0.1.29041
+    - clang-tidy@16.0.3
+    - git-diff-check
+    - trufflehog@3.60.0
+actions:
+  disabled:
+    - trunk-announce
+    - trunk-check-pre-push
+    - trunk-fmt-pre-commit
+    - trunk-upgrade-available

CMakeLists.txt

@@ -1,11 +1,12 @@
 cmake_minimum_required(VERSION 3.22)
 project(scsl LANGUAGES CXX
-        VERSION 0.2.5
+        VERSION 1.1.4
         DESCRIPTION "Shimmering Clarity Standard Library")
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_VERBOSE_MAKEFILES TRUE)
 set(VERBOSE YES)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # compile options:
 #   -Wall                   Default to all errors.
@@ -24,37 +25,66 @@ add_compile_options(
         "-g"
         "$<$<CONFIG:RELEASE>:-O2>"
 )
+#add_link_options("-fsanitize=address")
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
     add_compile_options("-stdlib=libc++")
 else ()
-    # nothing special for gcc at the moment
+    # nothing special for gcc At the moment
 endif ()
 
 add_compile_definitions(SCSL_DESKTOP_BUILD)
 add_compile_definitions(SCSL_VERSION=${PROJECT_VERSION})
 
-set(HEADER_FILES scsl.h
-        Arena.h
-        Buffer.h
-        Commander.h
-        Dictionary.h
-        Exceptions.h
-        Flag.h
-        StringUtil.h
-        TLV.h
-        Test.h
+set(HEADER_FILES
+        include/scsl/scsl.h
+        include/scsl/Arena.h
+        include/scsl/Buffer.h
+        include/scsl/Commander.h
+        include/scsl/Dictionary.h
+        include/scsl/Flags.h
+        include/scsl/SimpleConfig.h
+        include/scsl/StringUtil.h
+        include/scsl/TLV.h
+
+        include/scmp/estimation.h
+        include/scmp/geom.h
+        include/scmp/scmp.h
+        include/scmp/Math.h
+        include/scmp/geom/Coord2D.h
+        include/scmp/geom/Orientation.h
+        include/scmp/geom/Quaternion.h
+        include/scmp/geom/Vector.h
+        include/scmp/estimation/Madgwick.h
+
+        include/sctest/sctest.h
+        include/sctest/Assert.h
+        include/sctest/Checks.h
+        include/sctest/Exceptions.h
+        include/sctest/Report.h
+        include/sctest/SimpleSuite.h
 )
 
+include_directories(include)
+
 set(SOURCE_FILES
-        Arena.cc
-        Buffer.cc
-        Commander.cc
-        Dictionary.cc
-        Exceptions.cc
-        Flag.cc
-        StringUtil.cc
-        TLV.cc
-        Test.cc
+        src/sl/Arena.cc
+        src/sl/Buffer.cc
+        src/sl/Commander.cc
+        src/sl/Dictionary.cc
+        src/test/Exceptions.cc
+        src/sl/Flags.cc
+        src/sl/SimpleConfig.cc
+        src/sl/StringUtil.cc
+        src/sl/TLV.cc
+
+        src/scmp/Math.cc
+        src/scmp/Coord2D.cc
+        src/scmp/Orientation.cc
+        src/scmp/Quaternion.cc
+
+        src/test/Assert.cc
+        src/test/Report.cc
+        src/test/SimpleSuite.cc
 )
 
 if (APPLE)
@@ -67,31 +97,43 @@ add_library(scsl
         ${SOURCE_FILES} ${HEADER_FILES})
 endif()
 
-add_executable(phonebook phonebook.cc)
+add_executable(phonebook src/bin/phonebook.cc)
 target_link_libraries(phonebook scsl)
 
 include(CTest)
 enable_testing()
 
-add_executable(buffer_test bufferTest.cc)
-target_link_libraries(buffer_test scsl)
-add_test(bufferTest buffer_test)
+set(TEST_SOURCES)
+macro(generate_test name)
+    add_executable(test_${name} test/${name}.cc ${TEST_SOURCES} ${ARGN})
+    target_link_libraries(test_${name} ${PROJECT_NAME})
+    target_include_directories(test_${name} PRIVATE test)
+    add_test(test_${name} test_${name})
+endmacro()
 
-add_executable(tlv_test tlvTest.cc)
-target_link_libraries(tlv_test scsl)
-add_test(tlvTest tlv_test)
+# core standard library
+generate_test(buffer)
+generate_test(tlv)
+generate_test(dictionary)
+generate_test(stringutil)
 
-add_executable(dictionary_test dictionaryTest.cc)
-target_link_libraries(dictionary_test scsl)
-add_test(dictionaryTest dictionary_test)
+# math and physics
+generate_test(coord2d)
+generate_test(madgwick)
+generate_test(math)
+generate_test(orientation)
+generate_test(quaternion)
+generate_test(vector)
 
-add_executable(flag_test flagTest.cc)
-target_link_libraries(flag_test scsl)
-add_test(flagTest flag_test)
+# test tooling
+add_executable(flags-demo test/flags.cc)
+target_link_libraries(flags-demo ${PROJECT_NAME})
 
-add_executable(stringutil_test stringutil_test.cc)
-target_link_libraries(stringutil_test scsl)
-add_test(stringutilTest stringutil_test)
+add_executable(simple-test-demo test/simple_suite_example.cc)
+target_link_libraries(simple-test-demo ${PROJECT_NAME})
+
+add_executable(config-explorer test/config-explorer.cc)
+target_link_libraries(config-explorer ${PROJECT_NAME})
 
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(
@@ -112,7 +154,7 @@ add_custom_target(deploy-docs
 configure_file(scsl.pc.in scsl.pc @ONLY)
 install(TARGETS scsl LIBRARY DESTINATION lib)
 install(TARGETS phonebook RUNTIME DESTINATION bin)
-install(FILES ${HEADER_FILES} DESTINATION include/scsl)
+install(DIRECTORY include/ DESTINATION include)
 install(FILES scslConfig.cmake DESTINATION share/scsl/cmake)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/scsl.pc DESTINATION lib/pkgconfig)
 

README.md

@@ -1,5 +1,9 @@
 # scsl : The Shimmering Clarity Standard C++ Library
 
+[![CircleCI](https://dl.circleci.com/status-badge/img/gh/shimmering-clarity/scsl/tree/master.svg?style=svg)](https://dl.circleci.com/status-badge/redirect/gh/shimmering-clarity/scsl/tree/master)
+
+[![image](https://scan.coverity.com/projects/29251/badge.svg)](https://scan.coverity.com/projects/shimmering-clarity-scsl)
+
 scsl is a collection of software I found myself needing to use repeatedly.
 
 Full [Doxygen documentation](https://docs.shimmering-clarity.net/scsl/)

bufferTest.cc

@@ -1,59 +0,0 @@
-#include <cassert>
-#include <iostream>
-
-#include "Buffer.h"
-using namespace scsl;
-
-
-int
-main(int argc, char *argv[])
-{
-	(void) argc;
-	(void) argv;
-
-	Buffer buffer("hlo, world");
-	Buffer helloWorld("hello, world!");
-	Buffer goodbyeWorld("goodbye, world");
-	Buffer goodbyeCruelWorld("goodbye, cruel world");
-
-	std::cout << buffer << "\n";
-
-	buffer.Insert(1, (uint8_t *) "el", 2);
-	buffer.Append('!');
-	assert(buffer == helloWorld);
-
-	std::cout << buffer << "\n";
-
-	buffer.Remove(buffer.Length() - 1);
-	std::cout << buffer << "\n";
-	buffer.Remove(0, 5);
-	std::cout << buffer << "\n";
-	buffer.Insert(0, 'g');
-	std::cout << buffer << "\n";
-	buffer.Insert(1, (uint8_t *) "oodbye", 6);
-	std::cout << buffer << "\n";
-	assert(buffer == goodbyeWorld);
-	buffer.Insert(9, (uint8_t *)"cruel ", 6);
-
-	std::cout << buffer << "\n";
-	buffer.HexDump(std::cout);
-
-	buffer.Reclaim();
-	buffer.Append("and now for something completely different...");
-
-	std::cout << buffer.Contents() << "\n";
-	std::cout << "Length: " << buffer.Length() << ", capacity " << buffer.Capacity() << "\n";
-	buffer.Resize(128);
-	std::cout << "Length: " << buffer.Length() << ", capacity " << buffer.Capacity() << "\n";
-	buffer.Trim();
-	std::cout << "Length: " << buffer.Length() << ", capacity " << buffer.Capacity() << "\n";
-
-	Buffer	buffer2("and now for something completely different...");
-	assert(buffer == buffer2);
-
-	buffer2.Remove(buffer2.Length()-3, 3);
-	std::cout << buffer << "\n";
-	assert(buffer != buffer2);
-
-	return 0;
-}

cmake/docs.cmake

@@ -8,9 +8,9 @@ set(DOXYGEN_EXTRACT_ALL YES)
 message(STATUS "Doxygen found, building docs.")
 
 doxygen_add_docs(scsl_docs
-	${HEADER_FILES} ${SOURCE_FILES}
+	${HEADER_FILES}
+	ALL
 	USE_STAMP_FILE)
-add_dependencies(scsl scsl_docs)
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/html DESTINATION share/doc/scsl)
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/man DESTINATION share)
 

cmake/packaging.cmake

@@ -20,9 +20,9 @@ set(CPACK_DEBIAN_PACKAGE_GENERATE_SHLIBS ON)
 set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
 
 if(LINUX)
-set(CPACK_GENERATOR "DEB;STGZ;TGZ")
+set(CPACK_GENERATOR "DEB;RPM;STGZ;TGZ")
 elseif(APPLE)
-set(CPACK_GENERATOR "productbuild")
+set(CPACK_GENERATOR "STGZ;TGZ")
 elseif(MSVC OR MSYS OR MINGW)
 set(CPACK_GENERATOR "NSIS;ZIP")
 else()

dictionaryTest.cc

@@ -1,108 +0,0 @@
-#include <iostream>
-
-#include "Arena.h"
-#include "Dictionary.h"
-#include "Test.h"
-#include "testFixtures.h"
-
-
-using namespace scsl;
-
-
-constexpr char TEST_KVSTR1[] = "foo";
-constexpr uint8_t TEST_KVSTRLEN1 = 3;
-constexpr char TEST_KVSTR2[] = "baz";
-constexpr uint8_t TEST_KVSTRLEN2 = 3;
-constexpr char TEST_KVSTR3[] = "quux";
-constexpr uint8_t TEST_KVSTRLEN3 = 4;
-constexpr char TEST_KVSTR4[] = "spam";
-constexpr uint8_t TEST_KVSTRLEN4 = 4;
-constexpr char TEST_KVSTR5[] = "xyzzx";
-constexpr uint8_t TEST_KVSTRLEN5 = 5;
-constexpr char TEST_KVSTR6[] = "corvid";
-constexpr uint8_t TEST_KVSTRLEN6 = 6;
-
-
-static bool
-testSetKV(Dictionary &pb, const char *k, uint8_t kl, const char *v,
-	  uint8_t vl)
-{
-	bool ok;
-	std::cout << "test Set " << k << "->" << v << "\n";
-	ok = pb.Set(k, kl, v, vl) == 0;
-	std::cout << "\tSet complete\n";
-	return ok;
-}
-
-
-int
-main(int argc, const char *argv[])
-{
-	(void) argc;
-	(void) argv;
-
-	Arena arena;
-	TLV::Record value;
-	TLV::Record expect;
-
-	std::cout << "TESTPROG: " << argv[0] << "\n";
-
-#if defined(__linux__)
-	if (arena.Create(ARENA_FILE, ARENA_SIZE) == -1) {
-		abort();
-	}
-#else
-	if (arena.SetAlloc(ARENA_SIZE) == -1) {
-		abort();
-	}
-#endif
-	std::cout << arena << "\n";
-	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN3, TEST_KVSTR3);
-
-	Dictionary dict(arena);
-	TestAssert(!dict.Contains(TEST_KVSTR2, TEST_KVSTRLEN2));
-
-	TestAssert(testSetKV(dict, TEST_KVSTR1, TEST_KVSTRLEN1, TEST_KVSTR3,
-			     TEST_KVSTRLEN3));
-	std::cout << dict;
-	TestAssert(testSetKV(dict, TEST_KVSTR2, TEST_KVSTRLEN2, TEST_KVSTR3,
-			     TEST_KVSTRLEN3));
-	std::cout << dict;
-	TestAssert(dict.Contains(TEST_KVSTR2, TEST_KVSTRLEN2));
-	TestAssert(testSetKV(dict, TEST_KVSTR4, TEST_KVSTRLEN4, TEST_KVSTR5,
-			     TEST_KVSTRLEN5));
-	std::cout << dict;
-	TestAssert(dict.Lookup(TEST_KVSTR2, TEST_KVSTRLEN2, value));
-
-	TestAssert(cmpRecord(value, expect));
-
-	std::cout << "test overwriting key" << "\n";
-	TestAssert(testSetKV(dict, TEST_KVSTR2, TEST_KVSTRLEN2, TEST_KVSTR6,
-			     TEST_KVSTRLEN6));
-	std::cout << dict;
-	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN6, TEST_KVSTR6);
-	std::cout << "\tlookup" << "\n";
-	TestAssert(dict.Lookup(TEST_KVSTR2, TEST_KVSTRLEN2, value));
-	std::cout << "\tcompare records" << "\n";
-	TestAssert(cmpRecord(value, expect));
-
-	std::cout << "\tadd new key to dictionary" << "\n";
-	TestAssert(testSetKV(dict, TEST_KVSTR3, TEST_KVSTRLEN3, TEST_KVSTR5,
-			     TEST_KVSTRLEN5));
-	std::cout << dict;
-
-	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN5, TEST_KVSTR5);
-	TestAssert(dict.Lookup(TEST_KVSTR4, TEST_KVSTRLEN4, value));
-	TestAssert(cmpRecord(value, expect));
-
-	std::cout << "OK" << "\n";
-
-	// Dump the generated arena for inspection later.
-#if defined(__linux__)
-#else
-	dict.DumpToFile(ARENA_FILE);
-#endif
-
-	arena.Clear();
-	std::cout << dict;
-}

include/scmp/Math.h

@@ -0,0 +1,128 @@
+///
+/// \file include/scmp/Math.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Common math functions.
+///
+/// Arena defines a memory management backend for pre-allocating memory.
+///
+/// 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.
+///
+
+#ifndef SCSL_SCMP_MATH_H
+#define SCSL_SCMP_MATH_H
+
+#include <cmath>
+#include <vector>
+
+namespace scmp {
+
+
+/// MAX_RADIAN is a precomputed 2 * M_PI.
+constexpr double MAX_RADIAN = 2 * M_PI;
+constexpr double MIN_RADIAN = -2 * M_PI;
+constexpr double PI_D = 3.141592653589793;
+
+
+/// Roll m die of n sides, returning a vector of the dice.
+std::vector<int>	Die(int m, int n);
+
+/// Roll m die of n sides, returning the total of the die.
+int			DieTotal(int m, int n);
+
+/// Roll m die of n sides, and take the total of the top k die.
+int			BestDie(int k, int m, int n);
+
+
+/// \brief Convert radians to degrees.
+///
+/// \param rads the Angle in radians
+/// \return the Angle in degrees.
+float	RadiansToDegreesF(float rads);
+
+/// \brief Convert radians to degrees.
+///
+/// \param rads the Angle in radians
+/// \return the Angle in degrees.
+double	RadiansToDegreesD(double rads);
+
+/// \brief Convert degrees to radians.
+///
+/// \param degrees the Angle in degrees
+/// \return the Angle in radians.
+float	DegreesToRadiansF(float degrees);
+
+/// \brief Convert degrees to radians.
+///
+/// \param degrees the Angle in degrees
+/// \return the Angle in radians.
+double	DegreesToRadiansD(double degrees);
+
+/// \brief RotateRadians rotates theta0 by theta1 radians, wrapping
+/// 	   the result to MIN_RADIAN <= result <= MAX_RADIAN.
+/// 
+/// \param theta0 
+/// \param theta1 
+/// \return 
+double	RotateRadians(double theta0, double theta1);
+
+/// \brief Get the default epsilon value.
+///
+/// \param epsilon The variable to store the epsilon value in.
+void	DefaultEpsilon(double &epsilon);
+
+/// \brief Get the default epsilon value.
+///
+/// \param epsilon The variable to store the epsilon value in.
+void	DefaultEpsilon(float &epsilon);
+
+
+/// \brief Get the default epsilon for integer types.
+///
+/// \param epsilon The variable to store the epsilon value in.
+void	DefaultEpsilon(int& epsilon);
+
+
+/// \brief Return whether the two values of type T are equal to within
+/// 	   some tolerance.
+///
+/// \tparam T The type of value
+/// \param a A value of type T used as the left-hand side of an
+/// 	   equality check.
+/// \param b A value of type T used as the right-hand side of an
+/// 	   equality check.
+/// \param epsilon The tolerance value.
+/// \return Whether the two values are "close enough" to be considered
+/// 	    equal.
+template <typename T>
+static T
+WithinTolerance(T a, T b, T epsilon)
+{
+	return std::abs(a - b) <= epsilon;
+}
+
+
+/// \brief Integer square-root.
+///
+/// \param n A max-value integer whose square root should be returned.
+/// \return The square root of $n$.
+size_t	ISqrt(size_t n);
+
+
+} // namespace scmp
+
+
+#endif //SCSL_SCMP_MATH_H

include/scmp/estimation.h

@@ -0,0 +1,41 @@
+///
+/// \file include/scmp/estimation.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-20
+/// \brief Estimate position and orientation.
+///
+/// \section COPYRIGHT
+///
+/// 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

include/scmp/estimation/Madgwick.h

@@ -0,0 +1,214 @@
+///
+/// \file include/scmp/estimation/Madgwick.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2019-08-06
+/// \brief Implementation of a Madgwick estimation.
+///
+/// See https://courses.cs.washington.edu/courses/cse466/14au/labs/l4/madgwick_internal_report.pdf.
+///
+/// \section COPYRIGHT
+///
+/// Copyright 2019 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 SCMP_FILTER_MADGWICK_H
+#define SCMP_FILTER_MADGWICK_H
+
+
+#include <scmp/geom/Vector.h>
+#include <scmp/geom/Quaternion.h>
+
+
+/// scmp contains the chimmering clarity math and physics code.
+namespace scmp {
+
+namespace estimation {
+
+
+/// \brief Madgwick implements an efficient Orientation estimation for
+///        Intertial Measurement Units (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 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 estimation is initialised with an identity MakeQuaternion.
+	Madgwick() : deltaT(0.0), previousSensorFrame(), sensorFrame()
+	{};
+
+	/// \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.
+	Madgwick(scmp::geom::Vector<T, 3> sf) : deltaT(0.0), previousSensorFrame()
+	{
+		if (!sf.IsZero()) {
+			sensorFrame = scmp::geom::MakeQuaternion<T>(sf, 0.0);
+		}
+	}
+
+	/// \brief Initialise the estimation with a sensor frame MakeQuaternion.
+	///
+	/// \param sf A MakeQuaternion representing the current Orientation.
+	Madgwick(scmp::geom::Quaternion<T> sf) :
+	    deltaT(0.0), previousSensorFrame(), sensorFrame(sf)
+	{};
+
+	/// \brief Return the current orientation as measured by the
+	///        estimation.
+	///
+	/// \return The current sensor frame.
+	scmp::geom::Quaternion<T>
+	Orientation() const
+	{
+		return this->sensorFrame;
+	}
+
+	/// \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.
+	///
+	/// \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
+	{
+		return (this->sensorFrame * 0.5) * scmp::geom::Quaternion<T>(gyro, 0.0);
+	}
+
+	/// \brief Update the sensor frame to a new frame.
+	///
+	/// \param sf The new sensor frame replacing the previous one.
+	/// \param delta The time delta since the last update.
+	void
+	UpdateFrame(const scmp::geom::Quaternion<T> &sf, T delta)
+	{
+		this->previousSensorFrame = this->sensorFrame;
+		this->sensorFrame         = sf;
+		this->deltaT              = delta;
+	}
+
+	/// \brief Update the sensor frame to a new frame.
+	///
+	/// \warning The estimation's default Δt must be set before
+	///          calling this.
+	///
+	/// \param sf The new sensor frame replacing the previous one.
+	void
+	UpdateFrame(const scmp::geom::Quaternion<T> &sf)
+	{
+		this->UpdateFrame(sf, this->deltaT);
+	}
+
+	/// \brief Update the sensor frame with a gyroscope reading.
+	///
+	/// This method will assert that the Δt value is not zero
+	/// within a 100μs tolerance. This assert is compiled out with
+	/// 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.
+	void
+	UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta)
+	{
+		// Ensure the delta isn't zero within a 100 μs
+		// tolerance.
+		if (scmp::WithinTolerance<T>(delta, 0.0, 0.00001)) {
+			return;
+		}
+		scmp::geom::Quaternion<T> q = this->AngularRate(gyro) * delta;
+
+		this->UpdateFrame(this->sensorFrame + q, delta);
+	}
+
+	/// \brief Update the sensor frame with a gyroscope reading.
+	///
+	/// 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.
+	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.
+	///
+	/// \return A vector of Euler angles as <ψ, θ, ϕ>.
+	scmp::geom::Vector<T, 3>
+	Euler()
+	{
+		return this->sensorFrame.Euler();
+	}
+
+	/// \brief Set the default Δt.
+	///
+	/// \note This must be explicitly called before calling any
+	///       method which uses the estimation's internal Δt.
+	///
+	/// \param newDeltaT The time delta to use when no time delta
+	///        is provided.
+	void
+	DeltaT(T newDeltaT)
+	{
+		this->deltaT = newDeltaT;
+	}
+
+	/// \brief Retrieve the estimation's current ΔT.
+	///
+	/// \return The current value the estimation will default to using
+	///	    if no time delta is provided.
+	T	DeltaT() { return this->deltaT; }
+
+private:
+	T				deltaT;
+	scmp::geom::Quaternion<T>	previousSensorFrame;
+	scmp::geom::Quaternion<T>	sensorFrame;
+};
+
+
+/// \brief Madgwickd is a shorthand alias for a Madgwick<double>.
+using Madgwickd = Madgwick<double>;
+
+/// \brief Madgwickf is a shorthand alias for a Madgwick<float>.
+using Madgwickf = Madgwick<float>;
+
+
+} // namespace estimation
+} // namespace scmp
+
+
+#endif // SCMP_FILTER_MADGWICK_H

include/scmp/geom.h

@@ -0,0 +1,43 @@
+///
+/// \file include/scmp/geom.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-20
+/// \brief Vector-based geometry 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.
+///
+
+#ifndef SCSL_GEOM_H
+#define SCSL_GEOM_H
+
+
+#include <scmp/geom/Coord2D.h>
+#include <scmp/geom/Orientation.h>
+#include <scmp/geom/Quaternion.h>
+#include <scmp/geom/Vector.h>
+
+
+namespace scmp {
+
+
+/// \brief Geometry-related code.
+namespace geom {}
+
+
+} // namespace scmp
+
+
+#endif // SCSL_GEOM_H

include/scmp/geom/Coord2D.h

@@ -0,0 +1,164 @@
+///
+/// \file include/scmp/geom/Coord2D.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief 2D point and polar coordinate systems.
+///
+/// \section COPYRIGHT
+///
+/// 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 SCMATH_GEOM_COORD2D_H
+#define SCMATH_GEOM_COORD2D_H
+
+
+#include <cmath>
+#include <ostream>
+#include <vector>
+
+#include <scmp/geom/Vector.h>
+
+
+namespace scmp {
+namespace geom {
+
+
+class Point2D;
+
+class Polar2D;
+
+/// \brief Point2D is a cartesian (X,Y) pairing.
+class Point2D : public Vector<int, 2> {
+public:
+	/// \brief A Point2D defaults to (0,0).
+	Point2D();
+
+	/// \brief Initialize a Point2D At (_x, _y).
+	Point2D(int _x, int _y);
+
+	/// \brief Initialize a Point2D from a Polar2D coordinate.
+	Point2D(const Polar2D &pol);
+
+	/// \brief Return the X component of the point.
+	int X() const;
+
+	/// \brief Set the X component of the point.
+	void X(int _x);
+
+	/// \brief Return the Y component of the point.
+	int Y() const;
+
+	/// Set the Y component of the point.
+	void Y(int _y);
+
+	/// \brief ToString returns a string in the format (x,y).
+	std::string ToString();
+
+	/// \brief ToPolar converts the Point2D to a polar coordinate
+	///        in-place.
+	void ToPolar(Polar2D &);
+
+	/// \brief Rotate rotates the point by theta radians.
+	///
+	/// \param rotated Stores the rotated point.
+	/// \param theta The Angle (in radians) to Rotate the point.
+	void Rotate(Point2D& rotated, double theta);
+
+	/// \brief Rotate this point around a series of vertices.
+	///
+	/// \param vertices A series of vertices to Rotate this point around.
+	/// \param theta The Angle to Rotate by.
+	/// \return A series of rotated points.
+	std::vector<Point2D> Rotate(std::vector<Polar2D> vertices, double theta);
+
+	/// \brief Translate adds this point to the first argument,
+	///        storing the result in the second argument.
+	///
+	/// \param other The point to translate by.
+	/// \param translated The point to store the translation in.
+	void Translate(const Point2D &other, Point2D &translated);
+
+	/// \brief Distance returns the distance from this point to another.
+	int Distance(const Point2D &other) const;
+
+	friend std::ostream &operator<<(std::ostream &outs, const Point2D &pt);
+};
+
+/// \brief Polar2D is a pairing of a radius r and angle θ from some
+///        reference point; in this library, it is assumed to be the
+///        Cartesian origin (0, 0).
+class Polar2D : public Vector<double, 2> {
+public:
+	/// A Polar2D can be initialised as a zeroised polar coordinate, by specifying
+	/// the radius and Angle directly, or via conversion from a Point2D.
+
+	/// \brief Construct a zero polar coordinate.
+	Polar2D();
+
+	/// \brief Construct a polar coordinate from a radius and
+	///        angle.
+	///
+	/// \param _r A radius
+	/// \param _theta An angle
+	Polar2D(double _r, double _theta);
+
+	/// \brief Construct a polar coordinate from a point.
+	///
+	/// This construct uses the origin (0,0) as the reference point.
+	///
+	/// \param point A 2D Cartesian point.
+	Polar2D(const Point2D& point);
+
+	/// \brief Return the radius component of this coordinate.
+	double R() const;
+
+	/// \brief Set the radius component of this coordinate.
+	void R(const double _r);
+
+	/// \brief Return the angle component of this coordinate.
+	double Theta() const;
+
+	/// \brief Set the angle component of this coordinate.
+	void Theta(const double _theta);
+
+	/// \brief Return the coordinate in string form.
+	std::string ToString();
+
+	/// \brief Construct a Point2D representing this Polar2D.
+	void ToPoint(Point2D &point);
+
+	/// \brief Rotate polar coordinate by some angle.
+	///
+	/// \param rotated The rotated Polar2D will be stored in this
+	///        coordinate.
+	/// \param delta The angle to rotate by.
+	void Rotate(Polar2D &rotated, double delta);
+
+	/// \brief Rotate this polar coordinate around a 2D point.
+	///
+	/// \param other The reference point.
+	/// \param result The point where the result will stored.
+	/// \param delta The angle to rotate by.
+	void RotateAround(const Point2D &other, Point2D &result, double delta);
+
+	friend std::ostream &operator<<(std::ostream &, const Polar2D &);
+};
+
+
+} // end namespace geom
+} // end namespace math
+#endif

include/scmp/geom/Orientation.h

@@ -0,0 +1,113 @@
+///
+/// \file include/scmp/geom/Orientation.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Orientation of vectors w.r.t. a reference plane, assumed to
+///        be the Earth.
+///
+/// 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 <cstdint>
+
+#include <scmp/geom/Vector.h>
+
+
+#ifndef SCMATH_GEOM_ORIENTATION_H
+#define SCMATH_GEOM_ORIENTATION_H
+
+
+namespace scmp {
+namespace geom {
+
+
+/// \defgroup basis Basis vector indices.
+/// The following constants are provided as a convenience for indexing two-
+/// and three-dimensional vectors.
+
+/// \ingroup basis
+/// \brief Convenience constant for the x index.
+constexpr uint8_t BasisX = 0;
+
+/// \ingroup basis
+/// \brief Convenience constant for the y index.
+constexpr uint8_t BasisY = 1;
+
+/// \ingroup basis
+/// \brief Convenience constant for the z index.
+constexpr uint8_t BasisZ = 2;
+
+
+/// \brief Basis2D provides basis vectors for Vector2ds.
+static const Vector2D Basis2D[] = {
+    Vector2D{1, 0},
+    Vector2D{0, 1},
+};
+
+
+/// \brief Basis2D provides basis vectors for Vector2fs.
+static const Vector2F Basis2F[] = {
+    Vector2F{1, 0},
+    Vector2F{0, 1},
+};
+
+
+/// \brief Basis2D provides basis vectors for Vector3ds.
+static const Vector3D Basis3D[] = {
+    Vector3D{1, 0, 0},
+    Vector3D{0, 1, 0},
+    Vector3D{0, 0, 1},
+};
+
+
+/// \brief Basis2D provides basis vectors for Vector3fs.
+static const Vector3F Basis3F[] = {
+    Vector3F{1, 0, 0},
+    Vector3F{0, 1, 0},
+    Vector3F{0, 0, 1},
+};
+
+
+/// \brief Compass heading for a Vector2F.
+///
+/// \param vec A vector Orientation.
+/// \return The compass heading of the vector in radians.
+float	Heading2F(Vector2F vec);
+
+/// \brief Compass heading for a Vector2D.
+///
+/// \param vec A vector Orientation.
+/// \return The compass heading of the vector in radians.
+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);
+
+/// 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);
+
+
+} // namespace geom
+} // namespace scmp
+
+
+#endif // SCMATH_GEOM_ORIENTATION_H

include/scmp/geom/Quaternion.h

@@ -0,0 +1,577 @@
+///
+/// \file include/scmp/geom/Quaternion.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2019-08-05
+/// \brief Quaternion implementation suitable for navigation in R3.
+///
+/// Copyright 2019 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 SCMATH_GEOM_QUATERNION_H
+#define SCMATH_GEOM_QUATERNION_H
+
+
+#include <cassert>
+#include <cmath>
+#include <initializer_list>
+#include <iostream>
+#include <ostream>
+
+#include <scmp/Math.h>
+#include <scmp/geom/Vector.h>
+
+
+namespace scmp {
+namespace geom {
+
+
+/// \brief Quaternions provide a representation of Orientation
+///        and rotations in three dimensions.
+///
+/// Quaternions encode rotations in three-dimensional space. While
+/// technically a Quaternion is comprised of a real element and a
+/// complex vector<3>, for the purposes of this library, it is modeled
+/// as a floating point 4D vector of the form <w, x, y, z>, where x, y,
+/// and z represent an Axis of rotation in R3 and w the Angle, in
+/// radians, of the rotation about that Axis. Where Euler angles are
+/// concerned, the ZYX (or yaw, pitch, roll) sequence is used.
+///
+/// For information on the underlying vector type, see the
+/// documentation for scmp::geom::Vector.
+///
+/// Like vectors, quaternions carry an internal tolerance value ε that
+/// is used for floating point comparisons. The math namespace contains
+/// the default values used for this; generally, a tolerance of 0.0001
+/// is considered appropriate for the uses of this library. The
+/// tolerance can be explicitly set with the SetEpsilon method.
+template<typename T>
+class Quaternion {
+public:
+	/// \brief Construct an identity Quaternion.
+	Quaternion() : v(Vector<T, 3>{0.0, 0.0, 0.0}), w(1.0)
+	{
+		scmp::DefaultEpsilon(this->eps);
+		v.SetEpsilon(this->eps);
+	};
+
+
+	/// \brief Construct a Quaternion with an Axis and Angle of
+	///        rotation.
+	///
+	/// A Quaternion may be initialised with a Vector<T, 3> Axis
+	/// of rotation and an Angle of rotation. This doesn't do the
+	/// Angle transforms to simplify internal operations.
+	///
+	/// \param _axis A three-dimensional vector of the same type as
+	///              the Quaternion.
+	/// \param _angle The Angle of rotation about the Axis of
+	///               rotation.
+	Quaternion(Vector<T, 3> _axis, T _angle) : v(_axis), w(_angle)
+	{
+		this->constrainAngle();
+		scmp::DefaultEpsilon(this->eps);
+		v.SetEpsilon(this->eps);
+	};
+
+
+	/// A Quaternion may be initialised with a Vector<T, 4> comprised of
+	/// the Axis of rotation followed by the Angle of rotation.
+	///
+	/// \param vector A vector in the form <w, x, y, z>.
+	Quaternion(Vector<T, 4> vector) :
+		v(Vector<T, 3>{vector[1], vector[2], vector[3]}),
+		w(vector[0])
+	{
+		this->constrainAngle();
+		scmp::DefaultEpsilon(this->eps);
+		v.SetEpsilon(this->eps);
+	}
+
+	
+	/// \brief An initializer list containing values for w, x, y,
+	///        and z.
+	///
+	/// \param ilst An initial set of values in the form
+	///             <w, x, y, z>.
+	Quaternion(std::initializer_list<T> ilst)
+	{
+		auto it = ilst.begin();
+
+		this->v = Vector<T, 3>{it[1], it[2], it[3]};
+		this->w = it[0];
+
+		this->constrainAngle();
+		scmp::DefaultEpsilon(this->eps);
+		v.SetEpsilon(this->eps);
+	}
+
+	
+	/// \brief Set the comparison tolerance for this Quaternion.
+	///
+	/// \param epsilon A tolerance value.
+	void
+	SetEpsilon(T epsilon)
+	{
+		this->eps = epsilon;
+		this->v.SetEpsilon(epsilon);
+	}
+
+
+	/// \brief Return the Axis of rotation of this Quaternion.
+	///
+	/// \return The Axis of rotation of this Quaternion.
+	Vector<T, 3>
+	Axis() const
+	{
+		return this->v;
+	}
+
+
+	/// \brief Return the Angle of rotation of this Quaternion.
+	///
+	/// \return the Angle of rotation of this Quaternion.
+	T
+	Angle() const
+	{
+		return this->w;
+	}
+
+
+	/// \brief Compute the Dot product of two quaternions.
+	///
+	/// \param other Another Quaternion.
+	/// \return The Dot product between the two quaternions.
+	T
+	Dot(const Quaternion<T> &other) const
+	{
+		double	innerProduct = this->v[0] * other.v[0];
+
+		innerProduct += (this->v[1] * other.v[1]);
+		innerProduct += (this->v[2] * other.v[2]);
+		innerProduct += (this->w * other.w);
+		return innerProduct;
+	}
+
+
+	/// \brief Compute the Norm of a Quaternion.
+	///
+	/// Treating the Quaternion as a Vector<T, 4>, this is the same
+	/// process as computing the Magnitude.
+	///
+	/// \return A non-negative real number.
+	T
+	Norm() const
+	{
+		T n = 0;
+
+		n += (this->v[0] * this->v[0]);
+		n += (this->v[1] * this->v[1]);
+		n += (this->v[2] * this->v[2]);
+		n += (this->w * this->w);
+
+		return std::sqrt(n);
+	}
+
+
+	/// \brief Return the unit Quaternion.
+	///
+	/// \return The unit Quaternion.
+	Quaternion
+	UnitQuaternion()
+	{
+		return *this / this->Norm();
+	}
+
+	/// \brief Compute the Conjugate of a Quaternion.
+	///
+	/// \return The Conjugate of this Quaternion.
+	Quaternion
+	Conjugate() const
+	{
+		return Quaternion(Vector<T, 4>{this->w, -this->v[0], -this->v[1], -this->v[2]});
+	}
+
+
+	/// \brief Compute the Inverse of a Quaternion.
+	///
+	/// \return The Inverse of this Quaternion.
+	Quaternion
+	Inverse() const
+	{
+		T _norm = this->Norm();
+
+		return this->Conjugate() / (_norm * _norm);
+	}
+
+
+	/// \brief Determine whether this is an identity Quaternion.
+	///
+	/// \return true if this is an identity Quaternion.
+	bool
+	IsIdentity() const {
+		return this->v.IsZero() &&
+		       scmp::WithinTolerance(this->w, (T)1.0, this->eps);
+	}
+
+
+	/// \brief Determine whether this is a unit Quaternion.
+	///
+	/// \return true if this is a unit Quaternion.
+	bool
+	IsUnitQuaternion() const
+	{
+		auto normal = this->Norm();
+		return scmp::WithinTolerance(normal, (T) 1.0, this->eps);
+	}
+
+
+	/// \brief Convert to Vector form.
+	///
+	/// Return the Quaternion as a Vector<T, 4>, with the Axis of
+	/// rotation followed by the Angle of rotation.
+	///
+	/// \return A vector representation of the Quaternion.
+	Vector<T, 4>
+	AsVector() const
+	{
+		return Vector<T, 4>{this->w, this->v[0], this->v[1], this->v[2]};
+	}
+
+
+	/// \brief Rotate Vector vr about this Quaternion.
+	///
+	/// \param vr The vector to be rotated.
+	/// \return The rotated vector.
+	Vector<T, 3>
+	Rotate(Vector<T, 3> vr) const
+	{
+		return (this->Conjugate() * vr * (*this)).Axis();
+	}
+
+
+	/// \brief Return Euler angles for this Quaternion.
+	///
+	/// Return the Euler angles for this Quaternion as a vector of
+	/// <yaw, pitch, roll>.
+	///
+	/// \warning Users of this function should watch out for gimbal
+	///          lock.
+	///
+	/// \return A vector<T, 3> containing <yaw, pitch, roll>
+	Vector<T, 3>
+	Euler() const
+	{
+		T yaw, pitch, roll;
+		T a = this->w, a2 = a * a;
+		T b = this->v[0], b2 = b * b;
+		T c = this->v[1], c2 = c * c;
+		T d = this->v[2], d2 = d * d;
+
+		yaw = std::atan2(2 * ((a * b) + (c * d)), a2 - b2 - c2 + d2);
+		pitch = std::asin(2 * ((b * d) - (a * c)));
+		roll = std::atan2(2 * ((a * d) + (b * c)), a2 + b2 - c2 - d2);
+
+		return Vector<T, 3>{yaw, pitch, roll};
+	}
+
+
+	/// \brief Quaternion addition.
+	///
+	/// \param other The Quaternion to be added with this one.
+	/// \return The result of adding the two quaternions together.
+	Quaternion
+	operator+(const Quaternion<T> &other) const
+	{
+		return Quaternion(this->v + other.v, this->w + other.w);
+	}
+
+
+	/// \brief Quaternion subtraction.
+	///
+	/// \param other The Quaternion to be subtracted from this one.
+	/// \return The result of subtracting the other Quaternion from this one.
+	Quaternion
+	operator-(const Quaternion<T> &other) const
+	{
+		return Quaternion(this->v - other.v, this->w - other.w);
+	}
+
+
+	/// \brief Scalar multiplication.
+	///
+	/// \param k The scaling value.
+	/// \return A scaled Quaternion.
+	Quaternion
+	operator*(const T k) const
+	{
+		return Quaternion(this->v * k, this->w * k);
+	}
+
+
+	/// \brief Scalar division.
+	///
+	/// \param k The scalar divisor.
+	/// \return A scaled Quaternion.
+	Quaternion
+	operator/(const T k) const
+	{
+		return Quaternion(this->v / k, this->w / k);
+	}
+
+
+	/// \brief Quaternion Hamilton multiplication with a three-
+	///        dimensional vector.
+	///
+	/// This is done by treating the vector as a pure Quaternion
+	/// (e.g. with an Angle of rotation of 0).
+	///
+	/// \param vector The vector to multiply with this Quaternion.
+	/// \return The Hamilton product of the Quaternion and vector.
+	Quaternion
+	operator*(const Vector<T, 3> &vector) const
+	{
+		return Quaternion(vector * this->w + this->v.Cross(vector),
+				  (T) 0.0);
+	}
+
+
+	/// \brief Quaternion Hamilton multiplication.
+	///
+	/// \param other The other Quaternion to multiply with this one.
+	/// @result The Hamilton product of the two quaternions.
+	Quaternion
+	operator*(const Quaternion<T> &other) const
+	{
+		T angle = (this->w * other.w) -
+			  (this->v * other.v);
+		Vector<T, 3> axis = (other.v * this->w) +
+				    (this->v * other.w) +
+				    (this->v.Cross(other.v));
+		return Quaternion(axis, angle);
+	}
+
+
+	/// \brief Quaternion equivalence.
+	///
+	/// \param other The Quaternion to check equality against.
+	/// \return True if the two quaternions are equal within their tolerance.
+	bool
+	operator==(const Quaternion<T> &other) const
+	{
+		return (this->v == other.v) &&
+		       (scmp::WithinTolerance(this->w, other.w, this->eps));
+	}
+
+
+	/// \brief Quaternion non-equivalence.
+	///
+	/// \param other The Quaternion to check inequality against.
+	/// \return True if the two quaternions are unequal within their tolerance.
+	bool
+	operator!=(const Quaternion<T> &other) const
+	{
+		return !(*this == other);
+	}
+
+
+	/// \brief Output a Quaternion to a stream in the form
+	///        `a + <i, j, k>`.
+	///
+	/// \todo improve the formatting.
+	///
+	/// \param outs An output stream
+	/// \param q A Quaternion
+	/// \return The output stream
+	friend std::ostream &
+	operator<<(std::ostream &outs, const Quaternion<T> &q)
+	{
+		outs << q.w << " + " << q.v;
+		return outs;
+	}
+
+private:
+	static constexpr T minRotation = -4 * M_PI;
+	static constexpr T maxRotation = 4 * M_PI;
+
+	Vector<T, 3> v; // Axis of rotation
+	T w; // Angle of rotation
+	T eps;
+
+	void
+	constrainAngle()
+	{
+		if (this->w < 0.0) {
+			this->w = std::fmod(this->w, this->minRotation);
+		}
+		else {
+			this->w = std::fmod(this->w, this->maxRotation);
+		}
+	}
+};
+
+
+///
+/// \defgroup quaternion_aliases Quaternion type aliases.
+/// Type aliases are provided for float and double quaternions.
+///
+
+/// \ingroup quaternion_aliases
+/// \brief Type alias for a float Quaternion.
+typedef Quaternion<float> Quaternionf;
+
+/// \ingroup quaternion_aliases
+/// \brief Type alias for a double Quaternion.
+typedef Quaternion<double> Quaterniond;
+
+
+/// \brief Convenience Quaternion construction function.
+///
+/// Return a float Quaternion scaled appropriately from a vector and
+/// Angle, e.g.
+///     angle = cos(Angle / 2),
+///     Axis.UnitVector() * sin(Angle / 2).
+///
+/// \param axis The Axis of rotation.
+/// \param angle The Angle of rotation.
+/// \return A Quaternion.
+/// \relatesalso Quaternion
+Quaternionf	MakeQuaternion(Vector3F axis, float angle);
+
+/// \brief Convience Quaternion construction function.
+///
+/// Return a double Quaternion scaled appropriately from a vector and
+/// Angle, e.g.
+///     Angle = cos(Angle / 2),
+///     Axis.UnitVector() * sin(Angle / 2).
+///
+/// \param axis The Axis of rotation.
+/// \param angle The Angle of rotation.
+/// \return A Quaternion.
+/// \relatesalso Quaternion
+Quaterniond	MakeQuaternion(Vector3D axis, double angle);
+
+
+/// \brief Convience Quaternion construction function.
+///
+/// Return a double Quaternion scaled appropriately from a vector and
+/// Angle, e.g.
+///     Angle = cos(Angle / 2),
+///     Axis.UnitVector() * sin(Angle / 2).
+///
+/// \param axis The Axis of rotation.
+/// \param angle The Angle of rotation.
+/// \return A Quaternion.
+/// \relatesalso Quaternion
+template <typename T>
+Quaternion<T>
+MakeQuaternion(Vector<T, 3> axis, T angle)
+{
+	return Quaternion<T>(axis.UnitVector() * std::sin(angle / (T)2.0),
+			     std::cos(angle / (T)2.0));
+}
+
+
+/// \brief COnstruct a Quaternion from Euler angles.
+///
+/// Given a vector of Euler angles in ZYX sequence (e.g. yaw, pitch,
+/// roll), return a Quaternion.
+///
+/// \param euler A vector Euler Angle in ZYX sequence.
+/// \return A Quaternion representation of the Orientation represented
+///         by the Euler angles.
+/// \relatesalso Quaternion
+Quaternionf	FloatQuaternionFromEuler(Vector3F euler);
+
+
+/// \brief COnstruct a Quaternion from Euler angles.
+///
+/// Given a vector of Euler angles in ZYX sequence (e.g. yaw, pitch,
+/// roll), return a Quaternion.
+///
+/// \param euler A vector Euler Angle in ZYX sequence.
+/// \return A Quaternion representation of the Orientation represented
+///         by the Euler angles.
+/// \relatesalso Quaternion
+Quaterniond	DoubleQuaternionFromEuler(Vector3D euler);
+
+
+/// \brief Linear interpolation for two Quaternions.
+///
+/// LERP computes the linear interpolation of two quaternions At some
+/// fraction of the distance between them.
+///
+/// \tparam T
+/// \param p The starting Quaternion.
+/// \param q The ending Quaternion.
+/// \param t The fraction of the distance between the two quaternions to
+///	     interpolate.
+/// \return A Quaternion representing the linear interpolation of the
+///	    two quaternions.
+template <typename T>
+Quaternion<T>
+LERP(Quaternion<T> p, Quaternion<T> q, T t)
+{
+	return (p + (q - p) * t).UnitQuaternion();
+}
+
+
+/// \brief Shortest distance spherical linear interpolation.
+///
+/// ShortestSLERP computes the shortest distance spherical linear
+/// interpolation between two unit quaternions At some fraction of the
+/// distance between them.
+///
+/// \tparam T
+/// \param p The starting Quaternion.
+/// \param q The ending Quaternion.
+/// \param t The fraction of the distance between the two quaternions
+///	     to interpolate.
+/// \return A Quaternion representing the shortest path between two
+///         quaternions.
+template <typename T>
+Quaternion<T>
+ShortestSLERP(Quaternion<T> p, Quaternion<T> q, T t)
+{
+	assert(p.IsUnitQuaternion());
+	assert(q.IsUnitQuaternion());
+
+	T	dp = p.Dot(q);
+	T	sign = dp < 0.0 ? -1.0 : 1.0;
+	T	omega = std::acos(dp * sign);
+	T	sin_omega = std::sin(omega); // Compute once.
+
+	if (dp > 0.99999) {
+		return LERP(p, q * sign, t);
+	}
+
+	return (p * std::sin((1.0 - t) * omega) / sin_omega) +
+	       (q * sign * std::sin(omega*t) / sin_omega);
+}
+
+
+/// \brief Internal consistency check.
+///
+/// Run a quick self test to exercise basic functionality of the Quaternion
+/// class to verify correct operation. Note that if \#NDEBUG is defined, the
+/// self test is disabled.
+void		QuaternionSelfTest();
+
+
+} // namespace geom
+} // namespace wr
+
+
+#endif // SCMATH_GEOM_QUATERNION_H

include/scmp/geom/Vector.h

@@ -0,0 +1,505 @@
+///
+/// \file include/scmp/geom/Vector.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Linear algebraic vector 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 SCMATH_GEOM_VECTORS_H
+#define SCMATH_GEOM_VECTORS_H
+
+
+#include <array>
+#include <cassert>
+#include <cmath>
+#include <initializer_list>
+#include <ostream>
+#include <iostream>
+
+#include <scmp/Math.h>
+
+
+// This implementation is essentially a C++ translation of a Python library
+// I wrote for Coursera's "Linear Algebra for Machine Learning" course. Many
+// of the test vectors come from quiz questions in the class.
+
+
+namespace scmp {
+namespace geom {
+
+
+/// \brief Vectors represent a direction and Magnitude.
+///
+/// Vector provides a standard interface for dimensionless fixed-size
+/// vectors. Once instantiated, they cannot be modified.
+///
+/// Note that while the class is templated, it's intended to be used
+/// with floating-point types.
+///
+/// Vectors can be indexed like arrays, and they contain an epsilon
+/// value that defines a tolerance for equality.
+template<typename T, size_t N>
+class Vector {
+public:
+	/// \brief Construct a unit vector of a given type and size.
+	Vector()
+	{
+		T           unitLength = (T) 1.0 / std::sqrt(N);
+		for (size_t i          = 0; i < N; i++) {
+			this->arr[i] = unitLength;
+		}
+
+		scmp::DefaultEpsilon(this->epsilon);
+	}
+
+
+	/// \brief Construct a Vector with initial values.
+	///
+	/// If given an initializer_list, the vector is created with
+	/// those values. There must be exactly N elements in the list.
+	///
+	/// \param ilst An intializer list with N elements of type T.
+	Vector(std::initializer_list<T> ilst)
+	{
+		assert(ilst.size() == N);
+
+		scmp::DefaultEpsilon(this->epsilon);
+		std::copy(ilst.begin(), ilst.end(), this->arr.begin());
+	}
+
+
+	/// \brief Return the element At index i.
+	///
+	/// \throws std::out_of_range if the index is out of bounds.
+	///
+	/// \param index The index of the item to retrieve.
+	/// \return The value At the index.
+	T At(size_t index) const
+	{
+		if (index > this->arr.size()) {
+			throw std::out_of_range("index " +
+						std::to_string(index) + " > " +
+						std::to_string(this->arr.size()));
+		}
+		return this->arr.at(index);
+	}
+
+
+	/// \brief Set a new value for the vector.
+	///
+	/// This is used to modify the vector in place.
+	///
+	/// \throws std::out_of_range if the index is out of bounds.
+	///
+	/// \param index The index to insert the value At.
+	/// \param value
+	void Set(size_t index, T value)
+	{
+		if (index > this->arr.size()) {
+			throw std::out_of_range("index " +
+						std::to_string(index) + " > " +
+						std::to_string(this->arr.size()));
+		}
+
+		this->arr[index] = value;
+	}
+
+
+
+
+
+	/// \brief Compute the length of the vector.
+	///
+	/// \return The length of the vector.
+	T Magnitude() const
+	{
+		T result = 0;
+
+		for (size_t i = 0; i < N; i++) {
+			result += (this->arr[i] * this->arr[i]);
+		}
+		return std::sqrt(result);
+	}
+
+
+	/// \brief Set equivalence tolerance.
+	///
+	/// Set the tolerance for equality checks. At a minimum, this
+	/// accounts for systemic errors in floating math arithmetic.
+	///
+	/// \param eps is the maximum difference between this vector and
+	///            another.
+	void
+	SetEpsilon(T eps)
+	{
+		this->epsilon = eps;
+	}
+
+
+	/// \brief Determine whether this is a zero vector.
+	///
+	/// \return true if the vector is zero.
+	bool
+	IsZero() const
+	{
+		for (size_t i = 0; i < N; i++) {
+			if (!scmp::WithinTolerance(this->arr[i], (T) 0.0, this->epsilon)) {
+				return false;
+			}
+		}
+		return true;
+	}
+
+
+	/// \brief Obtain the unit vector for this vector.
+	///
+	/// \return The unit vector
+	Vector
+	UnitVector() const
+	{
+		return *this / this->Magnitude();
+	}
+
+
+	/// \brief Determine if this is a unit vector.
+	///
+	/// \return true if the vector is a unit vector.
+	bool
+	IsUnitVector() const
+	{
+		return scmp::WithinTolerance(this->Magnitude(), (T) 1.0, this->epsilon);
+	}
+
+
+	/// \brief Compute the Angle between two vectors.
+	///
+	/// \param other Another vector.
+	/// \return The Angle in radians between the two vectors.
+	T
+	Angle(const Vector<T, N> &other) const
+	{
+		auto unitA = this->UnitVector();
+		auto unitB = other.UnitVector();
+
+		// Can't compute angles with a zero vector.
+		assert(!this->IsZero());
+		assert(!other.IsZero());
+		return static_cast<T>(std::acos(unitA * unitB));
+	}
+
+
+	/// \brief Determine whether two vectors are parallel.
+	///
+	/// \param other Another vector
+	/// \return True if the Angle between the vectors is zero.
+	bool
+	IsParallel(const Vector<T, N> &other) const
+	{
+		if (this->IsZero() || other.IsZero()) {
+			return true;
+		}
+
+		// If the two unit vectors are equal, the two vectors
+		// lie on the same path.
+		//
+		// Context: this used to use Vector::Angle to check for
+		// a zero angle between the two. However, the vagaries
+		// of floating point math meant that while this worked
+		// fine on Linux amd64 builds, it failed on Linux arm64
+		// and MacOS builds. Parallel float vectors would have
+		// an angle of ~0.0003 radians, while double vectors
+		// would have an angle of +NaN. I suspect this is due to
+		// tiny variations in floating point math, such that a dot
+		// product of unit vectors would be just a hair over 1,
+		// e.g. 1.000000001 - which would still fall outside the
+		// domain of acos.
+		auto unitA = this->UnitVector();
+		auto unitB = other.UnitVector();
+
+		return unitA == unitB;
+	}
+
+
+	/// \brief Determine if two vectors are orthogonal or
+	///        perpendicular to each other.
+	///
+	/// \param other Another vector
+	/// \return True if the two vectors are orthogonal.
+	bool
+	IsOrthogonal(const Vector<T, N> &other) const
+	{
+		if (this->IsZero() || other.IsZero()) {
+			return true;
+		}
+
+		return scmp::WithinTolerance(*this * other, (T) 0.0, this->epsilon);
+	}
+
+
+	/// \brief Project this vector onto some basis vector.
+	///
+	/// \param basis The basis vector to be projected onto.
+	/// \return A vector that is the projection of this onto the basis
+	///         vector.
+	Vector
+	ProjectParallel(const Vector<T, N> &basis) const
+	{
+		Vector<T, N> unit_basis = basis.UnitVector();
+
+		return unit_basis * (*this * unit_basis);
+	}
+
+
+	/// \brief Project this vector perpendicularly onto some basis vector.
+	///
+	/// This is also called the *rejection* of the vector.
+	///
+	/// \param basis The basis vector to be projected onto.
+	/// \return A vector that is the orthogonal projection of this onto
+	///         the basis vector.
+	Vector
+	ProjectOrthogonal(const Vector<T, N> &basis)
+	{
+		Vector<T, N> spar = this->ProjectParallel(basis);
+		return *this - spar;
+	}
+
+
+	/// \brief Compute the cross product of two vectors.
+	///
+	/// This is only defined over three-dimensional vectors.
+	///
+	/// \throw std::out_of_range if this is not a three-dimensional vector.
+	///
+	/// \param other Another 3D vector.
+	/// \return The Cross product vector.
+	Vector
+	Cross(const Vector<T, N> &other) const
+	{
+		assert(N == 3);
+		if (N != 3) {
+			throw std::out_of_range("Cross-product can only called on Vector<T, 3>.");
+		}
+
+		return Vector<T, N>{
+		    (this->arr[1] * other.arr[2]) - (other.arr[1] * this->arr[2]),
+		    -((this->arr[0] * other.arr[2]) - (other.arr[0] * this->arr[2])),
+		    (this->arr[0] * other.arr[1]) - (other.arr[0] * this->arr[1])
+		};
+	}
+
+
+	/// \brief Vector addition.
+	///
+	/// \param other The vector to be added.
+	/// \return A new vector that is the result of adding this and the
+	///         other vector.
+	Vector
+	operator+(const Vector<T, N> &other) const
+	{
+		Vector<T, N> vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] + other.arr[i];
+		}
+
+		return vec;
+	}
+
+
+	/// \brief Vector subtraction.
+	///
+	/// \param other The vector to be subtracted from this vector.
+	/// \return A new vector that is the result of subtracting the
+	///         other vector from this one.
+	Vector
+	operator-(const Vector<T, N> &other) const
+	{
+		Vector<T, N> vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] - other.arr[i];
+		}
+
+		return vec;
+	}
+
+
+	/// \brief Scalar multiplication.
+	///
+	/// \param k The scaling value.
+	/// \return A new vector that is this vector scaled by k.
+	Vector
+	operator*(const T k) const
+	{
+		Vector<T, N> vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] * k;
+		}
+
+		return vec;
+	}
+
+
+	/// \brief Scalar division.
+	///
+	/// \param k The scaling value
+	/// \return A new vector that is this vector scaled by 1/k.
+	Vector
+	operator/(const T k) const
+	{
+		Vector<T, N> vec;
+
+		for (size_t i = 0; i < N; i++) {
+			vec.arr[i] = this->arr[i] / k;
+		}
+
+		return vec;
+	}
+
+
+	/// \brief Compute the Dot product between two vectors.
+	///
+	/// \param other The other vector.
+	/// \return A scalar value that is the Dot product of the two vectors.
+	T
+	operator*(const Vector<T, N> &other) const
+	{
+		T result = 0;
+
+		for (size_t i = 0; i < N; i++) {
+			result += (this->arr[i] * other.arr[i]);
+		}
+
+		return result;
+	}
+
+
+	/// \brief Vector equivalence
+	///
+	/// \param other The other vector.
+	/// \return Return true if all the components of both vectors are
+	///         within the tolerance value.
+	bool
+	operator==(const Vector<T, N> &other) const
+	{
+		for (size_t i = 0; i < N; i++) {
+			if (!scmp::WithinTolerance(this->arr[i], other.arr[i], this->epsilon)) {
+				return false;
+			}
+		}
+		return true;
+	}
+
+
+	/// \brief Vector non-equivalence.
+	///
+	/// \param other The other vector.
+	/// \return Return true if any of the components of both vectors are
+	///         not within the tolerance value.
+	bool
+	operator!=(const Vector<T, N> &other) const
+	{
+		return !(*this == other);
+	}
+
+
+	/// \brief Array indexing into vector.
+	///
+	/// Note that the values of the vector cannot be modified.
+	/// Instead, something like the following must be done:
+	///
+	/// ```
+	/// Vector3D	a {1.0, 2.0, 3.0};
+	/// Vector3D	b {a[0], a[1]*2.0, a[2]};
+	/// ```
+	///
+	/// \param i The component index.
+	/// \return The value of the vector component At i.
+	const T &
+	operator[](size_t i) const
+	{
+		return this->arr[i];
+	}
+
+
+	/// \brief Write a vector a stream in the form "<i, j, ...>".
+	///
+	/// \param outs An output stream.
+	/// \param vec The vector to be formatted.
+	/// \return The output stream.
+	friend std::ostream &
+	operator<<(std::ostream &outs, const Vector<T, N> &vec)
+	{
+		outs << "<";
+		for (size_t i = 0; i < N; i++) {
+			outs << vec.arr[i];
+			if (i < (N - 1)) {
+				outs << ", ";
+			}
+		}
+		outs << ">";
+		return outs;
+	}
+
+private:
+	static const size_t dim = N;
+	T                   epsilon;
+	std::array<T, N>    arr;
+};
+
+///
+/// \defgroup vector_aliases Vector type aliases.
+///
+
+/// \ingroup vector_aliases
+/// A number of shorthand aliases for vectors are provided. They follow
+/// the form of VectorNt, where N is the dimension and t is the type.
+/// For example, a 2D float vector is Vector2F.
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a two-dimensional float vector.
+typedef Vector<float, 2> Vector2F;
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a three-dimensional float vector.
+typedef Vector<float, 3> Vector3F;
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a four-dimensional float vector.
+typedef Vector<float, 4> Vector4F;
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a two-dimensional double vector.
+typedef Vector<double, 2> Vector2D;
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a three-dimensional double vector.
+typedef Vector<double, 3> Vector3D;
+
+/// \ingroup vector_aliases
+/// \brief Type alias for a four-dimensional double vector.
+typedef Vector<double, 4> Vector4D;
+
+
+} // namespace geom
+} // namespace scmp
+
+
+#endif // SCMATH_GEOM_VECTORS_H

include/scmp/scmp.h

@@ -0,0 +1,34 @@
+///
+/// \file include/scmp/scmp.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-19
+/// \brief Aggregated scmp include header.
+///
+/// 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.
+///
+
+#ifndef SCSL_SCMP_H
+#define SCSL_SCMP_H
+
+
+/// \brief Shimmering Clarity Math & Physics toolkit.
+///
+/// The Shimmering Clarity contains code related to math and physics,
+/// particularly as relevant to game programming and robotics.
+namespace scmp {}
+
+
+#endif //SCSL_SCMP_H

include/scsl/Arena.h

@@ -21,12 +21,6 @@
 /// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
-/// \section PLATFORM SUPPORT
-///
-/// Arena will build on the major platforms, but memory-mapped files are only
-/// supported on Unix-like systems. File I/O on Windows, for example, reads the
-/// file into an allocated arena. See Arena::Open for more details.
-
 
 #ifndef KIMODEM_ARENA_H
 #define KIMODEM_ARENA_H
@@ -37,7 +31,7 @@
 #include <iostream>
 #include <sys/stat.h>
 
-#include "Exceptions.h"
+#include "sctest/Exceptions.h"
 
 
 #if defined(__WIN64__) || defined(__WIN32__) || defined(WIN32)
@@ -67,7 +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
@@ -76,7 +70,7 @@ enum class ArenaType
 /// The arena should be initialized with one of the Set methods (SetStatic,
 /// SetAlloc) or one of the file-based options (Create, Open, MemoryMap). At
 /// this point, no further memory management should be done until the end of the
-/// arena's life, at which point Destroy should be called.
+/// arena's life, At which point Destroy should be called.
 class Arena {
 public:
 	/// An Arena is initialized with no backing memory.

include/scsl/Buffer.h

@@ -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
@@ -47,76 +47,89 @@ namespace scsl {
 /// memory if possible, but only if #AutoTrimIsEnabled (it is by default).
 class Buffer {
 public:
-	/// A Buffer can be constructed empty, with no memory allocated (yet).
+	/// \brief Construct an empty buffer with no memory allocated.
 	Buffer();
 
-	/// A Buffer can be constructed with an explicit capacity.
+	/// \buffer Constructor with explicit memory capacity.
 	///
-	/// \param initialCapacity The initial allocation size for the buffer.
+	/// \param initialCapacity The initial allocation size for the
+	///        buffer.
 	explicit Buffer(size_t initialCapacity);
 
-	/// A Buffer can be initialized with a starting C-style string.
+	/// \brief Construct with a C-style string.
 	explicit Buffer(const char *s);
 
-	/// A Buffer can be initialized with a starting string.
-	explicit Buffer(const std::string s);
+	/// \buffer Construct with an initial string.
+	explicit Buffer(const std::string& s);
 
-	~Buffer()
-	{ this->Reclaim(); }
+	~Buffer();
 
-	/// Contents returns the Buffer's contents.
-	uint8_t *Contents() const
-	{ return this->contents; }
+	/// \brief Retrieve the buffer's contents.
+	uint8_t *Contents() const;
 
-	/// Length returns the length of the data currently stored in the
-	/// buffer.
-	size_t Length() const
-	{ return this->length; };
+	std::string ToString() const;
 
-	/// Capacity returns the amount of memory allocated to the Buffer.
-	size_t Capacity() const
-	{ return this->capacity; }
+	/// \brief The length of data stored in the buffer.
+	///
+	/// \return The number of bytes stored in the Buffer.
+	size_t Length() const;
 
-	/// Append copies in a C-style string to the end of the buffer.
+	/// \brief Return the amount of memory allocated for the
+	///        Buffer.
+	size_t Capacity() const;
+
+	/// \brief Append a C-style string to the end of the buffer.
 	///
 	/// \param s The string to append.
 	/// \return True if the Buffer was resized.
 	bool Append(const char *s);
 
-	/// Append copies in a string to the end of the buffer.
+	/// Append Append a string to the end of the buffer.
 	///
 	/// \param s The string to append.
 	/// \return True if the Buffer was resized.
-	bool Append(const std::string s);
+	bool Append(const std::string &s);
 
-	/// Append copies in a byte buffer to the end of the buffer.
+	/// \brief Append a byte buffer to the end of the buffer.
 	///
 	/// \param data The byte buffer to insert.
 	/// \param datalen The length of the byte buffer.
 	/// \return True if the Buffer was resized.
 	bool Append(const uint8_t *data, const size_t datalen);
 
-	/// Append copies a single character to the end of the buffer.
+	/// \brief Append a single character to the end of the buffer.
 	///
 	/// \param c The character to append.
 	/// \return True if the Buffer was resized.
 	bool Append(const uint8_t c);
 
-	/// Insert copies a C-style string into the buffer at index.
+	/// \brief Insert a C-style string into the buffer at index.
+	///
+	/// \note As this is intended for use in text editing, an
+	///       insert into a buffer after the length will insert
+	///       spaces before the content.
 	///
 	/// \param index The index to insert the string at.
 	/// \param s The string to insert.
 	/// \return True if the Buffer was resized.
 	bool Insert(const size_t index, const char *s);
 
-	/// Insert copies a string into the buffer at index.
+	/// \brief Insert a string into the buffer at index.
+	///
+	/// \note As this is intended for use in text editing, an
+	///       insert into a buffer after the length will insert
+	///       spaces before the content.
 	///
 	/// \param index The index the string should be inserted at.
 	/// \param s The string to insert.
 	/// \return True if the Buffer was resized.
-	bool Insert(const size_t index, const std::string s);
+	bool Insert(const size_t index, const std::string &s);
 
-	/// Insert copies a uint8_t buffer into the buffer at index.
+	/// \brief Insert a uint8_t buffer into the buffer at index.
+	///
+	/// \note As this is intended for use in text editing, an
+	///       insert into a buffer after the length will insert
+	///       spaces before the content.
 	///
 	/// \param index The index to insert the buffer at.
 	/// \param data The buffer to insert.
@@ -125,21 +138,25 @@ public:
 	bool
 	Insert(const size_t index, const uint8_t *data, const size_t datalen);
 
-	/// Insert copies a character into the buffer at index.
+	/// \brief Insert a character into the buffer at index.
+	///
+	/// \note As this is intended for use in text editing, an
+	///       insert into a buffer after the length will insert
+	///       spaces before the content.
 	///
 	/// \param index The index to insert the character at.
 	/// \param c The character to insert.
 	/// \return True if the Buffer was resized.
 	bool Insert(const size_t index, const uint8_t c);
 
-	/// Remove removes `count` bytes from the buffer at `index`.
+	/// \brief Remove `count` bytes from the buffer at `index`.
 	///
 	/// \param index The starting index to remove bytes from.
 	/// \param count The number of bytes to remove.
 	/// \return True if the Buffer was resized.
 	bool Remove(const size_t index, const size_t count);
 
-	/// Remove removes a single byte from the buffer.
+	/// \brief Remove removes a single byte from the buffer.
 	///
 	/// \param index The index pointing to the byte to be removed.
 	/// \return True if the Buffer was resized.
@@ -147,7 +164,7 @@ public:
 
 	/* memory management */
 
-	/// Resize changes the capacity of the buffer to `newCapacity`.
+	/// \brief Changes the capacity of the buffer to `newCapacity`.
 	///
 	/// If newCapacity is less than the length of the Buffer, it
 	/// will remove enough bytes from the end to make this happen.
@@ -155,27 +172,23 @@ public:
 	/// \param newCapacity The new capacity for the Buffer.
 	void Resize(size_t newCapacity);
 
-	/// Trim will resize the Buffer to an appropriate size based on
-	/// its length.
+	/// \brief Resize the Buffer capacity based on its length.
 	///
 	/// \return The new capacity of the Buffer.
 	size_t Trim();
 
 	/// DisableAutoTrim prevents the #Buffer from automatically
 	/// trimming memory after a call to #Remove.
-	void DisableAutoTrim()
-	{ this->autoTrim = false; }
+	void DisableAutoTrim();
 
 	/// EnableAutoTrim enables automatically trimming memory after
 	/// calls to #Remove.
-	void EnableAutoTrim()
-	{ this->autoTrim = true; }
+	void EnableAutoTrim();
 
 	/// AutoTrimIsEnabled returns true if autotrim is enabled.
 	///
 	/// \return #Remove will call Trim.
-	bool AutoTrimIsEnabled()
-	{ return this->autoTrim; }
+	bool AutoTrimIsEnabled();
 
 	/// Clear removes the data stored in the buffer. It will not
 	/// call #Trim; the capacity of the buffer will not be altered.

include/scsl/Commander.h

@@ -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.
@@ -44,9 +44,11 @@ namespace scsl {
 /// CommanderFunc describes a function that can be run in Commander.
 ///
 /// It expects an argument count and a list of arguments.
-using CommanderFunc = std::function<bool (int, char **)>;
+using CommanderFunc = std::function<bool (std::vector<std::string>)>;
 
 
+/// \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 {
@@ -70,8 +72,8 @@ public:
 	/// \param name The subcommand name; this is the name that will select this command.
 	/// \param argc The minimum number of arguments required by this subcommand.
 	/// \param func A valid CommanderFunc.
-	Subcommand(std::string name, int argc, CommanderFunc func)
-	    : fn(func), args(argc), command(name)
+	Subcommand(std::string name, size_t argc, CommanderFunc func)
+	    : fn(func), requiredArgs(argc), command(name)
 	{}
 
 	/// Name returns the name of this subcommand.
@@ -79,16 +81,17 @@ public:
 
 	/// Run attempts to run the CommanderFunc for this subcommand.
 	///
-	/// \param argc The number of arguments supplied.
-	/// \param argv The argument list.
+	/// \param args The argument list.
 	/// \return A Status type indicating the status of running the command.
-	Status Run(int argc, char **argv);
+	Status Run(std::vector<std::string> args);
 private:
 	CommanderFunc fn;
-	int args;
+	size_t requiredArgs;
 	std::string command;
 };
 
+/// \brief Subcommander manager for programs.
+///
 /// Commander collects subcommands and can run the apppropriate one.
 ///
 /// For example:
@@ -115,7 +118,7 @@ public:
 	bool Register(Subcommand scmd);
 
 	/// Try to run a subcommand registered with this Commander.
-	Subcommand::Status Run(std::string command, int argc, char **argv);
+	Subcommand::Status Run(std::string command, std::vector<std::string> args);
 private:
 	std::map<std::string, Subcommand *>	cmap;
 };

include/scsl/Dictionary.h

@@ -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

include/scsl/Flags.h

@@ -1,5 +1,5 @@
 ///
-/// \file Flag.h
+/// \file include/scsl/Flags.h
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-12
 /// \brief Flag declares a command-line flag parser.
@@ -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.
@@ -245,6 +245,17 @@ public:
 		      std::string defaultValue,
 		      std::string fDescription);
 
+	/// Register a new string command line flag with a default value.
+	///
+	/// \param fName The name of the flag, including a leading dash.
+	/// \param defaultValue The default value for the flag.
+	/// \param fDescription A short description of the flag.
+	/// \return True if the flag was registered, false if the flag could
+	///         not be registered (e.g. a duplicate flag was registered).
+	bool Register(std::string fName,
+		      const char *defaultValue,
+		      std::string fDescription);
+
 	/// Return the number of registered flags.
 	size_t Size();
 
@@ -282,7 +293,7 @@ public:
 	/// Return a particular argument.
 	///
 	/// \param index The argument number to extract.
-	/// \return The argument at index i. If the index is greater than
+	/// \return The argument At index i. If the index is greater than
 	///         the number of arguments present, an out_of_range
 	///         exception is thrown.
 	std::string Arg(size_t index);
@@ -329,7 +340,7 @@ public:
 
 private:
 	ParseStatus parseArg(int argc, char **argv, int &index);
-	Flag *checkGetArg(std::string fName, FlagType eType);
+	Flag *checkGetArg(std::string& fName, FlagType eType);
 
 	std::string                   name;
 	std::string                   description;

include/scsl/SimpleConfig.h

@@ -0,0 +1,246 @@
+///
+/// \file include/scsl/SimpleConfig.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-21
+/// \brief Simple project configuration.
+///
+/// This is an implementation of a simple global configuration system
+/// for projects based on a Go version I've used successfully in
+/// several projects.
+///
+/// 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.
+///
+
+#ifndef SCSL_SIMPLECONFIG_H
+#define SCSL_SIMPLECONFIG_H
+
+
+#include <map>
+#include <string>
+#include <vector>
+
+
+namespace scsl {
+
+
+/// \brief SimpleConfig is a basic configuration for projects.
+///
+/// SimpleConfig is a basic key-value system. It can optionally load
+/// key-value pairs from a file, which should consist of key = value
+/// lines. Comments may be added by starting the line with a '#'; these
+/// lines will be skipped. Comments may have leading whitespace. Any
+/// empty lines or lines consisting solely of whitespace will also be
+/// skipped.
+///
+/// When values are retrieved by one of the variants on Get, they are
+/// looked up in the following order, assuming `key` and an optional
+/// `prefix` set on the config:
+///
+/// 1. Any cached key-value pairs. Loading a file caches the key-value
+///    pairs in the file. The file is not used again, unless another
+///    call to Load is made. If the cache has a name for `key`, it will
+///    be returned.
+/// 2. The value is looked up from the environment. An optional prefix
+///    can be set; if so, if there is an environment named
+///    `{prefix}{key}`, the value will be cached and it will be
+///    returned.
+/// 3. If a default value has been provided, it will be cached and
+///    returned.
+/// 4. If none of the previous steps has provided a value, an empty
+///    string will be returned.
+///
+/// In Go projects, I've used the global config to great success.
+/// However, callers may set up an explicit configuration instance.
+class SimpleConfig {
+public:
+#if defined(SCSL_DESKTOP_BUILD)
+	/// \brief Load key-value pairs from a file.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param path The path to a config file.
+	/// \return 0 if the file was loaded successfully.
+	static int 		LoadGlobal(const char *path);
+
+	/// \brief Load key-value pairs from a file.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param path The path to a config file.
+	/// \return 0 if the file was loaded successfully.
+	static int 		LoadGlobal(std::string &path);
+
+	/// \brief Set the prefix in use by the config.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param prefix The prefix to prepend to the key when looking
+	///        up values from the environment.
+	static void		SetPrefixGlobal(const std::string &prefix);
+
+	/// \brief Return the keys cached in the config.
+	///
+	/// Note that this won't returned any non-cached environment
+	/// values.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \return A list of keys stored under the config.
+	static std::vector<std::string>	KeyListGlobal();
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \return The value stored under the key, or an empty string.
+	static std::string	GetGlobal(std::string &key);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \return The value stored under the key, or an empty string.
+	static std::string	GetGlobal(const char *key);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param defaultValue A default value to cache and use if no
+	///        value is stored under the key.
+	/// \return The value stored under the key, or the default
+	///         value.
+	static std::string	GetGlobal(const char *key, const std::string &defaultValue);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \note This operates on the global config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param defaultValue A default value to cache and use if no
+	///        value is stored under the key.
+	/// \return The value stored under the key, or the default
+	///         value.
+	static std::string	GetGlobal(std::string &key, const std::string &defaultValue);
+
+	/// \brief Set a configuration value. This will override any
+	///        value set.
+	static void	 	PutGlobal(std::string &key, const std::string &value);
+
+	/// \brief Set a configuration value. This will override any
+	///        value set.
+	static void	 	PutGlobal(const char *key, const std::string &value);
+#endif
+
+	/// \brief The constructor doesn't need any initialisation.
+	SimpleConfig();
+
+	/// \brief The constructor can explicitly set the environment
+	///	   prefix.
+	explicit SimpleConfig(std::string &prefix);
+
+	/// \brief Load key-value pairs from a file.
+	///
+	/// \param path The path to a config file.
+	/// \return 0 if the file was loaded successfully.
+	int				Load(const char *path);
+
+	/// \brief Load key-value pairs from a file.
+	///
+	/// \param path The path to a config file.
+	/// \return 0 if the file was loaded successfully.
+	int				Load(std::string& path);
+
+	/// \brief Set the prefix in use by the config.
+	///
+	/// \param prefix The prefix to prepend to the key when looking
+	///        up values from the environment.
+	void	SetPrefix(const std::string &prefix);
+
+	/// \brief Return the keys cached in the config.
+	///
+	/// Note that this won't returned any non-cached environment
+	/// values.
+	///
+	/// \return A list of keys stored under the config.
+	std::vector<std::string>	KeyList();
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \return The value stored under the key, or an empty string.
+	std::string	Get(std::string &key);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \return The value stored under the key, or an empty string.
+	std::string	Get(const char *key);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param defaultValue A default value to cache and use if no
+	///        value is stored under the key.
+	/// \return The value stored under the key, or the default
+	///         value.
+	std::string	Get(std::string &key, std::string defaultValue);
+
+	/// \brief Get the value stored for the key from the config.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param defaultValue A default value to cache and use if no
+	///        value is stored under the key.
+	/// \return The value stored under the key, or the default
+	///         value.
+	std::string	Get(const char *key, std::string defaultValue);
+
+	/// \brief Set a configuration value. This will override any
+	///        value set.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param value The value to set.
+	void 	Put(std::string &key, const std::string value);
+
+	/// \brief Set a configuration value. This will override any
+	///        value set.
+	///
+	/// \param key The key to look up. See the class documentation
+	///        for information on how this is used.
+	/// \param value The value to set.
+	void	Put(const char *key, const std::string value);
+private:
+	std::string 				envPrefix;
+	std::map<std::string, std::string>	vars;
+};
+
+
+} // namespace scsl
+
+
+#endif //SCSL_SIMPLECONFIG_H

include/scsl/StringUtil.h

@@ -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.
@@ -32,34 +32,31 @@
 
 namespace scsl {
 
-/// namespace U contains utilities.
-namespace U {
-
-/// namespace S contains string-related functions.
-namespace S {
+/// String-related utility functions.
+namespace scstring {
 
 
-/// Remove any whitespace at the beginning of the string. The string
+/// Remove any whitespace At the beginning of the string. The string
 /// is modified in-place.
 void		TrimLeadingWhitespace(std::string &s);
 
-/// Remove any whitespace at the end of the string. The string is
+/// Remove any whitespace At the end of the string. The string is
 /// modified in-place.
 void		TrimTrailingWhitespace(std::string &s);
 
-/// Remove any whitespace at the beginning and end of the string. The
+/// Remove any whitespace At the beginning and end of the string. The
 /// string is modified in-place.
 void		TrimWhitespace(std::string &s);
 
-/// Remove any whitespace at the beginning of the string. The original
+/// Remove any whitespace At the beginning of the string. The original
 /// string isn't modified, and a copy is returned.
 std::string	TrimLeadingWhitespaceDup(std::string s);
 
-/// Remove any whitespace at the end of the string. The original string
+/// Remove any whitespace At the end of the string. The original string
 /// isn't modified, and a copy is returned.
 std::string	TrimTrailingWhitespaceDup(std::string s);
 
-/// Remove any whitespace at the beginning and end of the string. The
+/// Remove any whitespace At the beginning and end of the string. The
 /// original string isn't modified, and a copy is returned.
 std::string	TrimWhitespaceDup(std::string s);
 
@@ -89,12 +86,12 @@ std::vector<std::string>	SplitKeyValuePair(std::string line, char delimiter);
 /// \param maxCount The maximum number of parts to split. If 0, there is no
 ///	   	    limit to the number of parts.
 /// \return A vector containing all the parts of the string.
-std::vector<std::string>	SplitN(std::string, std::string delimiter, size_t maxCount=0);
+std::vector<std::string>	SplitN(std::string s, std::string delimiter, size_t maxCount=0);
 
 /// WrapText is a very simple wrapping function that breaks the line into
-/// lines of at most lineLength characters. It does this by breaking the
+/// lines of At most lineLength characters. It does this by breaking the
 /// line into individual words (splitting on whitespace).
-std::vector<std::string>	WrapText(std::string line, size_t lineLength);
+std::vector<std::string>	WrapText(std::string& line, size_t lineLength);
 
 /// Write out a vector of lines indented with tabs.
 ///
@@ -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
 
 

include/scsl/TLV.h

@@ -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.
@@ -46,7 +48,7 @@ struct Record {
 	uint8_t Val[TLV_MAX_LEN];
 };
 
-/// WriteToMemory writes the TLV record into the arena at the location pointed
+/// WriteToMemory writes the TLV record into the arena At the location pointed
 /// to in the arena.
 ///
 /// \param arena The backing memory store.
@@ -86,7 +88,7 @@ void DeleteRecord(Arena &arena, uint8_t *cursor);
 ///
 /// \param arena The backing memory for the TLV store.
 /// \param cursor A pointer to memory inside the arena; if it's NULL, the
-///     search starts at the beginning of the arena.
+///     search starts At the beginning of the arena.
 /// \param rec The record to be filled.
 /// \return If the tag is found, a cursor pointing to the next record is
 ///     returned; otherwise nullptr is returned.
@@ -97,7 +99,7 @@ uint8_t *FindTag(Arena &arena, uint8_t *cursor, Record &rec);
 ///
 /// \param arena The backing memory for the TLV store.
 /// \param cursor A pointer to memory inside the arena; if it's NULL, the
-///     search starts at the beginning of the arena.
+///     search starts At the beginning of the arena.
 /// \param rec The record to be filled.
 /// \return If the tag is found, a cursor pointing to the record is
 ///     returned; otherwise nullptr is returned.
@@ -110,7 +112,7 @@ uint8_t *LocateTag(Arena &arena, uint8_t *cursor, Record &rec);
 ///
 /// \param arena The backing memory for the TLV store.
 /// \param cursor A pointer to memory inside the arena; if it's NULL, the
-///     search starts at the beginning of the arena.
+///     search starts At the beginning of the arena.
 /// \return If the arena has space available, a cursor pointing the start
 ///     of empty space; otherwise, nullptr is returned.
 uint8_t *FindEmpty(Arena &arena, uint8_t *cursor);

include/scsl/scsl.h

@@ -33,7 +33,7 @@
 #include <scsl/Commander.h>
 #include <scsl/Dictionary.h>
 #include <scsl/Exceptions.h>
-#include <scsl/Flag.h>
+#include <scsl/Flags.h>
 #include <scsl/StringUtil.h>
 #include <scsl/TLV.h>
 #include <scsl/Test.h>
@@ -72,6 +72,12 @@ namespace scsl {
 /// working on a graphical editor. For this, I needed some data structures to
 /// manage memory in the editor. Thus, Buffer was born.
 ///
+/// \subsection finally Finally
+///
+/// I'd been writing Go professionally for a while, but C was my first love. I
+/// recently started a job that is mostly in C++, and the best way for me to
+/// learn is to build a bunch of stuff with it. So, I took a bunch of micro-
+/// controller stuff I'd been writing and started building out some other stuff.
 
 
 }

include/sctest/Assert.h

@@ -1,5 +1,5 @@
 ///
-/// \file Test.h
+/// \file Assert.h
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-09
 /// \brief Tooling to assist in building test programs..
@@ -27,23 +27,23 @@
 #include <string>
 
 
-namespace scsl {
+namespace sctest {
 
 
-/// TestAssert is a variant on the assert macro. This variant is intended to be
+/// Assert is a variant on the assert macro. This variant is intended to be
 /// a drop-in replacement for the cassert macro: even in release mode, the tests
 /// should still run.
 ///
-/// If NDEBUG is set, TestAssert will throw an exception if condition is false.
+/// If NDEBUG is set, Assert will throw an exception if condition is false.
 /// Otherwise, it calls assert after printing the message.
 ///
-/// \param condition If true, TestAssert throws an exception.
-void	TestAssert(bool condition);
+/// \param condition If true, Assert throws an exception.
+void	Assert(bool condition);
 
 
-/// TestAssert is a variant on the assert macro.
+/// Assert is a variant on the assert macro.
 ///
-/// If NDEBUG is set, TestAssert will throw an exception if condition is false.
+/// If NDEBUG is set, Assert will throw an exception if condition is false.
 /// Otherwise, it calls assert after printing the message.
 ///
 /// In addition to NDEBUG, SCSL_NOEXCEPT will suppress assertions.
@@ -52,7 +52,7 @@ void	TestAssert(bool condition);
 ///
 /// \param condition The condition to assert.
 /// \param message The message that should be displayed if condition is false.
-void	TestAssert(bool condition, std::string message);
+void	Assert(bool condition, std::string message);
 
 
 } // namespace scsl

include/sctest/Checks.h

@@ -0,0 +1,54 @@
+///
+/// \file Checks.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Provides a number of utility macros for testing.
+///
+/// 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_CHECKS_H
+#define SCTEST_CHECKS_H
+
+#include <scmp/Math.h>
+
+
+namespace sctest {
+
+
+// The following checks are designed as shortcuts that return false on
+// if some condition isn't met.
+#define SCTEST_CHECK(x)			if (!(x))	{ return false; }
+#define SCTEST_CHECK_FALSE(x)		if ((x))	{ return false; }
+#define SCTEST_CHECK_EQ(x, y)		if ((x) != (y))	{ return false; }
+#define SCTEST_CHECK_NE(x, y)		if ((x) == (y))	{ return false; }
+#define SCTEST_CHECK_GEQ(x, y)		if ((x) < (y))	{ return false; }
+#define SCTEST_CHECK_LEQ(x, y)		if ((x) > (y))	{ 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; }}
+
+#define SCTEST_CHECK_FEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance<float>((x), (y), (eps))) { return false; }}
+#define SCTEST_CHECK_FNE_EPS(x, y, eps)	{ if (scmp::WithinTolerance<float>((x), (y), (eps))) { return false; }}
+
+#define SCTEST_CHECK_DEQ_EPS(x, y, eps)	{ if (!scmp::WithinTolerance<double>((x), (y), (eps))) { return false; }}
+#define SCTEST_CHECK_DNE_EPS(x, y, eps)	{ if (scmp::WithinTolerance<double>((x), (y), (eps))) { return false; }}
+
+
+
+} // namespace sctest
+
+
+#endif

include/sctest/Exceptions.h

@@ -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.
@@ -19,6 +19,7 @@
 /// TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
+
 #ifndef SCSL_EXCEPTIONS_H
 #define SCSL_EXCEPTIONS_H
 
@@ -27,10 +28,10 @@
 #include <string>
 
 
-namespace scsl {
+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.
@@ -63,7 +64,7 @@ private:
 };
 
 
-} // namespace scsl
+} // namespace sctest
 
 
-#endif //SCSL_EXCEPTIONS_H
+#endif // SCSL_EXCEPTIONS_H

include/sctest/Report.h

@@ -0,0 +1,104 @@
+///
+/// \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
+
+#include <chrono>
+
+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,
+	///	     it is marked as failed. If a test is expected to
+	///	     fail, but passes, it is marked as failed.
+	///
+	/// \return The number of tests that failed.
+	size_t	Failing() const;
+
+	/// \brief The number of tests that have passed successfully.
+	size_t Passing() const;
+
+	/// \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;
+private:
+	size_t	failing;
+	size_t	passed;
+	size_t	total;
+
+	std::chrono::time_point<std::chrono::steady_clock>	start;
+	std::chrono::time_point<std::chrono::steady_clock>	end;
+};
+
+
+std::ostream &operator<<(std::ostream &os, const Report &report);
+} // end namespace sctest
+
+
+#endif

include/sctest/SimpleSuite.h

@@ -0,0 +1,127 @@
+///
+/// \file include/sctest/SimpleSuite.h
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Defines a simple unit testing framework.
+///
+/// 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_SIMPLESUITE_H
+#define SCTEST_SIMPLESUITE_H
+
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <sctest/Report.h>
+
+namespace sctest {
+
+
+/// \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;
+
+	/// This is the test function to be run.
+	std::function<bool()>	test;
+
+	/// This is the value the test returns if it passes.
+	bool			expect;
+};
+
+/// \brief SimpleSuite is a test-running harness for simple tests.
+///
+/// A simple test is defined as a test that takes no arguments and
+/// returns a boolean status where true indicates the test has passed.
+class SimpleSuite {
+public:
+	SimpleSuite();
+
+	/// \brief Silence suppresses output.
+	void Silence();
+
+	/// \brief Define a suite setup function.
+	///
+	/// If present, this setup function is called At the start of
+	/// the Run method, before tests are run. It should be a
+	/// predicate: if it returns false, tests automatically fail.
+	void Setup(std::function<bool(void)> setupFn) { fnSetup = setupFn; }
+
+	/// \brief Define a teardown function.
+	///
+	/// If present, this teardown function is called At the end of
+	/// the Run method, after all tests have run.
+	void Teardown(std::function<bool(void)> teardownFn) { fnTeardown = teardownFn; }
+
+	/// \brief Register a new simple test.
+	///
+	/// \param label The text that will identify test when
+	///        running.
+	/// \param test This test should return true if the test has
+	/// 	   passed.
+	void AddTest(std::string label, std::function<bool(void)> test);
+
+	/// \brief Register a test that is expected to return false.
+	///
+	/// \param label The text that will identify test when
+	///        running.
+	/// \param test This test should return false if the test has
+	/// 	   passed.
+	void AddFailingTest(std::string label, std::function<bool(void)> test);
+
+	/// \brief Run all the registered tests.
+	///
+	/// \return True if all tests have passed.
+	bool Run();
+
+	/// Reporting methods.
+
+	/// \brief Reset clears the report statistics.
+	///
+	/// Reset will preserve the setup and teardown functions, just
+	/// resetting the suite's internal state.
+	void Reset();
+
+	/// \brief Returns true if Run has been called.
+	bool HasRun() const;
+
+	/// \brief Retrieve the test run results.
+	///
+	/// The results will only be valid if Run has been called.
+	Report GetReport();
+
+private:
+	bool				quiet;
+	std::function<bool(void)>	fnSetup, fnTeardown;
+	std::vector<UnitTest>		tests;
+
+	// Report functions.
+	Report	report;
+	bool	hasRun; // Have the tests been run yet?
+	bool	hasPassed;
+};
+
+
+std::ostream& operator<<(std::ostream& os, SimpleSuite &suite);
+
+
+} // namespace sctest
+#endif

include/sctest/sctest.h

@@ -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

src/bin/phonebook.cc

@@ -24,52 +24,53 @@
 #include <string>
 using namespace std;
 
-#include "Arena.h"
-#include "Commander.h"
-#include "Dictionary.h"
-#include "Flag.h"
+#include <scsl/Arena.h>
+#include <scsl/Commander.h>
+#include <scsl/Dictionary.h>
+#include <scsl/Flags.h>
+
+
 using namespace scsl;
 
 static const char	*defaultPhonebook = "pb.dat";
-static char		*pbFile = (char *)defaultPhonebook;
+static std::string	 pbFile(defaultPhonebook);
 static Arena	 	 arena;
 static Dictionary	 pb(arena);
 
 
 static bool
-listFiles(int argc, char **argv)
+listFiles(std::vector<std::string> argv)
 {
-	(void)argc; (void)argv;
+	(void) argv; // provided for interface compatibility.
 	cout << "[+] keys in '" << pbFile << "':\n";
 	cout << pb;
 	return true;
 }
 
-static bool
-newPhonebook(int argc, char **argv)
-{
-	(void)argc;
 
-	auto	size = std::stoul(string(argv[0]));
+static bool
+newPhonebook(std::vector<std::string> argv)
+{
+	auto	size = std::stoul(argv[0]);
 	cout << "[+] create new " << size << "B phonebook '" << pbFile << "'\n";
 
-	return arena.Create(pbFile, size) == 0;
+	return arena.Create(pbFile.c_str(), size) == 0;
 }
 
+
 static bool
-delKey(int argc, char **argv)
+delKey(std::vector<std::string> argv)
 {
-	(void)argc;
 	string key = argv[0];
 
 	cout << "[+] deleting key '" << key << "'\n";
 	return pb.Delete(key.c_str(), key.size());
 }
 
+
 static bool
-hasKey(int argc, char **argv)
+hasKey(std::vector<std::string> argv)
 {
-	(void)argc;
 	string key = argv[0];
 
 	cout << "[+] looking up '" << key << "': ";
@@ -79,13 +80,13 @@ hasKey(int argc, char **argv)
 	}
 
 	cout << "not found\n";
-	return true;
+	return false;
 }
 
+
 static bool
-getKey(int argc, char **argv)
+getKey(std::vector<std::string> argv)
 {
-	(void)argc;
 	TLV::Record	rec;
 	auto key = string(argv[0]);
 
@@ -101,9 +102,8 @@ getKey(int argc, char **argv)
 
 
 static bool
-putKey(int argc, char **argv)
+putKey(std::vector<std::string> argv)
 {
-	(void)argc;
 	auto key = string(argv[0]);
 	auto val = string(argv[1]);
 
@@ -117,6 +117,7 @@ putKey(int argc, char **argv)
 	return true;
 }
 
+
 static void
 usage(ostream &os, int exc)
 {
@@ -137,28 +138,36 @@ usage(ostream &os, int exc)
 int
 main(int argc, char *argv[])
 {
-	int		 optind = 1;
+	int retc = 1;
+	bool help = false;
+	std::string fileName(pbFile);
 
-	for (optind = 1; optind < argc; optind++) {
-		auto arg = string(argv[optind]);
-		if (arg[0] != '-')	break;
-		if (arg == "-h")	usage(cout, 0);
-		if (arg == "-f") {
-			pbFile = argv[optind+1];
-			optind++;
-			continue;
-		}
+	auto *flags = new scsl::Flags("phonebook",
+				      "A tool for interacting with Arena-backed dictionary files.");
+	flags->Register("-f", pbFile, "path to a phonebook file");
+	flags->Register("-h", false, "print a help message");
 
-		usage(cerr, 1);
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
 	}
 
-	if (argc <= 1) {
-		usage(cout, 0);
+	flags->GetString("-f", fileName);
+	flags->GetBool("-h", help);
+
+	pbFile = fileName;
+
+	if (help) {
+		usage(std::cout, 0);
+	}
+
+	if (flags->NumArgs() == 0) {
+		usage(std::cerr, 1);
 	}
 
-	auto command = string(argv[optind++]);
 	Commander	commander;
-
 	commander.Register(Subcommand("list", 0, listFiles));
 	commander.Register(Subcommand("new", 1, newPhonebook));
 	commander.Register(Subcommand("del", 1, delKey));
@@ -166,18 +175,24 @@ main(int argc, char *argv[])
 	commander.Register(Subcommand("get", 1, getKey));
 	commander.Register(Subcommand("put", 2, putKey));
 
+	auto command = flags->Arg(0);
 	if (command != "new") {
 		cout << "[+] loading phonebook from " << pbFile << "\n";
-		if (arena.Open(pbFile) != 0) {
+		if (arena.Open(pbFile.c_str()) != 0) {
 			cerr << "Failed to open " << pbFile << "\n";
 			exit(1);
 		}
 	}
 
-	auto result = commander.Run(command, argc-optind, argv+optind);
+	auto args = flags->Args();
+	args.erase(args.begin());
+	auto result = commander.Run(command, args);
+	delete flags;
+
 	switch (result) {
 	case Subcommand::Status::OK:
 		std::cout << "[+] OK\n";
+		retc = 0;
 		break;
 	case Subcommand::Status::NotEnoughArgs:
 		usage(cerr, 1);
@@ -192,4 +207,6 @@ main(int argc, char *argv[])
 	default:
 		abort();
 	}
+
+	return retc;
 }

src/scmp/Coord2D.cc

@@ -0,0 +1,230 @@
+///
+/// \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.
+///
+
+#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>
+
+
+namespace scmp {
+namespace geom {
+
+
+//
+// Point2D
+
+
+Point2D::Point2D() : Vector<int, 2>{0, 0}
+{
+
+};
+
+Point2D::Point2D(int _x, int _y) : Vector<int, 2>{_x, _y}
+{}
+
+Point2D::Point2D(const Polar2D &pol)
+    : Vector<int, 2>{static_cast<int>(std::rint(std::cos(pol.Theta()) * pol.R())),
+		     static_cast<int>(std::rint(std::sin(pol.Theta()) * pol.R()))}
+{}
+
+
+int
+Point2D::X() const
+{
+	return this->At(BasisX);
+}
+
+
+void
+Point2D::X(int _x)
+{
+	this->Set(BasisX, _x);
+}
+
+
+int
+Point2D::Y() const
+{
+	return this->At(BasisY);
+}
+
+
+void
+Point2D::Y(int _y)
+{
+	this->Set(BasisY, _y);
+}
+
+
+std::ostream &
+operator<<(std::ostream &outs, const Point2D &pt)
+{
+	outs << "(" << std::to_string(pt.X()) << ", " << std::to_string(pt.Y()) << ")";
+	return outs;
+}
+
+
+std::string
+Point2D::ToString()
+{
+	return "(" + std::to_string(this->X()) + ", " + std::to_string(this->Y()) + ")";
+}
+
+
+void
+Point2D::ToPolar(Polar2D &pol)
+{
+	pol.R(std::sqrt(this->X() * this->X() + this->Y() * this->Y()));
+	pol.Theta(std::atan2(this->Y(), this->X()));
+}
+
+
+void
+Point2D::Rotate(Point2D &pt, double theta)
+{
+	Polar2D pol(*this);
+	pol.Rotate(pol, theta);
+	pol.ToPoint(pt);
+}
+
+void
+Point2D::Translate(const Point2D &origin, Point2D &translated)
+{
+	translated.X(origin.X() + this->X());
+	translated.Y(origin.Y() + this->Y());
+}
+
+
+std::vector<Point2D>
+Point2D::Rotate(std::vector<Polar2D> vertices, double theta)
+{
+	std::vector<Point2D> rotated;
+
+	for (auto &v: vertices) {
+		Point2D p;
+		v.RotateAround(*this, p, theta);
+		rotated.push_back(p);
+	}
+
+	return rotated;
+}
+
+
+int
+Point2D::Distance(const Point2D& other) const
+{
+	auto dx = other.X() - this->X();
+	auto dy = other.Y() - this->Y();
+	return static_cast<int>(std::rint(std::sqrt(dx * dx + dy * dy)));
+}
+
+
+// Polar2D
+
+Polar2D::Polar2D() : Vector<double, 2>{0.0, 0.0} {};
+
+Polar2D::Polar2D(double _r, double _theta) : Vector<double, 2>{_r, _theta}
+{}
+
+Polar2D::Polar2D(const Point2D &point)
+    : Vector<double, 2>{std::sqrt((point.X() * point.X()) + (point.Y() * point.Y())),
+      			std::atan2(point.Y(), point.X())}
+{}
+
+
+double
+Polar2D::R() const
+{
+	return this->At(0);
+}
+
+
+void
+Polar2D::R(const double _r)
+{
+	this->Set(0, _r);
+}
+
+
+double
+Polar2D::Theta() const
+{
+	return this->At(1);
+}
+
+
+void
+Polar2D::Theta(const double _theta)
+{
+	this->Set(1, _theta);
+}
+
+
+void
+Polar2D::ToPoint(Point2D &point)
+{
+	point.Y(static_cast<int>(std::rint(std::sin(this->Theta()) * this->R())));
+	point.X(static_cast<int>(std::rint(std::cos(this->Theta()) * this->R())));
+}
+
+
+std::string
+Polar2D::ToString()
+{
+	return "(" + std::to_string(this->R()) +
+	", " + std::to_string(this->Theta()) + ")";
+}
+
+
+void
+Polar2D::Rotate(Polar2D &rotated, double delta)
+{
+	rotated.R(this->R());
+	rotated.Theta(RotateRadians(this->Theta(), delta));
+}
+
+
+void
+Polar2D::RotateAround(const Point2D &origin, Point2D &point, double delta)
+{
+	Polar2D rot;
+	this->Rotate(rot, delta);
+	rot.ToPoint(point);
+	point.Translate(origin, point);
+}
+
+
+std::ostream &
+operator<<(std::ostream &outs, const Polar2D &pol)
+{
+	outs << "(" << pol.R() << ", " << pol.Theta() << ")";
+	return outs;
+}
+
+
+} // end namespace geom
+} // end namespace scmp

src/scmp/Math.cc

@@ -0,0 +1,187 @@
+///
+/// \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 <scmp/Math.h>
+
+
+namespace scmp {
+
+
+std::vector<int>	
+Die(int m, int n)
+{
+	std::uniform_int_distribution<>	die(1, n);
+
+	std::random_device	rd;
+	std::vector<int>	dice;
+	int			i = 0;
+
+	for (i = 0; i < m; i++) {
+		dice.push_back(die(rd));
+	}
+
+	return dice;
+}
+
+
+int
+BestDie(int k, int m, int n)
+{
+	auto dice = Die(m, n);
+
+	if (k < m) {
+		std::sort(dice.begin(), dice.end(), std::greater<>());
+		dice.resize(static_cast<size_t>(k));
+	}
+
+	return std::accumulate(dice.begin(), dice.end(), 0);
+}
+
+
+int
+DieTotal(int m, int n)
+{
+	std::uniform_int_distribution<>	die(1, n);
+
+	std::random_device	rd;
+	int			i = 0, total = 0;
+
+	for (i = 0; i < m; i++) {
+		total += die(rd);
+	}
+
+	return total;
+}
+
+
+float
+RadiansToDegreesF(float rads)
+{
+	return rads * (180.0 / M_PI);
+}
+
+
+double
+RadiansToDegreesD(double rads)
+{
+	return rads * (180.0 / M_PI);
+}
+
+
+float
+DegreesToRadiansF(float degrees)
+{
+	return degrees * M_PI / 180.0;
+}
+
+
+double
+DegreesToRadiansD(double degrees)
+{
+	return degrees * M_PI / 180.0;
+}
+
+
+double
+RotateRadians(double theta0, double theta1)
+{
+	auto	dtheta = theta0 + theta1;
+
+	if (dtheta > M_PI) {
+		dtheta -= MAX_RADIAN;
+	} else if (dtheta < -M_PI) {
+		dtheta += MAX_RADIAN;
+	}
+
+	if ((dtheta < -M_PI) || (dtheta > M_PI)) {
+		return RotateRadians(dtheta, 0);
+	}
+
+	return dtheta;
+}
+
+
+static constexpr double Epsilon_double = 0.0001;
+static constexpr float  Epsilon_float = 0.0001;
+
+
+void
+DefaultEpsilon(double& epsilon)
+{
+	epsilon = Epsilon_double;
+}
+
+
+void
+DefaultEpsilon(float& epsilon)
+{
+	epsilon = Epsilon_float;
+}
+
+
+void
+DefaultEpsilon(int& epsilon)
+{
+	epsilon = 0;
+}
+
+
+size_t
+ISqrt(size_t n)
+{
+	if (n < 2) {
+		return n;
+	}
+
+	size_t	start = 0;
+	size_t	end = n / 2;
+	size_t	result = 0;
+
+	while (start <= end) {
+		auto middle = (start + end) >> 1;
+		result = middle * middle;
+		if (result == n) {
+			return middle;
+		}
+
+		if (result < n) {
+			start = middle + 1;
+			result = middle;
+		} else {
+			end = middle - 1;
+			result = middle;
+		}
+	}
+
+	return result;
+}
+
+
+
+} // namespace scmp
+

src/scmp/Orientation.cc

@@ -0,0 +1,63 @@
+///
+/// \file src/scmp/geom/Orientation.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Orientation of vectors w.r.t. a reference plane, assumed to
+///        be the Earth.
+///
+/// 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.
+///
+
+#include <scmp/geom/Vector.h>
+#include <scmp/geom/Orientation.h>
+
+
+namespace scmp {
+namespace geom {
+
+
+float
+Heading2F(Vector2F vec)
+{
+	return vec.Angle(Basis2F[BasisX]);
+}
+
+
+float
+Heading3F(Vector3F vec)
+{
+	const Vector2F vec2f {vec.At(BasisX), vec.At(BasisY)};
+	return Heading2F(vec2f);
+}
+
+
+double
+Heading2D(Vector2D vec)
+{
+	return vec.Angle(Basis2D[BasisX]);
+}
+
+
+double
+Heading3D(Vector3D vec)
+{
+	const Vector2D vec2d {vec.At(BasisX), vec.At(BasisY)};
+	return Heading2D(vec2d);
+}
+
+
+} // namespace geom
+} // namespace scmp

src/scmp/Quaternion.cc

@@ -0,0 +1,91 @@
+#include <iostream>
+
+#include <scmp/geom/Quaternion.h>
+
+
+namespace scmp {
+namespace geom {
+
+
+Quaternionf
+MakeQuaternion(Vector3F axis, float angle)
+{
+	return Quaternionf(axis.UnitVector() * std::sin(angle / 2.0),
+			   std::cos(angle / 2.0));
+}
+
+
+Quaterniond
+MakeQuaternion(Vector3D axis, double angle)
+{
+	return Quaterniond(axis.UnitVector() * std::sin(angle / 2.0),
+			   std::cos(angle / 2.0));
+}
+
+
+Quaternionf
+FloatQuaternionFromEuler(Vector3F euler)
+{
+	float x, y, z, w;
+	euler = euler / 2.0;
+
+	float cos_yaw = std::cos(euler[0]);
+	float cos_pitch = std::cos(euler[1]);
+	float cos_roll = std::cos(euler[2]);
+	float sin_yaw = std::sin(euler[0]);
+	float sin_pitch = std::sin(euler[1]);
+	float sin_roll = std::sin(euler[2]);
+
+	x = (sin_yaw * cos_pitch * cos_roll) + (cos_yaw * sin_pitch * sin_roll);
+	y = (sin_yaw * cos_pitch * sin_roll) - (cos_yaw * sin_pitch * cos_roll);
+	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});
+}
+
+
+Quaterniond
+DoubleQuaternionFromEuler(Vector3D euler)
+{
+	double x, y, z, w;
+	euler = euler / 2.0;
+
+	double cos_yaw = std::cos(euler[0]);
+	double cos_pitch = std::cos(euler[1]);
+	double cos_roll = std::cos(euler[2]);
+	double sin_yaw = std::sin(euler[0]);
+	double sin_pitch = std::sin(euler[1]);
+	double sin_roll = std::sin(euler[2]);
+
+	x = (sin_yaw * cos_pitch * cos_roll) + (cos_yaw * sin_pitch * sin_roll);
+	y = (sin_yaw * cos_pitch * sin_roll) - (cos_yaw * sin_pitch * cos_roll);
+	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});
+}
+
+
+void
+QuaternionSelfTest()
+{
+#ifndef NDEBUG
+	Vector3F		v {1.0, 0.0, 0.0};
+	Vector3F		yAxis {0.0, 1.0, 0.0};
+	float			angle = M_PI / 2;
+
+	Quaternionf		p = MakeQuaternion(yAxis, angle);
+	Quaternionf		q;
+	Vector3F		vr {0.0, 0.0, 1.0};
+
+	p.SetEpsilon(0.0001);
+	assert(p.IsUnitQuaternion());
+	assert(p.Rotate(v) == vr);
+	assert(p * q == p);
+#endif
+}
+
+
+} // namespace geom
+} // namespace scmp

src/sl/Arena.cc

@@ -20,23 +20,18 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
 
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-
-
-#if defined(__posix__) || defined(__linux__) || defined(__APPLE__)
 #include <sys/mman.h>
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <unistd.h>
-
-#define PROT_RW                (PROT_WRITE|PROT_READ)
-#endif
-
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
 #include <ios>
 
-#include "Arena.h"
+#include <scsl/Arena.h>
+
+#define PROT_RW                (PROT_WRITE|PROT_READ)
 
 
 namespace scsl {
@@ -74,16 +69,12 @@ Arena::SetAlloc(size_t allocSize)
 	this->arenaType = ArenaType::Alloc;
 	this->size = allocSize;
 	this->store = new uint8_t[allocSize];
-	if (this->store == nullptr) {
-		return -1;
-	}
 
 	this->Clear();
 	return 0;
 }
 
 
-#if defined(__posix__) || defined(__linux__) || defined(__APPLE__)
 int
 Arena::MemoryMap(int memFileDes, size_t memSize)
 {
@@ -93,9 +84,9 @@ Arena::MemoryMap(int memFileDes, size_t memSize)
 
 	this->arenaType = ArenaType::MemoryMapped;
 	this->size = memSize;
-	this->store = (uint8_t *) mmap(NULL, memSize, PROT_RW, MAP_SHARED,
-				       memFileDes, 0);
-	if ((void *) this->store == MAP_FAILED) {
+	this->store = static_cast<uint8_t *>(mmap(nullptr, memSize, PROT_RW, MAP_SHARED,
+				       memFileDes, 0));
+	if (static_cast<void *>(this->store) == MAP_FAILED) {
 		return -1;
 	}
 	this->fd = memFileDes;
@@ -112,119 +103,51 @@ Arena::Open(const char *path)
 		this->Destroy();
 	}
 
-	if (stat(path, &st) != 0) {
-		return -1;
-	}
-
 	this->fd = open(path, O_RDWR);
 	if (this->fd == -1) {
 		return -1;
 	}
 
-	return this->MemoryMap(this->fd, (size_t) st.st_size);
+	if (stat(path, &st) != 0) {
+		return -1;
+	}
+
+	return this->MemoryMap(this->fd, static_cast<size_t>(st.st_size));
 }
 
 
 int
 Arena::Create(const char *path, size_t fileSize)
 {
-	FILE *fHandle = nullptr;
-	int newFileDes = 0;
+	int 	ret = -1;
 
 	if (this->size > 0) {
 		this->Destroy();
 	}
 
 
-	fHandle = fopen(path, "w");
-	if (fHandle == nullptr) {
-		return -1;
-	}
-	newFileDes = fileno(fHandle);
-
-	if (ftruncate(newFileDes, fileSize) == -1) {
-		return -1;
-	}
-
-	close(newFileDes);
-	return this->Open(path);
-}
-#elif defined(__WIN64__) || defined(__WIN32__) || defined(WIN32)
-int
-Arena::Open(const char *path)
-{
-	HANDLE fHandle;
-	DWORD fRead = 0;
-	size_t fSize;
-	size_t fRemaining;
-	auto *cursor = this->store;
-	OVERLAPPED overlap = {0};
-
-	fHandle = CreateFileA(
-	    (LPSTR) path,
-	    GENERIC_READ,
-	    (FILE_SHARE_DELETE | FILE_SHARE_READ | FILE_SHARE_WRITE),
-	    NULL,
-	    OPEN_ALWAYS,
-	    FILE_ATTRIBUTE_NORMAL,
-	    NULL);
-	if (fHandle == INVALID_HANDLE_VALUE) {
-		return Windows::DisplayWinError("CreateFileA", NULL);
-	}
-
-	if (SetFilePointer(fHandle, 0, 0, FILE_BEGIN) != 0) {
-		return Windows::DisplayWinError("SetFilePointer", fHandle);
-	}
-
-	if (GetFileSizeEx(fHandle, reinterpret_cast<PLARGE_INTEGER>(&fSize)) !=
-	    TRUE) {
-		return Windows::DisplayWinError("GetFileSizeEx", fHandle);
-	}
-
-	this->SetAlloc(fSize);
-	cursor = this->NewCursor();
-
-	this->store[0] = 1;
-	fRemaining = fSize;
-	while (fRemaining != 0) {
-		overlap.Offset = (fSize - fRemaining);
-		if (ReadFile(fHandle, cursor, fSize - 1,
-			     &fRead,
-			     &overlap) != TRUE) {
-			auto errorCode = GetLastError();
-			if (errorCode != ERROR_HANDLE_EOF) {
-				this->Destroy();
-
-				return Windows::DisplayWinError("ReadFile", fHandle);
-			}
-			break;
+	auto *fHandle = fopen(path, "w");
+	if (fHandle != nullptr) {
+		auto newFileDes = fileno(fHandle);
+		if (ftruncate(newFileDes, static_cast<off_t>(fileSize)) == 0) {
+			ret = this->Open(path);
 		}
 
-		cursor += fRead;
-		fRemaining -= fRead;
+		close(newFileDes);
+		fclose(fHandle);
 	}
 
-	CloseHandle(fHandle);
-	return 0;
+	return ret;
 }
 
 
-int
-Arena::Create(const char *path, size_t fileSize)
-{
-	auto	errorCode = Windows::CreateFixedSizeFile(path, fileSize);
-	if (errorCode != 0) {
-		return errorCode;
-	}
-	return this->Open(path);
-}
-
-#endif
-
-
 bool
 Arena::CursorInArena(const uint8_t *cursor)
 {
+	if (cursor == nullptr) {
+		return false;
+	}
+
 	if (cursor < this->store) {
 		return false;
 	}
@@ -261,28 +184,26 @@ Arena::Destroy()
 	}
 
 	switch (this->arenaType) {
-		case ArenaType::Static:
-			break;
-		case ArenaType::Alloc:
-			delete[] this->store;
-			break;
-#if defined(__posix__) || defined(__linux__) || defined(__APPLE__)
-			case ArenaType::MemoryMapped:
-				if (munmap(this->store, this->size) == -1) {
-					abort();
-					return;
-				}
-
-				if (close(this->fd) == -1) {
-					abort();
-				}
-
-				this->fd = 0;
-				break;
-#endif
-		default:
-#if defined(NDEBUG)
+	case ArenaType::Static:
+		break;
+	case ArenaType::Alloc:
+		delete[] this->store;
+		break;
+	case ArenaType::MemoryMapped:
+		if (munmap(this->store, this->size) == -1) {
+			abort();
 			return;
+		}
+
+		if (close(this->fd) == -1) {
+			abort();
+		}
+
+		this->fd = 0;
+		break;
+	default:
+#if defined(NDEBUG)
+		return;
 #else
 			abort();
 #endif
@@ -292,16 +213,15 @@ Arena::Destroy()
 	this->arenaType = ArenaType::Uninit;
 	this->size = 0;
 	this->store = nullptr;
-	return;
 }
 
 std::ostream &
 operator<<(std::ostream &os, Arena &arena)
 {
-	auto cursor = arena.Start();
+	auto *cursor = arena.Start();
 	char cursorString[33] = {0};
 	snprintf(cursorString, 32, "%#016llx",
-		 (long long unsigned int) cursor);
+		 (long long unsigned int)(cursor));
 
 	os << "Arena<";
 	switch (arena.Type()) {
@@ -314,16 +234,14 @@ operator<<(std::ostream &os, Arena &arena)
 		case ArenaType::Alloc:
 			os << "allocated";
 			break;
-#if defined(__posix__) || defined(__linux__) || defined(__APPLE__)
-			case ArenaType::MemoryMapped:
-				os << "mmap/file";
-				break;
-#endif
+		case ArenaType::MemoryMapped:
+			os << "mmap/file";
+			break;
 		default:
 			os << "unknown (this is a bug)";
 	}
 	os << ">@0x";
-	os << std::hex << (uintptr_t) &arena;
+	os << std::hex << static_cast<void *>(&arena);
 	os << std::dec;
 	os << ",store<" << arena.Size() << "B>@";
 	os << std::hex << cursorString;
@@ -336,15 +254,10 @@ operator<<(std::ostream &os, Arena &arena)
 int
 Arena::Write(const char *path)
 {
-	FILE *arenaFile = nullptr;
 	int retc = -1;
 
-#if defined(__posix__) || defined(__linux__) || defined(__APPLE__)
-	arenaFile = fopen(path, "w");
+	FILE *arenaFile = fopen(path, "w");
 	if (arenaFile == nullptr) {
-#else
-	if (fopen_s(&arenaFile, path, "w") != 0) {
-#endif
 		return -1;
 	}
 

src/sl/Buffer.cc

@@ -26,7 +26,8 @@
 #include <ios>
 #include <iostream>
 
-#include "Buffer.h"
+#include <scsl/Buffer.h>
+
 
 namespace scsl {
 
@@ -82,13 +83,46 @@ Buffer::Buffer(const char *data)
 }
 
 
-Buffer::Buffer(const std::string s)
+Buffer::Buffer(const std::string& s)
     : contents(nullptr), length(0), capacity(0), autoTrim(true)
 {
 	this->Append(s);
 }
 
 
+Buffer::~Buffer()
+{
+	this->Reclaim();
+}
+
+uint8_t *
+Buffer::Contents() const
+{
+	return this->contents;
+}
+
+
+std::string
+Buffer::ToString() const
+{
+	return std::string((const char *)(this->contents));
+}
+
+
+size_t
+Buffer::Length() const
+{
+	return this->length;
+}
+
+
+size_t
+Buffer::Capacity() const
+{
+	return this->capacity;
+}
+
+
 bool
 Buffer::Append(const char *s)
 {
@@ -99,7 +133,7 @@ Buffer::Append(const char *s)
 
 
 bool
-Buffer::Append(const std::string s)
+Buffer::Append(const std::string &s)
 {
 	return this->Append((const uint8_t *) s.c_str(), s.size());
 }
@@ -108,15 +142,30 @@ Buffer::Append(const std::string s)
 bool
 Buffer::Append(const uint8_t *data, const size_t datalen)
 {
+	if (datalen == 0) {
+		return false;
+	}
+
 	auto resized = false;
 	auto newCap = this->mustGrow(datalen);
 
 	if (newCap > 0) {
 		this->Resize(newCap);
 		resized = true;
+	} else if (this->contents == nullptr) {
+		this->Resize(this->capacity);
+		resized = true;
 	}
 
+	// If newCap is > 0, memory will be allocated for this->
+	// contents, and if contents was null, then Resize should force
+	// it to be allocated. Still, a little defensive coding never
+	// hurt.
 	assert(this->contents != nullptr);
+	if (this->contents == nullptr) {
+		return false;
+	}
+
 	memcpy(this->contents + this->length, data, datalen);
 	this->length += datalen;
 	return resized;
@@ -140,7 +189,7 @@ Buffer::Insert(const size_t index, const char *s)
 
 
 bool
-Buffer::Insert(const size_t index, const std::string s)
+Buffer::Insert(const size_t index, const std::string &s)
 {
 	return this->Insert(index, (const uint8_t *) s.c_str(), s.size());
 }
@@ -191,7 +240,13 @@ Buffer::Resize(size_t newCapacity)
 	auto newContents = new uint8_t[newCapacity];
 
 	memset(newContents, 0, newCapacity);
-	if (this->length > 0) {
+
+	// Defensive coding check.
+	if ((this->length > 0) && (this->contents == nullptr)) {
+		abort();
+	}
+
+	if (this->length > 0 && this->contents != nullptr) {
 		memcpy(newContents, this->contents, this->length);
 	}
 
@@ -218,6 +273,28 @@ Buffer::Trim()
 	return 0;
 }
 
+
+void
+Buffer::DisableAutoTrim()
+{
+	this->autoTrim = false;
+}
+
+
+void
+Buffer::EnableAutoTrim()
+{
+	this->autoTrim = true;
+}
+
+
+bool
+Buffer::AutoTrimIsEnabled()
+{
+	return this->autoTrim;
+}
+
+
 void
 Buffer::Clear()
 {
@@ -306,7 +383,11 @@ Buffer::shiftRight(size_t offset, size_t delta)
 		resized = true;
 	}
 
-	if (this->length == 0) return 0;
+	if (this->length < offset) {
+		for (size_t i = this->length; i < offset; i++) {
+			this->contents[i] = ' ';
+		}
+	}
 
 
 	memmove(this->contents + (offset + delta), this->contents + offset,

src/sl/Commander.cc

@@ -22,22 +22,23 @@
 
 #include <iostream>
 
-#include "Commander.h"
+#include <scsl/Commander.h>
 
 
 namespace scsl {
 
 
 Subcommand::Status
-Subcommand::Run(int argc, char **argv)
+Subcommand::Run(std::vector<std::string> args)
 {
-	if (argc < this->args) {
+	auto argc = args.size();
+	if (argc < this->requiredArgs) {
 		std::cerr << "[!] " << this->command << " expects ";
-		std::cerr << this->args << " args, but was given ";
+		std::cerr << this->requiredArgs << " args, but was given ";
 		std::cerr << argc << " args.\n";
 		return Subcommand::Status::NotEnoughArgs;
 	}
-	if (this->fn(argc, argv)) {
+	if (this->fn(args)) {
 		return Subcommand::Status::OK;
 	}
 
@@ -45,7 +46,6 @@ Subcommand::Run(int argc, char **argv)
 }
 
 Commander::Commander()
-    : cmap()
 {
 	this->cmap.clear();
 }
@@ -64,14 +64,14 @@ Commander::Register(Subcommand scmd)
 
 
 Subcommand::Status
-Commander::Run(std::string command, int argc, char **argv)
+Commander::Run(std::string command, std::vector<std::string> args)
 {
 	if (this->cmap.count(command) != 1) {
 		return Subcommand::Status::CommandNotRegistered;
 	}
 
 	auto scmd = this->cmap[command];
-	return scmd->Run(argc, argv);
+	return scmd->Run(std::move(args));
 }
 
 

src/sl/Dictionary.cc

@@ -24,7 +24,7 @@
 #include <cstdlib>
 #include <cstring>
 
-#include "Dictionary.h"
+#include <scsl/Dictionary.h>
 
 #if defined(SCSL_DESKTOP_BUILD)
 #include <iostream>
@@ -158,6 +158,10 @@ operator<<(std::ostream &os, const Dictionary &dictionary)
 	uint8_t 	*cursor = (dictionary.arena).Start();
 	TLV::Record	 rec;
 
+	if (cursor == nullptr) {
+		return os;
+	}
+
 	TLV::ReadFromMemory(rec, cursor);
 	if (rec.Tag == TLV::TAG_EMPTY) {
 		os << "\t(NONE)" << std::endl;
@@ -168,7 +172,11 @@ operator<<(std::ostream &os, const Dictionary &dictionary)
 		os << "\t" << rec.Val << "->";
 		cursor = TLV::SkipRecord(rec, cursor);
 		TLV::ReadFromMemory(rec, cursor);
-		os << rec.Val << std::endl;
+		if (cursor == nullptr) {
+			os << "*** CORRUPT DICTIONARY ***\n";
+			break;
+		}
+		os << rec.Val << "\n";
 		cursor = TLV::SkipRecord(rec, cursor);
 		TLV::ReadFromMemory(rec, cursor);
 	}

src/sl/Flags.cc

@@ -1,5 +1,5 @@
 ///
-/// \file Flag.cc
+/// \file src/sl/Flags.cc
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-12
 /// \brief Flag defines a command-line flag parser.
@@ -20,20 +20,21 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
 
-
+#include <cassert>
 #include <iostream>
 #include <regex>
-#include <vector>
+#include <utility>
 
-#include "Flag.h"
-#include "StringUtil.h"
+#include <scsl/Flags.h>
+#include <scsl/StringUtil.h>
+#include <vector>
 
 
 namespace scsl {
 
 
 static const std::regex isFlag("^--?[a-zA-Z0-9][a-zA-Z0-9-_]*$",
-			       std::regex_constants::nosubs);
+			       std::regex_constants::nosubs | std::regex_constants::optimize);
 
 std::string
 Flags::ParseStatusToString(ParseStatus status)
@@ -56,12 +57,12 @@ Flags::ParseStatusToString(ParseStatus status)
 Flag *
 NewFlag(std::string fName, FlagType fType, std::string fDescription)
 {
-	auto flag = new Flag;
+	auto *flag = new Flag;
 
 	flag->Type        = fType;
 	flag->WasSet      = false;
-	flag->Name        = fName;
-	flag->Description = fDescription;
+	flag->Name        = std::move(fName);
+	flag->Description = std::move(fDescription);
 	flag->Value       = FlagValue{};
 
 	return flag;
@@ -69,20 +70,19 @@ NewFlag(std::string fName, FlagType fType, std::string fDescription)
 
 
 Flags::Flags(std::string fName)
-    : name(fName), description("")
-{
-}
+    : name(std::move(fName))
+{}
 
 
 Flags::Flags(std::string fName, std::string fDescription)
-    : name(fName), description(fDescription)
+    : name(std::move(fName)), description(std::move(fDescription))
 {
 }
 
 
 Flags::~Flags()
 {
-	for (auto flag : this->flags) {
+	for (auto &flag: this->flags) {
 		if (flag.second->Type == FlagType::String) {
 			delete flag.second->Value.s;
 		}
@@ -94,7 +94,7 @@ Flags::~Flags()
 bool
 Flags::Register(std::string fName, FlagType fType, std::string fDescription)
 {
-	if (!std::regex_search(fName, isFlag) || fName == "-h") {
+	if (!std::regex_search(fName, isFlag)) {
 		return false;
 	}
 
@@ -102,7 +102,8 @@ Flags::Register(std::string fName, FlagType fType, std::string fDescription)
 		return false;
 	}
 
-	auto flag = NewFlag(fName, fType, fDescription);
+	auto *flag = NewFlag(fName, fType, std::move(fDescription));
+	assert(flag != nullptr);
 	this->flags[fName] = flag;
 	return true;
 }
@@ -111,7 +112,7 @@ Flags::Register(std::string fName, FlagType fType, std::string fDescription)
 bool
 Flags::Register(std::string fName, bool defaultValue, std::string fDescription)
 {
-	if (!this->Register(fName, FlagType::Boolean, fDescription)) {
+	if (!this->Register(fName, FlagType::Boolean, std::move(fDescription))) {
 		return false;
 	}
 
@@ -123,7 +124,7 @@ Flags::Register(std::string fName, bool defaultValue, std::string fDescription)
 bool
 Flags::Register(std::string fName, int defaultValue, std::string fDescription)
 {
-	if (!this->Register(fName, FlagType::Integer, fDescription)) {
+	if (!this->Register(fName, FlagType::Integer, std::move(fDescription))) {
 		return false;
 	}
 
@@ -135,9 +136,11 @@ Flags::Register(std::string fName, int defaultValue, std::string fDescription)
 bool
 Flags::Register(std::string fName, unsigned int defaultValue, std::string fDescription)
 {
-	if (!this->Register(fName, FlagType::UnsignedInteger, fDescription)) {
+	if (!this->Register(fName, FlagType::UnsignedInteger, std::move(fDescription))) {
 		return false;
 	}
+	assert(this->flags.count(fName) != 0);
+	assert(this->flags[fName] != nullptr);
 
 	this->flags[fName]->Value.u = defaultValue;
 	return true;
@@ -147,7 +150,7 @@ Flags::Register(std::string fName, unsigned int defaultValue, std::string fDescr
 bool
 Flags::Register(std::string fName, size_t defaultValue, std::string fDescription)
 {
-	if (!this->Register(fName, FlagType::SizeT, fDescription)) {
+	if (!this->Register(fName, FlagType::SizeT, std::move(fDescription))) {
 		return false;
 	}
 
@@ -159,7 +162,19 @@ Flags::Register(std::string fName, size_t defaultValue, std::string fDescription
 bool
 Flags::Register(std::string fName, std::string defaultValue, std::string fDescription)
 {
-	if (!this->Register(fName, FlagType::String, fDescription)) {
+	if (!this->Register(fName, FlagType::String, std::move(fDescription))) {
+		return false;
+	}
+
+	this->flags[fName]->Value.s = new std::string(std::move(defaultValue));
+	return true;
+}
+
+
+bool
+Flags::Register(std::string fName, const char *defaultValue, std::string fDescription)
+{
+	if (!this->Register(fName, FlagType::String, std::move(fDescription))) {
 		return false;
 	}
 
@@ -189,7 +204,7 @@ Flags::Lookup(std::string fName)
 bool
 Flags::ValueOf(std::string fName, FlagValue &value)
 {
-	if (this->flags.count(fName)) {
+	if (this->flags.count(fName) != 0U) {
 		return false;
 	}
 
@@ -202,13 +217,13 @@ Flags::ParseStatus
 Flags::parseArg(int argc, char **argv, int &index)
 {
 	std::string arg(argv[index]);
-	U::S::TrimWhitespace(arg);
+	scstring::TrimWhitespace(arg);
 
-	index++;
 	if (!std::regex_search(arg, isFlag)) {
 		return ParseStatus::EndOfFlags;
 	}
 
+	index++;
 	if (this->flags.count(arg) == 0) {
 		if (arg == "-h" || arg == "--help") {
 			Usage(std::cout, 0);
@@ -216,7 +231,7 @@ Flags::parseArg(int argc, char **argv, int &index)
 		return ParseStatus::NotRegistered;
 	}
 
-	auto flag = flags[arg];
+	auto *flag = flags[arg];
 	if ((flag->Type != FlagType::Boolean) && index == argc) {
 		return ParseStatus::NotEnoughArgs;
 	}
@@ -228,11 +243,11 @@ Flags::parseArg(int argc, char **argv, int &index)
 		return ParseStatus::OK;
 	case FlagType::Integer:
 		flag->WasSet  = true;
-		flag->Value.i = std::stoi(argv[++index], 0, 0);
+		flag->Value.i = std::stoi(argv[++index], nullptr, 0);
 		return ParseStatus::OK;
 	case FlagType::UnsignedInteger:
 		flag->WasSet  = true;
-		flag->Value.u = static_cast<unsigned int>(std::stoi(argv[index++], 0, 0));
+		flag->Value.u = static_cast<unsigned int>(std::stoi(argv[index++], nullptr, 0));
 		return ParseStatus::OK;
 	case FlagType::String:
 		flag->WasSet  = true;
@@ -270,7 +285,7 @@ Flags::Parse(int argc, char **argv, bool skipFirst)
 
 		case ParseStatus::EndOfFlags:
 			while (index < argc) {
-				this->args.push_back(std::string(argv[index]));
+				this->args.emplace_back(argv[index]);
 				index++;
 			}
 			continue;
@@ -285,7 +300,6 @@ Flags::Parse(int argc, char **argv, bool skipFirst)
 			throw std::runtime_error("unhandled parse state");
 #endif
 		}
-
 	}
 
 	return ParseStatus::OK;
@@ -298,26 +312,44 @@ Flags::Usage(std::ostream &os, int exitCode)
 	os << this->name << ":\t";
 	auto indent = this->name.size() + 7;
 
-	U::S::WriteTabIndented(os, description, 72 - indent, indent / 8, false);
+	scstring::WriteTabIndented(os, this->description, 72 - indent,
+				   indent / 8, false);
 	os << "\n\n";
 
-	for (const auto &pair : this->flags) {
+	for (const auto &pair: this->flags) {
+		auto argDesc = pair.second->Description;
+		if (!argDesc.empty()) {
+			argDesc += ' ';
+		}
 		auto argLine = "\t" + pair.first;
 		switch (pair.second->Type) {
 		case FlagType::Boolean:
 			argLine += "\t\t";
+			argDesc += "(default=false)";
 			break;
 		case FlagType::Integer:
-			argLine += "int\t\t";
+			argLine += " int\t\t";
+			if (pair.second->Value.i != 0) {
+				argDesc += "(default=" + std::to_string(pair.second->Value.i) + ")";
+			}
 			break;
 		case FlagType::UnsignedInteger:
-			argLine += "uint\t\t";
+			argLine += " uint\t\t";
+			if (pair.second->Value.u != 0) {
+				argDesc += "(default=" + std::to_string(pair.second->Value.u) + ")";
+			}
 			break;
 		case FlagType::SizeT:
-			argLine += "size_t\t";
+			argLine += " size_t\t";
+			if (pair.second->Value.size != 0) {
+				argDesc += "(default=" + std::to_string(pair.second->Value.size) + ")";
+			}
 			break;
 		case FlagType::String:
-			argLine += "string\t";
+			argLine += " string\t";
+			if (pair.second->Value.s != nullptr && !(pair.second->Value.s->empty())) {
+				argDesc += "(default=" + *(pair.second->Value.s) + ")";
+			}
 			break;
 		case FlagType::Unknown:
 			// fallthrough
@@ -332,8 +364,8 @@ Flags::Usage(std::ostream &os, int exitCode)
 
 		os << argLine;
 		indent = argLine.size();
-		U::S::WriteTabIndented(os, pair.second->Description,
-				       72-indent, (indent/8)+2, false);
+		scstring::WriteTabIndented(os, argDesc, 72 - indent,
+					   (indent / 8) + 2, false);
 	}
 
 	os << "\n";
@@ -367,13 +399,13 @@ Flags::Arg(size_t i)
 
 
 Flag *
-Flags::checkGetArg(std::string fName, FlagType eType)
+Flags::checkGetArg(std::string &fName, FlagType eType)
 {
-	if (this->flags[fName] == 0) {
+	if (this->flags[fName] == nullptr) {
 		return nullptr;
 	}
 
-	auto flag = this->flags[fName];
+	auto *flag = this->flags[fName];
 	if (flag == nullptr) {
 		return nullptr;
 	}
@@ -389,7 +421,7 @@ Flags::checkGetArg(std::string fName, FlagType eType)
 bool
 Flags::GetBool(std::string fName, bool &flagValue)
 {
-	auto flag = this->checkGetArg(fName, FlagType::Boolean);
+	auto *flag = this->checkGetArg(fName, FlagType::Boolean);
 
 	flagValue = flag->Value.b;
 	return flag->WasSet;
@@ -399,7 +431,7 @@ Flags::GetBool(std::string fName, bool &flagValue)
 bool
 Flags::GetInteger(std::string fName, int &flagValue)
 {
-	auto flag = this->checkGetArg(fName, FlagType::Integer);
+	auto *flag = this->checkGetArg(fName, FlagType::Integer);
 
 	flagValue = flag->Value.i;
 	return flag->WasSet;
@@ -409,7 +441,7 @@ Flags::GetInteger(std::string fName, int &flagValue)
 bool
 Flags::GetUnsignedInteger(std::string fName, unsigned int &flagValue)
 {
-	auto flag = this->checkGetArg(fName, FlagType::UnsignedInteger);
+	auto *flag = this->checkGetArg(fName, FlagType::UnsignedInteger);
 
 	flagValue = flag->Value.u;
 	return flag->WasSet;
@@ -419,7 +451,7 @@ Flags::GetUnsignedInteger(std::string fName, unsigned int &flagValue)
 bool
 Flags::GetSizeT(std::string fName, std::size_t &flagValue)
 {
-	auto flag = this->checkGetArg(fName, FlagType::SizeT);
+	auto *flag = this->checkGetArg(fName, FlagType::SizeT);
 
 	flagValue = flag->Value.size;
 	return flag->WasSet;
@@ -429,7 +461,7 @@ Flags::GetSizeT(std::string fName, std::size_t &flagValue)
 bool
 Flags::GetString(std::string fName, std::string &flagValue)
 {
-	auto flag = this->checkGetArg(fName, FlagType::String);
+	auto *flag = this->checkGetArg(fName, FlagType::String);
 
 	if (flag->Value.s == nullptr) {
 		return false;
@@ -440,5 +472,4 @@ Flags::GetString(std::string fName, std::string &flagValue)
 }
 
 
-} // namespace scsl
-
+}// namespace scsl

src/sl/Roll.cc

@@ -0,0 +1,74 @@
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <scmp/Math.h>
+
+
+static void
+rollDie(char *s)
+{
+	int	m = 0, n = 0;
+	int	i = 0;
+	bool	readSides = false;
+
+	while (s[i] != '\0') {
+		if (s[i] != 'd' && !isdigit(s[i])) {
+			cerr << "Invalid die specification!" << endl;
+			return;
+		}
+
+		if (readSides) {
+			if (s[i] == 'd') {
+				cerr << "Invalid die specification!" << endl;
+				return;
+			}
+			n *= 10;
+			n += (s[i] - 0x30);
+		} else {
+			if (s[i] == 'd') {
+				readSides = true;
+			} else {
+				m *= 10;
+				m += (s[i] - 0x30);
+			}
+		}
+
+		i++;
+	}
+
+	if (m == 0) {
+		m = 1;
+	}
+
+	cout << s << ": " << DieTotal(m, n) << endl;
+}
+
+
+static void
+rollPlayer()
+{
+	vector<string>	statNames = {"STR", "CON", "DEX", "INT", "PER"};
+	vector<int>	statRolls;
+
+	for (size_t i = 0; i < statNames.size(); i++) {
+		statRolls.push_back(BestDie(3, 4, 6));
+	}
+
+	for (size_t i = 0; i < statNames.size(); i++) {
+		cout << statNames[i] << ": " << statRolls[i] << endl;
+	}
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	for (int i = 1; i < argc; i++) {
+		if (string(argv[i]) == "player") {
+			rollPlayer();
+		} else {
+			rollDie(argv[i]);
+		}
+	}
+}

src/sl/SimpleConfig.cc

@@ -0,0 +1,246 @@
+///
+/// \file src/sl/SimpleConfig.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-21
+/// \brief Simple project configuration.
+///
+/// This is an implementation of a simple global configuration system
+/// for projects based on a Go version I've used successfully in
+/// several projects.
+///
+/// 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 <cstdlib>
+#include <fstream>
+#include <regex>
+
+#include <scsl/SimpleConfig.h>
+#include <scsl/StringUtil.h>
+
+
+namespace scsl {
+
+
+#if defined(SCSL_DESKTOP_BUILD)
+static SimpleConfig globalConfig;
+#endif
+
+
+static constexpr auto regexOpts = std::regex_constants::nosubs |
+				  std::regex_constants::optimize |
+				  std::regex_constants::ECMAScript;
+
+static const std::regex commentLine("^\\s*#.*$", regexOpts);
+static const std::regex keyValueLine("^\\s*\\w+\\s*=\\s*\\w+", regexOpts);
+
+
+int
+SimpleConfig::LoadGlobal(const char *path)
+{
+	return globalConfig.Load(path);
+}
+
+
+int
+SimpleConfig::LoadGlobal(std::string &path)
+{
+	return globalConfig.Load(path);
+}
+
+
+void
+SimpleConfig::SetPrefixGlobal(const std::string &prefix)
+{
+	globalConfig.SetPrefix(prefix);
+}
+
+
+std::vector<std::string>
+SimpleConfig::KeyListGlobal()
+{
+	return globalConfig.KeyList();
+}
+
+
+std::string
+SimpleConfig::GetGlobal(std::string &key)
+{
+	return globalConfig.Get(key);
+}
+
+
+std::string
+SimpleConfig::GetGlobal(const char *key)
+{
+	return globalConfig.Get(key);
+}
+
+
+std::string
+SimpleConfig::GetGlobal(std::string &key, const std::string &defaultValue)
+{
+	return globalConfig.Get(key, defaultValue);
+}
+
+
+std::string
+SimpleConfig::GetGlobal(const char *key, const std::string &defaultValue)
+{
+	return globalConfig.Get(key, defaultValue);
+}
+
+
+void
+SimpleConfig::PutGlobal(std::string &key, const std::string &value)
+{
+	return globalConfig.Put(key, value);
+}
+
+
+void
+SimpleConfig::PutGlobal(const char *key, const std::string &value)
+{
+	return globalConfig.Put(key, value);
+}
+
+
+SimpleConfig::SimpleConfig()
+{
+}
+
+
+SimpleConfig::SimpleConfig(std::string &prefix)
+: envPrefix(prefix)
+{
+}
+
+
+int
+SimpleConfig::Load(const char *path)
+{
+	auto spath = std::string(path);
+	return this->Load(spath);
+}
+
+
+int
+SimpleConfig::Load(std::string &path)
+{
+	std::ifstream	configFile(path);
+	std::string	line;
+
+	while (std::getline(configFile, line)) {
+		scstring::TrimWhitespace(line);
+		if (line.size() == 0) {
+			continue;
+		}
+
+		if (std::regex_search(line, commentLine)) {
+			return -1;
+		}
+
+		if (std::regex_search(line, keyValueLine)) {
+			auto pair = scstring::SplitKeyValuePair(line, "=");
+			if (pair.size() < 2) {
+				return -1;
+			}
+
+			this->vars[pair[0]] = pair[1];
+		}
+	}
+
+	return 0;
+}
+
+
+void
+SimpleConfig::SetPrefix(const std::string &prefix)
+{
+	this->envPrefix = std::move(prefix);
+}
+
+
+std::string
+SimpleConfig::Get(std::string &key)
+{
+	return this->Get(key, "");
+}
+
+
+std::string
+SimpleConfig::Get(const char *key)
+{
+	auto keyStr = std::string(key);
+	return this->Get(keyStr, "");
+}
+
+
+std::string
+SimpleConfig::Get(std::string &key, std::string defaultValue)
+{
+	if (this->vars.count(key)) {
+		return this->vars[key];
+	}
+
+	auto envKey = this->envPrefix + key;
+
+	const char *envValue = getenv(envKey.c_str());
+	if (envValue != nullptr) {
+		this->vars[key] = std::string(envValue);
+		return this->Get(key);
+	}
+
+	this->vars[key] = std::move(defaultValue);
+	return this->Get(key);
+}
+
+
+std::string
+SimpleConfig::Get(const char *key, std::string defaultValue)
+{
+	auto keyStr = std::string(key);
+	return this->Get(keyStr, std::move(defaultValue));
+}
+
+
+void
+SimpleConfig::Put(std::string &key, const std::string value)
+{
+	this->vars[key] = std::move(value);
+}
+
+
+void
+SimpleConfig::Put(const char *key, const std::string value)
+{
+	auto keyStr = std::string(key);
+	this->vars[std::move(keyStr)] = std::move(value);
+}
+
+
+std::vector<std::string>
+SimpleConfig::KeyList()
+{
+	std::vector<std::string>	keyList;
+
+	std::transform(this->vars.begin(), this->vars.end(), std::back_inserter(keyList),
+		       [](std::pair<std::string, std::string> pair){return pair.first;});
+	return keyList;
+}
+
+
+} // namespace SimpleConfig

src/sl/StringUtil.cc

@@ -24,25 +24,23 @@
 #include <iostream>
 #include <sstream>
 
-#include "StringUtil.h"
+#include <scsl/StringUtil.h>
 
 
 namespace scsl {
-/// namespace U contains utilities.
-namespace U {
-
-/// namespace S contains string-related functions.
-namespace S {
+namespace scstring {
 
 
 std::vector<std::string>
 SplitKeyValuePair(std::string line, std::string delimiter)
 {
-	auto pair = SplitN(line, delimiter, 2);
+	auto pair = SplitN(std::move(line), std::move(delimiter), 2);
 
-	if (pair.size() == 0) {
+	if (pair.empty()) {
 		return {"", ""};
-	} else if (pair.size() == 1) {
+	}
+
+	if (pair.size() == 1) {
 		return {pair[0], ""};
 	}
 
@@ -62,7 +60,7 @@ SplitKeyValuePair(std::string line, char delimiter)
 	std::string sDelim;
 
 	sDelim.push_back(delimiter);
-	return SplitKeyValuePair(line, sDelim);
+	return SplitKeyValuePair(std::move(line), sDelim);
 }
 
 
@@ -72,7 +70,7 @@ TrimLeadingWhitespace(std::string &s)
 	s.erase(s.begin(),
 		std::find_if(s.begin(), s.end(),
 			     [](unsigned char ch) {
-				 return !std::isspace(ch);
+				 return std::isspace(ch) == 0;
 			     }));
 }
 
@@ -81,7 +79,7 @@ void
 TrimTrailingWhitespace(std::string &s)
 {
 	s.erase(std::find_if(s.rbegin(), s.rend(), [](unsigned char ch) {
-	    return !std::isspace(ch);
+	    return std::isspace(ch) == 0;
 	}).base(), s.end());
 }
 
@@ -125,9 +123,9 @@ SplitN(std::string s, std::string delim, size_t maxCount)
 	size_t                   ss = 0;
 	size_t                   se = 0;
 
-	for (ss = 0; s.size() != 0 && ss < s.size(); ss++) {
+	for (ss = 0; !s.empty() && ss < s.size(); ss++) {
 		se = s.find(delim, ss);
-		if ((maxCount > 0) && (parts.size() == maxCount - 1)) {
+		if ((maxCount > 0) && (parts.size() == (maxCount - 1))) {
 			se = s.size();
 		} else if (se == std::string::npos) {
 			se = s.size();
@@ -143,7 +141,7 @@ SplitN(std::string s, std::string delim, size_t maxCount)
 
 
 std::vector<std::string>
-WrapText(std::string line, size_t lineLength)
+WrapText(std::string& line, size_t lineLength)
 {
 	std::vector<std::string> wrapped;
 	auto                     parts = SplitN(line, " ", 0);
@@ -154,8 +152,8 @@ WrapText(std::string line, size_t lineLength)
 	}
 
 	std::string wLine;
-	for (auto   word: parts) {
-		if (word.size() == 0) {
+	for (auto &word: parts) {
+		if (word.empty()) {
 			continue;
 		}
 
@@ -164,13 +162,13 @@ WrapText(std::string line, size_t lineLength)
 			wLine.clear();
 		}
 
-		if (wLine.size() > 0) {
+		if (!wLine.empty()) {
 			wLine += " ";
 		}
 		wLine += word;
 	}
 
-	if (wLine.size() > 0) {
+	if (!wLine.empty()) {
 		wrapped.push_back(wLine);
 	}
 
@@ -182,7 +180,7 @@ void
 WriteTabIndented(std::ostream &os, std::vector<std::string> lines,
 		 int tabStop, bool indentFirst)
 {
-	std::string indent(tabStop, '\t');
+	std::string const indent(tabStop, '\t');
 
 	for (size_t i = 0; i < lines.size(); i++) {
 		if (i > 0 || indentFirst) {
@@ -198,7 +196,7 @@ WriteTabIndented(std::ostream &os, std::string line, size_t maxLength,
 		 int tabStop, bool indentFirst)
 {
 	auto lines = WrapText(line, maxLength);
-	WriteTabIndented(os, lines, tabStop, indentFirst);
+	WriteTabIndented(os, std::move(lines), tabStop, indentFirst);
 }
 
 
@@ -230,6 +228,5 @@ VectorToString(const std::vector<std::string> &svec)
 }
 
 
-} // namespace S
-} // namespace U
+} // namespace string
 } // namespace scsl

src/sl/TLV.cc

@@ -23,14 +23,15 @@
 #include <cassert>
 #include <cstring>
 
-#include "TLV.h"
+#include <scsl/TLV.h>
+
 
 using namespace scsl;
 
 
 /// REC_SIZE calculates the total length of a TLV record, including the
 /// two byte header.
-#define REC_SIZE(x)	((std::size_t)x.Len + 2)
+#define REC_SIZE(x)        ((std::size_t)x.Len + 2)
 
 
 namespace scsl {
@@ -100,6 +101,10 @@ SetRecord(Record &rec, uint8_t tag, uint8_t len, const char *val)
 void
 ReadFromMemory(Record &rec, uint8_t *cursor)
 {
+	assert(cursor != nullptr);
+	if (cursor == nullptr) {
+		return;
+	}
 	rec.Tag = cursor[0];
 	rec.Len = cursor[1];
 	memcpy(rec.Val, cursor + 2, rec.Len);
@@ -117,9 +122,10 @@ FindTag(Arena &arena, uint8_t *cursor, Record &rec)
 	cursor = LocateTag(arena, cursor, rec);
 	if (rec.Tag != TAG_EMPTY) {
 		cursor = SkipRecord(rec, cursor);
-		if (!arena.CursorInArena(cursor)) {
-			cursor = nullptr;
-		}
+	}
+
+	if (!arena.CursorInArena(cursor)) {
+		cursor = nullptr;
 	}
 
 	return cursor;
@@ -129,18 +135,19 @@ FindTag(Arena &arena, uint8_t *cursor, Record &rec)
 uint8_t *
 LocateTag(Arena &arena, uint8_t *cursor, Record &rec)
 {
-	uint8_t tag, len;
-
-	if (!arena.CursorInArena(cursor)) {
-		cursor = nullptr;
-	}
+	uint8_t tag = TAG_EMPTY;
+	uint8_t len;
 
 	if (cursor == nullptr) {
 		cursor = arena.Start();
 	}
 
-	while (((tag = cursor[0]) != rec.Tag) &&
-		(arena.CursorInArena(cursor))) {
+	if (!arena.CursorInArena(cursor)) {
+		cursor = arena.Start();
+	}
+
+	while (arena.CursorInArena(cursor) &&
+	       ((tag = cursor[0]) != rec.Tag)) {
 		assert(arena.CursorInArena(cursor));
 		len = cursor[1];
 		if (!spaceAvailable(arena, cursor, len)) {
@@ -193,7 +200,7 @@ DeleteRecord(Arena &arena, uint8_t *cursor)
 		return;
 	}
 
-	uint8_t len = cursor[1] + 2;
+	uint8_t len   = cursor[1] + 2;
 	uint8_t *stop = arena.Start() + arena.Size();
 
 	stop -= len;

src/test/Assert.cc

@@ -1,8 +1,8 @@
 ///
-/// \file Test.cc
+/// \file src/sctest/Assert.cc
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-09
-/// \brief Tooling to assist in building test programs..
+/// \brief Assertion tooling useful in building test programs.
 ///
 /// Copyright 2023 K. Isom <kyle@imap.cc>
 ///
@@ -20,22 +20,22 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
 
-#include "Exceptions.h"
-#include "Test.h"
+#include "sctest/Exceptions.h"
+#include <sctest/Assert.h>
 
 #include <cassert>
 #include <iostream>
 #include <sstream>
 
 
-namespace scsl {
+namespace sctest {
 
 void
-TestAssert(bool condition, std::string message)
+Assert(bool condition, std::string message)
 {
 #if defined(NDEBUG) || defined(SCSL_NOEXCEPT)
 	if (!condition) {
-		throw AssertionFailed(message);
+		throw AssertionFailed(std::move(message));
 	}
 #else
 	if (!condition) {
@@ -47,7 +47,7 @@ TestAssert(bool condition, std::string message)
 
 
 void
-TestAssert(bool condition)
+Assert(bool condition)
 {
 #if defined(NDEBUG)
 	if (condition) {
@@ -58,7 +58,7 @@ TestAssert(bool condition)
 #else
 	std::stringstream msg;
 
-	msg << "assertion failed at " << __FILE__ << ":" << __LINE__;
+	msg << "assertion failed At " << __FILE__ << ":" << __LINE__;
 	throw AssertionFailed(msg.str());
 #endif
 #else
@@ -67,4 +67,4 @@ TestAssert(bool condition)
 }
 
 
-} // namespace scsl
+} // namespace sctest

src/test/Exceptions.cc

@@ -1,5 +1,5 @@
 ///
-/// \file Exceptions.cc
+/// \file src/test/Exceptions.cc
 /// \author K. Isom <kyle@imap.cc>
 /// \date 2023-10-10
 /// \brief Custom exceptions used in writing test programs.
@@ -20,13 +20,13 @@
 /// PERFORMANCE OF THIS SOFTWARE.
 ///
 
-#include "Exceptions.h"
+#include <sctest/Exceptions.h>
 
 
-namespace scsl {
+namespace sctest {
 
 
-AssertionFailed::AssertionFailed(std::string message) : msg(message) {}
+AssertionFailed::AssertionFailed(std::string message) : msg(std::move(message)) {}
 
 
 const char *
@@ -36,4 +36,4 @@ AssertionFailed::what()  const throw()
 }
 
 
-}
+} // namespace sctest

src/test/Report.cc

@@ -0,0 +1,137 @@
+///
+/// \file src/test/Report.cpp
+/// \author Kyle Isom
+/// \date 2017-06-07
+///
+/// \brief Defines a Report structure that contains information about
+///        the results of unit tests.
+///
+/// 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.
+
+#include <chrono>
+#include <iomanip>
+#include <ostream>
+
+#include <sctest/Report.h>
+
+
+
+namespace sctest {
+
+
+Report::Report()
+{
+	this->Reset(0);
+}
+
+
+size_t
+Report::Failing() const
+{
+	return this->failing;
+}
+
+
+size_t
+Report::Passing() const
+{
+	return this->passed;
+}
+
+
+size_t
+Report::Total() const
+{
+	return this->total;
+}
+
+
+void
+Report::Failed()
+{
+	this->failing++;
+}
+
+
+void
+Report::Passed()
+{
+	this->passed++;
+}
+
+
+void
+Report::AddTest(size_t testCount)
+{
+	this->total += testCount;
+}
+
+
+void
+Report::Reset(size_t testCount)
+{
+	auto now = std::chrono::steady_clock::now();
+	this->total = testCount;
+	this->passed = 0;
+	this->failing = 0;
+
+	this->Start();
+	this->end = now;
+}
+
+
+
+void
+Report::Start()
+{
+	this->start = std::chrono::steady_clock::now();
+}
+
+
+void
+Report::End()
+{
+	this->end = std::chrono::steady_clock::now();
+}
+
+
+std::chrono::duration<double, std::milli>
+Report::Elapsed() const
+{
+	return this->end - this->start;
+}
+
+
+std::ostream&
+operator<<(std::ostream &os, const Report &report)
+{
+	auto elapsed = report.Elapsed();
+
+	os << report.Passing() << "/"
+	   << report.Total() << " tests passed in "
+	   << std::setw(3) << elapsed.count() << "ms";
+
+	auto failed = report.Failing();
+	if (failed > 0) {
+		os << " (" << failed << " tests failed)";
+	}
+
+	return os;
+}
+
+
+
+} // end namespace sctest

src/test/SimpleSuite.cc

@@ -0,0 +1,149 @@
+///
+/// \file SimpleSuite.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Defines a simple unit testing framework.
+///
+/// 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.
+///
+
+#include <iostream>
+
+#include <sctest/SimpleSuite.h>
+
+
+namespace sctest {
+
+#define unless(cond) if (!(cond))
+
+
+static bool
+stub()
+{ return true; }
+
+SimpleSuite::SimpleSuite()
+    : quiet(false), fnSetup(stub), fnTeardown(stub), tests(),
+      report(), hasRun(false)
+{
+	this->Reset();
+}
+
+
+void
+SimpleSuite::Silence()
+{
+	// Silence will fall.
+	quiet = true;
+}
+
+
+void
+SimpleSuite::AddTest(std::string name, std::function<bool()> test)
+{
+	const UnitTest test_case = {std::move(name), std::move(test), true};
+	tests.push_back(test_case);
+}
+
+
+void
+SimpleSuite::AddFailingTest(std::string name, std::function<bool()> test)
+{
+	const UnitTest test_case = {std::move(name), std::move(test), false};
+	tests.push_back(test_case);
+}
+
+
+bool
+SimpleSuite::Run()
+{
+	report.Reset(this->tests.size());
+
+	unless(quiet) { std::cout << "Setting up the tests.\n"; }
+	unless(fnSetup()) { return false; }
+
+	this->hasRun = true;
+	this->hasPassed = true;
+
+	for (size_t i = 0; i < this->report.Total() && this->hasPassed; i++) {
+		const UnitTest testCase = this->tests.at(i);
+		unless(quiet) {
+			std::cout << "[" << i + 1 << "/"
+				  << this -> report.Total()
+				  << "] Running test "
+				  << testCase.name << ": ";
+		}
+
+		this->hasPassed = (testCase.test() == testCase.expect);
+		if (this->hasPassed) {
+			report.Passed();
+		} else {
+			report.Failed();
+		}
+
+		if (quiet) { continue; }
+
+		if (this->hasPassed) {
+			std::cout << "[PASS]";
+		} else {
+			std::cout << "[FAIL]";
+		}
+		std::cout << "\n";
+	}
+
+	unless(quiet) { std::cout << "Tearing down the tests.\n"; }
+	unless(fnTeardown()) { return false; }
+	report.End();
+	return this->hasPassed;
+}
+
+
+void
+SimpleSuite::Reset()
+{
+	this->report.Reset(0);
+	this->hasRun = false;
+	this->hasPassed = false;
+}
+
+
+bool
+SimpleSuite::HasRun() const
+{
+	return this->hasRun;
+}
+
+
+Report
+SimpleSuite::GetReport()
+{
+	return report;
+}
+
+
+std::ostream &
+operator<<(std::ostream &os, SimpleSuite &suite)
+{
+	if (suite.HasRun()) {
+		os << "OK: " << suite.GetReport();
+	} else {
+		os << "Test suite hasn't run.";
+	}
+
+	return os;
+}
+
+
+} // end namespace sctest

stringutil_test.cc

@@ -1,152 +0,0 @@
-///
-/// \file stringutil_test.cc
-/// \author kyle 
-/// \date 10/14/23
-/// \brief Ensure the stringutil functions work.
-///
-/// 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 <iostream>
-#include <sstream>
-
-#include "StringUtil.h"
-#include "Test.h"
-
-
-using namespace scsl;
-
-
-static void
-TestTrimming(std::string line, std::string lExpected, std::string rExpected, std::string expected)
-{
-	std::string result;
-	std::string message;
-
-	result  = U::S::TrimLeadingWhitespaceDup(line);
-	message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == lExpected, message);
-
-	result  = U::S::TrimTrailingWhitespaceDup(line);
-	message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == rExpected, message);
-
-	result  = U::S::TrimWhitespaceDup(line);
-	message = "TrimDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == expected, message);
-
-	result = line;
-	U::S::TrimLeadingWhitespace(result);
-	message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == lExpected, message);
-
-	result = line;
-	U::S::TrimTrailingWhitespace(result);
-	message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == rExpected, message);
-
-	result = line;
-	U::S::TrimWhitespace(result);
-	message = "TrimDup(\"" + line + "\"): '" + result + "'";
-	TestAssert(result == expected, message);
-}
-
-
-static std::string
-vec2string(std::vector<std::string> v)
-{
-	std::stringstream ss;
-
-	ss << "(";
-	ss << v.size();
-	ss << ")";
-	ss << "{";
-
-	for (size_t i = 0; i < v.size(); i++) {
-		if (i > 0) { ss << ", "; }
-		ss << v[i];
-	}
-
-	ss << "}";
-	return ss.str();
-}
-
-
-static void
-TestSplit(std::string line, std::string delim, size_t maxCount, std::vector<std::string> expected)
-{
-	std::cout << "test split\n";
-	std::cout << "\t  line: \"" << line << "\"\n";
-	std::cout << "\t delim: \"" << delim << "\"\n";
-	std::cout << "\t count: " << maxCount << "\n";
-	std::cout << "\texpect: " << vec2string(expected) << "\n";
-	auto result = U::S::SplitN(line, delim, maxCount);
-	std::cout << "\tresult: " << U::S::VectorToString(result) << "\n";
-	TestAssert(result == expected, U::S::VectorToString(result));
-	std::cout << "OK!\n";
-}
-
-
-static void
-TestWrapping()
-{
-	std::string testLine = "A much longer line, something that can be tested with WrapText. ";
-	testLine += "Does it handle puncuation? I hope so.";
-
-	std::vector<std::string> expected{
-	    "A much longer",
-	    "line, something",
-	    "that can be",
-	    "tested with",
-	    "WrapText. Does",
-	    "it handle",
-	    "puncuation? I",
-	    "hope so.",
-	};
-
-	auto wrapped = U::S::WrapText(testLine, 16);
-	TestAssert(wrapped.size() == expected.size(),
-		   U::S::VectorToString(wrapped) + " != " + U::S::VectorToString(expected));
-
-	for (size_t i = 0; i < wrapped.size(); i++) {
-		TestAssert(wrapped[i] == expected[i],
-			   "\"" + wrapped[i] + "\" != \"" + expected[i] + "\"");
-	}
-
-	U::S::WriteTabIndented(std::cout, wrapped, 4, true);
-}
-
-
-int
-main()
-{
-	TestTrimming(" foo\t ", "foo\t ", " foo", "foo");
-	TestTrimming(" foo\tbar ", "foo\tbar ", " foo\tbar", "foo\tbar");
-
-	TestSplit("abc:def:ghij:klm", ":", 0,
-		  std::vector<std::string>{"abc", "def", "ghij", "klm"});
-	TestSplit("abc:def:ghij:klm", ":", 3,
-		  std::vector<std::string>{"abc", "def", "ghij:klm"});
-	TestSplit("abc:def:ghij:klm", ":", 2,
-		  std::vector<std::string>{"abc", "def:ghij:klm"});
-	TestSplit("abc:def:ghij:klm", ":", 1,
-		  std::vector<std::string>{"abc:def:ghij:klm"});
-	TestSplit("abc::def:ghi", ":", 0,
-		  std::vector<std::string>{"abc", "", "def", "ghi"});
-
-	TestWrapping();
-}

test/buffer.cc

@@ -0,0 +1,163 @@
+///
+/// \file test/buffer.cc
+/// \author K.Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Unit tests on the scsl::Buffer class.
+///
+/// \section COPYRIGHT
+///
+/// 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 <iostream>
+
+#include <scsl/Buffer.h>
+#include <scsl/Flags.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
+using namespace scsl;
+
+
+bool
+bufferTest()
+{
+	Buffer buffer("hlo, world");
+	Buffer helloWorld("hello, world!");
+	Buffer goodbyeWorld("goodbye, world");
+	Buffer goodbyeCruelWorld("goodbye, cruel world");
+
+	buffer.Insert(1, (uint8_t *) "el", 2);
+	SCTEST_CHECK_EQ(buffer.Length(), 12);
+
+	buffer.Append('!');
+	SCTEST_CHECK_EQ(buffer, helloWorld);
+
+	buffer.Remove(buffer.Length() - 1);
+	SCTEST_CHECK_EQ(buffer.Length(), 12);
+
+	buffer.Remove(0, 5);
+	buffer.Insert(0, 'g');
+	buffer.Insert(1, (uint8_t *) "oodbye", 6);
+	SCTEST_CHECK_EQ(buffer, goodbyeWorld);
+
+	buffer.Insert(9, (uint8_t *)"cruel ", 6);
+	buffer.Reclaim();
+	SCTEST_CHECK_EQ(buffer.Length(), 0);
+	SCTEST_CHECK_EQ(buffer.Capacity(), 0);
+
+	buffer.Append("and now for something completely different...");
+	Buffer	buffer2("and now for something completely different...");
+	SCTEST_CHECK_EQ(buffer, buffer2);
+
+	buffer2.Remove(buffer2.Length()-3, 3);
+	SCTEST_CHECK_NE(buffer, buffer2);
+
+	return true;
+}
+
+
+bool
+testBufferTrimming()
+{
+	const std::string contents = "and now for something completely different...";
+	Buffer	buffer(contents);
+
+	buffer.Resize(128);
+	SCTEST_CHECK_EQ(buffer.Capacity(), 128);
+
+	buffer.Trim();
+	SCTEST_CHECK_EQ(buffer.Capacity(), 64);
+
+	buffer.DisableAutoTrim();
+	buffer.Resize(128);
+	SCTEST_CHECK_EQ(buffer.Capacity(), 128);
+
+	buffer.Remove(buffer.Length() - 1);
+	SCTEST_CHECK_EQ(buffer.Capacity(), 128);
+
+	buffer.Append('.');
+	SCTEST_CHECK_EQ(buffer.Capacity(), 128);
+
+	buffer.EnableAutoTrim();
+	buffer.Remove(buffer.Length() - 1);
+	SCTEST_CHECK_EQ(buffer.Capacity(), 64);
+
+	return true;
+}
+
+
+bool
+testInserts()
+{
+	const std::string contents = "and now for something completely different...";
+	const std::string expected1 = "     and now for something completely different...";
+	const std::string hello = "hello";
+	const std::string world = "world";
+	const std::string helloWorld = "hello  world";
+
+	Buffer	buffer(64);
+
+	// Insert shouldn't resize the buffer.
+	SCTEST_CHECK_FALSE(buffer.Insert(5, contents));
+	SCTEST_CHECK_EQ(buffer.ToString(), expected1);
+
+	buffer.Clear();
+	SCTEST_CHECK_EQ(buffer.Length(), 0);
+
+	buffer.Append(hello);
+	SCTEST_CHECK_EQ(buffer.ToString(), hello);
+
+	buffer.Insert(7, world);
+	SCTEST_CHECK_EQ(buffer.ToString(), helloWorld);
+	return true;
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_buffer",
+				     "This test validates the Buffer class.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("bufferTest", bufferTest);
+	suite.AddTest("trimTest", testBufferTrimming);
+	suite.AddTest("insertTest", testInserts);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/config-explorer.cc

@@ -0,0 +1,81 @@
+///
+/// \file test/config-explorer.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-21
+/// \brief Commandline tools for interacting with simple configurations.
+///
+/// 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 <iostream>
+#include <string>
+
+#include <scsl/Flags.h>
+#include <scsl/SimpleConfig.h>
+
+
+int
+main(int argc, char *argv[])
+{
+	int retc = 1;
+	bool listKeys;
+	std::string fileName;
+	std::string prefix;
+	std::string defaultValue;
+
+	auto *flags = new scsl::Flags("config-explorer",
+				      "interact with a simple configuration system");
+	flags->Register("-d", "", "set a default value");
+	flags->Register("-f", scsl::FlagType::String, "path to a configuration file");
+	flags->Register("-l", false, "list cached keys at the end");
+	flags->Register("-p", "CX_",
+			"prefix for configuration environment variables");
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	flags->GetString("-d", defaultValue);
+	flags->GetString("-f", fileName);
+	flags->GetBool("-l", listKeys);
+	flags->GetString("-p", prefix);
+	scsl::SimpleConfig::SetPrefixGlobal(prefix);
+
+	if (!fileName.empty()) {
+		if (scsl::SimpleConfig::LoadGlobal(fileName) != 0) {
+			std::cerr << "[!] failed to load " << fileName << "\n";
+			return retc;
+		}
+	}
+
+	for (auto &key : flags->Args()) {
+		auto val = scsl::SimpleConfig::GetGlobal(key, defaultValue);
+		std::cout << key << ": " << val << "\n";
+	}
+
+	if (listKeys) {
+		std::cout << "[+] cached keys\n";
+		for (auto &key : scsl::SimpleConfig::KeyListGlobal()) {
+			std::cout << "\t- " << key << "\n";
+		}
+	}
+
+	delete flags;
+	return retc;
+}

test/coord2d.cc

@@ -0,0 +1,295 @@
+///
+/// \file test/coord2d.cc
+/// \author K.Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Unit tests on 2D geometry code.
+///
+/// \section COPYRIGHT
+///
+/// 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.
+///
+
+#include <array>
+#include <iostream>
+#include <vector>
+
+#include <scsl/Flags.h>
+#include <scmp/Math.h>
+#include <scmp/geom/Coord2D.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+using namespace scmp::geom;
+using namespace sctest;
+
+
+namespace {
+#define CHECK_ROTATE(theta, expected)	if (!scmp::WithinTolerance(scmp::RotateRadians((double)theta, 0), (double)expected, (double)0.0001)) { \
+	std::cerr << "Expected " << theta << " to wrap to " << expected << "\n"; \
+	std::cerr << "    have " << scmp::RotateRadians(theta, 0) << "\n"; \
+	return false; \
+}
+
+
+bool
+geomValidateAngularRotation()
+{
+		CHECK_ROTATE(0, 0);
+		CHECK_ROTATE(M_PI/4, M_PI/4);
+		CHECK_ROTATE(M_PI/2, M_PI/2);
+		CHECK_ROTATE(3 * M_PI / 4,  3 * M_PI / 4);
+		CHECK_ROTATE(M_PI, M_PI);
+		CHECK_ROTATE(5 * M_PI / 4, -3 * M_PI / 4);
+		CHECK_ROTATE(3 * M_PI / 2, -(M_PI / 2));
+		CHECK_ROTATE(7 * M_PI / 4, -(M_PI / 4));
+		CHECK_ROTATE(4 * M_PI, 0)
+
+		return true;
+}
+
+
+bool
+geomConversionIdentities()
+{
+	const std::array<Point2D,4> 	points = {
+		Point2D(1, 0),
+		Point2D(0, 1),
+		Point2D(-1, 0),
+		Point2D(0, -1)
+	};
+
+	const std::array<Polar2D,4>	polars = {
+		Polar2D(1, 0),
+		Polar2D(1, scmp::DegreesToRadiansD(90)),
+		Polar2D(1, scmp::DegreesToRadiansD(180)),
+		Polar2D(1, scmp::DegreesToRadiansD(-90)),
+	};
+
+	for (auto i = 0; i < 4; i++) {
+		const Polar2D	pol(points.at(i));
+		if (pol != polars.at(i)) {
+			std::cerr << "! measured value outside tolerance ("
+				  << i << ")\n";
+			std::cerr << "  " << points.at(i) << " → " << pol
+				  << " ← " << polars.at(i) << "\n";
+			return false;
+		}
+
+		const Point2D point(pol);
+		SCTEST_CHECK(point == points.at(i));
+	}
+
+	Point2D	point(3, 5);
+	Point2D point2;
+	Polar2D	polar;
+	Polar2D polar2;
+
+	point.ToPolar(polar);
+	polar.ToPoint(point2);
+
+	SCTEST_CHECK_EQ(point, point2);
+	point2.ToPolar(polar2);
+	SCTEST_CHECK_EQ(polar, polar2);
+
+	return true;
+}
+
+
+bool
+geomVerifyBasicProperties()
+{
+	const Point2D pt1(1, 1);
+	const Point2D pt2(2, 2);
+	const Point2D pt3(3, 3);
+
+	SCTEST_CHECK((pt1 + pt2) == pt3);
+	SCTEST_CHECK((pt3 - pt2) == pt1);
+
+	// commutative
+	SCTEST_CHECK((pt1 + pt2) == (pt2 + pt1));
+	SCTEST_CHECK((pt1 + pt3) == (pt3 + pt1));
+	SCTEST_CHECK((pt2 + pt3) == (pt3 + pt2));
+
+	// associative
+	SCTEST_CHECK(((pt1 + pt2) + pt3) == (pt1 + (pt2 + pt3)));
+
+	// transitive
+	const Point2D pt4(1, 1);
+	const Point2D pt5(1, 1);
+	SCTEST_CHECK(pt1 == pt4);
+	SCTEST_CHECK(pt4 == pt5);
+	SCTEST_CHECK(pt1 == pt5);
+
+	// scaling
+	const Point2D pt6(2, 3);
+	const Point2D pt7(8, 12);
+	SCTEST_CHECK((pt6 * 4) == pt7);
+	return true;
+}
+
+
+bool
+geomComparePoint2D()
+{
+	const Point2D pt1(1, 1);
+	const Point2D pt2(1, 1);
+	const Point2D pt3(0, 1);
+
+	SCTEST_CHECK(pt1 == pt2);
+	SCTEST_CHECK_FALSE(pt2 == pt3);
+	return true;
+}
+
+
+bool
+geomRotatePoint2D()
+{
+	std::array<Point2D, 4> vertices = {
+		Point2D(1, 0),  // θ = 0	
+		Point2D(0, 1),  // θ = π/2
+		Point2D(-1, 0), // θ = π
+		Point2D(0, -1)  // θ = 3π/2
+	};
+
+	for (auto i = 0; i < 4; i++) {
+		auto first    = i % 4;
+		auto expected = (i + 1) % 4;
+
+		Point2D vertex;
+		vertices.at(first).Rotate(vertex, 1.5708);
+
+		if (vertex != vertices.at(expected)) {
+			std::cerr << "expected: " << expected << "\n";
+			std::cerr << "    have: " << vertex << "\n";
+			return false;
+		}
+	}
+	return true;
+}
+
+
+bool
+geomRotatePointsAboutOrigin()
+{
+	Point2D	origin(3, 3);
+	double	theta = 0;
+
+	const std::vector<Polar2D> vertices {
+		Polar2D(2, 0),
+		Polar2D(1.41421, 2.35619),
+		Polar2D(1.41421, -2.35619)		
+	};
+
+	// expected coordinates with no rotation
+	std::vector<Point2D> rotated0 {
+		Point2D(5, 3),
+		Point2D(2, 4),
+		Point2D(2, 2)
+	};
+
+	auto rotated = origin.Rotate(vertices, theta);
+	for (auto i = 0; i < 3; i++) {
+		SCTEST_CHECK(rotated.at(i) == rotated0.at(i));
+	}
+
+	// expected after 90° rotation
+	theta = scmp::DegreesToRadiansD(90);
+	std::vector<Point2D> rotated90 {
+		Point2D(3, 5),
+		Point2D(2, 2),
+		Point2D(4, 2)
+	};
+
+	rotated = origin.Rotate(vertices, theta);
+	for (auto i = 0; i < 3; i++) {
+		SCTEST_CHECK(rotated.at(i) == rotated90.at(i));
+	}
+
+	// expected after 180° rotation
+	theta = scmp::DegreesToRadiansD(180);
+	std::vector<Point2D> rotated180 {
+		Point2D(1, 3),
+		Point2D(4, 2),
+		Point2D(4, 4)
+	};
+
+	rotated = origin.Rotate(vertices, theta);
+	for (auto i = 0; i < 3; i++) {
+		SCTEST_CHECK(rotated.at(i) == rotated180.at(i));
+	}
+
+	return true;
+}
+
+
+bool
+pointDistances()
+{
+	const Point2D	origin;
+	const Point2D	y2(0, 2);
+	const Point2D	x2(2, 0);
+	const int 	dist2 = 2;
+	const int 	dist10 = 10;
+	const Point2D	deg45{8, 6};
+
+	SCTEST_CHECK_EQ(y2.Distance(origin), dist2);
+	SCTEST_CHECK_EQ(x2.Distance(origin), dist2);
+	SCTEST_CHECK_EQ(deg45.Distance(origin), dist10);
+
+	return true;
+};
+
+
+} // anonymous namespace
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("geomValidateAngularRotation", geomValidateAngularRotation);
+	suite.AddTest("geomConversionIdentities", geomConversionIdentities);
+	suite.AddTest("geomVerifyBasicProperties", geomVerifyBasicProperties);
+	suite.AddTest("geomComparePoint2D", geomComparePoint2D);
+	suite.AddTest("geomRotatePoint2D", geomRotatePoint2D);
+	suite.AddTest("geomRotatePointsAboutOrigin", geomRotatePointsAboutOrigin);
+	suite.AddTest("pointDistances", pointDistances);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/dictionary.cc

@@ -0,0 +1,142 @@
+///
+/// \file test/dictionary.cc
+/// \author K.Isom <kyle@imap.cc>
+/// \date 2023-10-05
+/// \brief Unit tests on the scsl::Dictionary class.
+///
+/// \section COPYRIGHT
+///
+/// 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 <iostream>
+
+#include <scsl/Arena.h>
+#include <scsl/Dictionary.h>
+#include <scsl/Flags.h>
+#include <sctest/SimpleSuite.h>
+#include <sctest/Checks.h>
+
+#include "test_fixtures.h"
+
+
+using namespace scsl;
+using namespace sctest;
+
+
+constexpr char    TEST_KVSTR1[]  = "foo";
+constexpr uint8_t TEST_KVSTRLEN1 = 3;
+constexpr char    TEST_KVSTR2[]  = "baz";
+constexpr uint8_t TEST_KVSTRLEN2 = 3;
+constexpr char    TEST_KVSTR3[]  = "quux";
+constexpr uint8_t TEST_KVSTRLEN3 = 4;
+constexpr char    TEST_KVSTR4[]  = "spam";
+constexpr uint8_t TEST_KVSTRLEN4 = 4;
+constexpr char    TEST_KVSTR5[]  = "xyzzx";
+constexpr uint8_t TEST_KVSTRLEN5 = 5;
+constexpr char    TEST_KVSTR6[]  = "corvid";
+constexpr uint8_t TEST_KVSTRLEN6 = 6;
+
+
+static bool
+testSetKV(Dictionary &pb, const char *k, uint8_t kl, const char *v,
+	  uint8_t vl)
+{
+	return pb.Set(k, kl, v, vl) == 0;
+}
+
+bool
+dictionaryTest()
+{
+	Arena       arena;
+	TLV::Record value;
+	TLV::Record expect;
+
+	if (arena.Create(ARENA_FILE, ARENA_SIZE) == -1) {
+		abort();
+	}
+
+	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN3, TEST_KVSTR3);
+
+	Dictionary dict(arena);
+	SCTEST_CHECK_FALSE(dict.Contains(TEST_KVSTR2, TEST_KVSTRLEN2));
+	SCTEST_CHECK(testSetKV(dict, TEST_KVSTR1, TEST_KVSTRLEN1, TEST_KVSTR3,
+			       TEST_KVSTRLEN3));
+
+	SCTEST_CHECK(testSetKV(dict, TEST_KVSTR2, TEST_KVSTRLEN2, TEST_KVSTR3,
+			       TEST_KVSTRLEN3));
+
+	SCTEST_CHECK(dict.Contains(TEST_KVSTR2, TEST_KVSTRLEN2));
+	SCTEST_CHECK(testSetKV(dict, TEST_KVSTR4, TEST_KVSTRLEN4, TEST_KVSTR5,
+			       TEST_KVSTRLEN5));
+
+	SCTEST_CHECK(dict.Lookup(TEST_KVSTR2, TEST_KVSTRLEN2, value));
+
+	SCTEST_CHECK(cmpRecord(value, expect));
+
+
+	SCTEST_CHECK(testSetKV(dict, TEST_KVSTR2, TEST_KVSTRLEN2, TEST_KVSTR6,
+			       TEST_KVSTRLEN6));
+
+	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN6, TEST_KVSTR6);
+	SCTEST_CHECK(dict.Lookup(TEST_KVSTR2, TEST_KVSTRLEN2, value));
+
+	SCTEST_CHECK(cmpRecord(value, expect));
+
+	SCTEST_CHECK(testSetKV(dict, TEST_KVSTR3, TEST_KVSTRLEN3, TEST_KVSTR5,
+			       TEST_KVSTRLEN5));
+
+	TLV::SetRecord(expect, DICTIONARY_TAG_VAL, TEST_KVSTRLEN5, TEST_KVSTR5);
+	SCTEST_CHECK(dict.Lookup(TEST_KVSTR4, TEST_KVSTRLEN4, value));
+	SCTEST_CHECK(cmpRecord(value, expect));
+
+	arena.Write("pb.dat");
+	arena.Clear();
+	return true;
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet    = false;
+	auto flags    = new scsl::Flags("test_dictionary",
+					"This test validates the Dictionary class.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("dictionaryTest", dictionaryTest);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/flags.cc

@@ -1,11 +1,34 @@
-//
-// Created by kyle on 10/15/23.
-//
-
+///
+/// \file test/flags.cc
+/// \author K.Isom <kyle@imap.cc>
+/// \date 2017-06-05
+/// \brief Demonstration of the scsl::Flags class.
+///
+/// \note This isn't a test program, and won't be run as part of a
+///       normal ctest run. It's meant to show how flags work in
+///       practice.
+///
+/// \section COPYRIGHT
+///
+/// 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.
+///
 
 #include <iostream>
-#include "Flag.h"
-#include "Test.h"
+#include <scsl/Flags.h>
+#include <sctest/Assert.h>
 
 
 using namespace scsl;
@@ -26,7 +49,7 @@ main(int argc, char *argv[])
 	flags->Register("-u", (unsigned int)42, "test unsigned integer with a long description line. This should trigger multiline text-wrapping.");
 	flags->Register("-i", -42, "test integer");
 	flags->Register("-size", FlagType::SizeT, "test size_t");
-	TestAssert(flags->Size() == 5, "flags weren't registered");
+	sctest::Assert(flags->Size() == 5, "flags weren't registered");
 
 	auto status = flags->Parse(argc, argv);
 

test/madgwick.cc

@@ -0,0 +1,279 @@
+#include <cmath>
+#include <sstream>
+
+#include <scsl/Flags.h>
+
+#include <scmp/geom/Vector.h>
+#include <scmp/geom/Quaternion.h>
+#include <scmp/Math.h>
+
+#include <scmp/estimation/Madgwick.h>
+#include <sctest/Assert.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
+using namespace std;
+using namespace scmp;
+
+
+bool
+SimpleAngularOrientationFloat()
+{
+	estimation::Madgwickf estimation;
+	const geom::Vector3F  gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float           delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float           twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		estimation.UpdateAngularOrientation(gyro, delta);
+	}
+
+
+	SCTEST_CHECK_EQ(estimation.Orientation(), frame20Deg);
+
+	auto euler = estimation.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientationFloatDefaultDT()
+{
+	estimation::Madgwickf       mflt;
+	const geom::Vector3F    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	mflt.DeltaT(delta);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+VerifyUpdateWithZeroDeltaTFails()
+{
+	estimation::Madgwickf       mflt;
+	const geom::Vector3F    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientationDouble()
+{
+	estimation::Madgwickd       mflt;
+	const geom::Vector3D    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialVector3f()
+{
+	const geom::Vector3F    initialFrame{0, 0, 0};
+	estimation::Madgwickf       mflt(initialFrame);
+	const geom::Vector3F    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialQuaternionf()
+{
+	const auto              initialFrame = geom::FloatQuaternionFromEuler({0, 0, 0});
+	estimation::Madgwickf       mflt(initialFrame);
+	const geom::Vector3F    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const float             delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const float             twentyDegrees = scmp::DegreesToRadiansF(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_FEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_FEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialVector3d()
+{
+	const geom::Vector3D    initialFrame{0, 0, 0};
+	estimation::Madgwickd       mflt(initialFrame);
+	const geom::Vector3D    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+bool
+SimpleAngularOrientation2InitialQuaterniond()
+{
+	const auto              initialFrame = geom::DoubleQuaternionFromEuler({0, 0, 0});
+	estimation::Madgwickd       mflt(initialFrame);
+	const geom::Vector3D    gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
+	const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
+	const double            delta         = 0.00917; // assume 109 updates per second, as per the paper.
+	const double            twentyDegrees = scmp::DegreesToRadiansD(20.0);
+
+	// The paper specifies a minimum of 109 IMU readings to stabilize; for
+	// two seconds, that means 218 updates.
+	for (int i = 0; i < 218; i++) {
+		mflt.UpdateAngularOrientation(gyro, delta);
+	}
+
+	SCTEST_CHECK_EQ(mflt.Orientation(), frame20Deg);
+
+	auto euler = mflt.Euler();
+	SCTEST_CHECK_DEQ_EPS(euler[0], twentyDegrees, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[1], 0.0, 0.01);
+	SCTEST_CHECK_DEQ_EPS(euler[2], 0.0, 0.01);
+
+	return true;
+}
+
+
+int
+main(int argc, char **argv)
+{
+	auto quiet = false;
+	auto noReport = false;
+	auto *flags = new scsl::Flags("test_madgwick",
+				     "This test validates the Madgwick estimation code");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite	suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("SimpleAngularOrientationFloat",
+		      SimpleAngularOrientationFloat);
+	suite.AddTest("SimpleAngularOrientationFloatDefaultDT",
+			SimpleAngularOrientationFloatDefaultDT);
+	suite.AddFailingTest("VerifyUpdateWithZeroDeltaTFails",
+		      VerifyUpdateWithZeroDeltaTFails);
+	suite.AddTest("SimpleAngularOrientationDouble",
+		      SimpleAngularOrientationDouble);
+	suite.AddTest("SimpleAngularOrientationFloat (inital vector3f)",
+		      SimpleAngularOrientation2InitialVector3f);
+	suite.AddTest("SimpleAngularOrientationDouble (inital vector3d)",
+		      SimpleAngularOrientation2InitialVector3d);
+	suite.AddTest("SimpleAngularOrientationFloat (inital MakeQuaternion)",
+		      SimpleAngularOrientation2InitialQuaternionf);
+	suite.AddTest("SimpleAngularOrientationDouble (inital MakeQuaternion)",
+		      SimpleAngularOrientation2InitialQuaterniond);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/math.cc

@@ -0,0 +1,186 @@
+///
+/// \file test/math.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-20
+/// \brief Unit tests for math functions.
+///
+/// Arena defines a memory management backend for pre-allocating memory.
+///
+/// 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 <iostream>
+
+#include <scsl/Flags.h>
+#include <scmp/Math.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
+namespace {
+
+
+bool
+BestDie()
+{
+	// Theoretically, this could fail. The odds of that happening
+	// with 100 die and a proper RNG is 0.99999998792533,
+	// practically 100%. At 1000 die, it's virtually guaranteed.
+	auto	n = scmp::BestDie(1000, 6, 1);
+
+	SCTEST_CHECK_EQ(n, 6);
+
+	return true;
+}
+
+
+bool
+DieTotal()
+{
+	auto	n = scmp::DieTotal(100, 6);
+
+	SCTEST_CHECK_GEQ(n, 100);
+	SCTEST_CHECK_LEQ(n, 600);
+
+	return true;
+}
+
+
+bool
+WithinToleranceFloat()
+{
+	float x = 0.1235;
+	float y = 0.1236;
+	float eps = 0.0;
+	float expected = 0.1234;
+
+	scmp::DefaultEpsilon(eps);
+
+	SCTEST_CHECK_FEQ_EPS(x, expected, eps);
+	SCTEST_CHECK_FNE_EPS(y, expected, eps);
+
+	return true;
+}
+
+
+bool
+WithinToleranceDouble()
+{
+	double x = 0.12348;
+	double y = 0.1236;
+	double eps = 0.0;
+	double expected = 0.12345;
+
+	scmp::DefaultEpsilon(eps);
+
+	SCTEST_CHECK_DEQ_EPS(x, expected, eps);
+	SCTEST_CHECK_DNE_EPS(y, expected, eps);
+
+	return true;
+}
+
+
+bool
+RotateRadians()
+{
+	double theta0 = 0.0;
+	double theta1 = scmp::PI_D;
+
+	auto rotated = scmp::RotateRadians(theta0, theta1);
+	SCTEST_CHECK_DEQ(rotated, theta1);
+
+	rotated = scmp::RotateRadians(rotated, theta1);
+	SCTEST_CHECK_DEQ(rotated, theta0);
+
+	theta1 = scmp::PI_D * 3 / 2;
+	rotated = scmp::RotateRadians(theta0, theta1);
+	SCTEST_CHECK_DEQ(rotated, -scmp::PI_D / 2);
+
+	rotated = scmp::RotateRadians(rotated, theta1);
+	SCTEST_CHECK_DEQ(rotated, scmp::PI_D);
+
+	return true;
+}
+
+
+bool
+IntegerSquareRoot()
+{
+	static std::vector<size_t> ns{
+	    // standard integer roots
+	    4, 9, 16, 25, 36, 49, 64, 81, 100, 121, 144,
+
+	    // a few float cases
+	    42, 90, 92
+	};
+	static std::vector<size_t> expected{
+	    // standard integer roots
+	    2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12,
+
+	    // a few float cases
+	    6, 9, 10
+	};
+
+	SCTEST_CHECK_EQ(ns.size(), expected.size());
+
+	for (size_t i = 0; i < ns.size(); i++) {
+		auto root = scmp::ISqrt(ns.at(i));
+		SCTEST_CHECK_EQ(root, expected.at(i));
+	}
+
+	return true;
+}
+
+
+} // anonymous namespace
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("BestDie", BestDie);
+	suite.AddTest("DieTotal", DieTotal);
+	suite.AddTest("WithinToleranceFloat", WithinToleranceFloat);
+	suite.AddTest("WithinToleranceDouble", WithinToleranceDouble);
+	suite.AddTest("RotateRadians", RotateRadians);
+	suite.AddTest("IntegerSquareRoot", IntegerSquareRoot);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/orientation.cc

@@ -0,0 +1,123 @@
+#include <scsl/Flags.h>
+
+#include <scmp/Math.h>
+#include <scmp/geom/Vector.h>
+#include <scmp/geom/Orientation.h>
+
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
+using namespace std;
+using namespace scmp;
+using namespace sctest;
+
+
+namespace {
+
+
+bool
+UnitConversions_RadiansToDegreesF()
+{
+	for (int i = 0; i < 360; i++) {
+		auto rads = scmp::DegreesToRadiansF(i);
+		auto deg = scmp::RadiansToDegreesF(rads);
+
+		SCTEST_CHECK_FEQ(deg, static_cast<float>(i));
+	}
+
+	return true;
+}
+
+
+bool
+UnitConversions_RadiansToDegreesD()
+{
+	for (int i = 0; i < 360; i++) {
+		auto deg = static_cast<double>(i);
+		SCTEST_CHECK_DEQ(scmp::RadiansToDegreesD(scmp::DegreesToRadiansD(deg)), deg);
+	}
+
+	return true;
+}
+
+
+bool
+Orientation2f_Heading()
+{
+	geom::Vector2F const a{2.0, 2.0};
+
+	SCTEST_CHECK_FEQ(geom::Heading2F(a), scmp::DegreesToRadiansF(45));
+
+	return true;
+}
+
+
+bool
+Orientation3f_Heading()
+{
+	geom::Vector3F const a{2.0, 2.0, 2.0};
+
+	SCTEST_CHECK_FEQ(geom::Heading3F(a), scmp::DegreesToRadiansF(45));
+
+	return true;
+}
+
+
+bool
+Orientation2d_Heading()
+{
+	geom::Vector2D const a{2.0, 2.0};
+
+	return scmp::WithinTolerance(geom::Heading2D(a), scmp::DegreesToRadiansD(45), 0.000001) != 0.0;
+}
+
+
+bool
+Orientation3d_Heading()
+{
+	geom::Vector3D const a{2.0, 2.0, 2.0};
+
+	return scmp::WithinTolerance(geom::Heading3D(a), scmp::DegreesToRadiansD(45), 0.000001) != 0.0;
+}
+
+
+} // anonymous namespace
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto *flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("UnitConversions_RadiansToDegreesF", UnitConversions_RadiansToDegreesF);
+	suite.AddTest("UnitConversions_RadiansToDegreesD", UnitConversions_RadiansToDegreesD);
+	suite.AddTest("Orientation2f_Heading", Orientation2f_Heading);
+	suite.AddTest("Orientation3f_Heading", Orientation3f_Heading);
+	suite.AddTest("Orientation2d_Heading", Orientation2d_Heading);
+	suite.AddTest("Orientation3d_Heading", Orientation3d_Heading);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/quaternion.cc

@@ -0,0 +1,493 @@
+#include <cmath>
+#include <sstream>
+
+#include <scsl/Flags.h>
+#include <scmp/geom/Quaternion.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+
+using namespace std;
+using namespace scmp;
+using namespace sctest;
+
+
+static bool
+Quaternion_SelfTest()
+{
+	geom::QuaternionSelfTest();
+	return true;
+}
+
+
+static bool
+Quaterniond_Addition()
+{
+	geom::Quaterniond	p(geom::Vector4D {3.0, 1.0, -2.0, 1.0});
+	geom::Quaterniond	q(geom::Vector4D {2.0, -1.0, 2.0, 3.0});
+	geom::Quaterniond	expected(geom::Vector4D{5.0, 0.0, 0.0, 4.0});
+
+	SCTEST_CHECK_EQ(p + q, expected);
+	SCTEST_CHECK_EQ(expected - q, p);
+	SCTEST_CHECK_NE(expected - q, q); // exercise !=
+
+	return true;
+}
+
+
+static bool
+Quaterniond_Conjugate()
+{
+	geom::Quaterniond	p {2.0, 3.0, 4.0, 5.0};
+	geom::Quaterniond	q {2.0, -3.0, -4.0, -5.0};
+
+	SCTEST_CHECK_EQ(p.Conjugate(), q);
+
+	return true;
+}
+
+static bool
+Quaterniond_Euler()
+{
+	geom::Quaterniond	p = geom::MakeQuaternion(
+	    geom::Vector3D{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
+	geom::Quaterniond	q = geom::DoubleQuaternionFromEuler(p.Euler());
+
+	SCTEST_CHECK_EQ(p, q);
+	
+	return true;
+}
+
+
+static bool
+Quaterniond_Identity()
+{
+	geom::Quaterniond	p {3.0, 1.0, -2.0, 1.0};
+	geom::Quaterniond	q;
+
+	SCTEST_CHECK(q.IsIdentity());
+	SCTEST_CHECK_EQ(p * q, p);
+	
+	return true;
+}
+
+
+static bool
+Quaterniond_Inverse()
+{
+	geom::Quaterniond	p {2.0, 3.0, 4.0, 5.0};
+	geom::Quaterniond	q {0.03704, -0.05556, -0.07407, -0.09259};
+
+	SCTEST_CHECK_EQ(p.Inverse(), q);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_Norm()
+{
+	geom::Quaterniond	p {5.563199889674063, 0.9899139811480784, 9.387110042325054, 6.161341707794767};
+	double 			norm = 12.57016663729933;
+
+	SCTEST_CHECK_DEQ(p.Norm(), norm);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_Product()
+{
+	geom::Quaterniond	p {3.0, 1.0, -2.0, 1.0};
+	geom::Quaterniond	q {2.0, -1.0, 2.0, 3.0};
+	geom::Quaterniond	expected {8.0, -9.0, -2.0, 11.0};
+
+	SCTEST_CHECK_EQ(p * q, expected);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_Rotate()
+{
+	// This test aims to Rotate a vector v using a MakeQuaternion.
+	// c.f. https://math.stackexchange.com/questions/40164/how-do-you-rotate-a-vector-by-a-unit-quaternion
+	// If we assume a standard IMU frame of reference following the
+	// right hand rule:
+	// + The x Axis points toward magnetic north
+	// + The y Axis points toward magnentic west
+	// + The z Axis points toward the sky
+	// Given a vector pointing due north, rotating by 90º about
+	// the y-Axis should leave us pointing toward the sky.
+
+	geom::Vector3D v {1.0, 0.0, 0.0};     // a vector pointed north
+	geom::Vector3D yAxis {0.0, 1.0, 0.0}; // a vector representing the y Axis.
+	double         angle = M_PI / 2;      // 90º rotation
+
+	// A MakeQuaternion representing a 90º rotation about the y Axis.
+	geom::Quaterniond p = geom::MakeQuaternion(yAxis, angle);
+	geom::Vector3D    vr {0.0, 0.0, 1.0};    // expected rotated vector.
+
+	// A rotation quaternion should be a unit MakeQuaternion.
+	SCTEST_CHECK(p.IsUnitQuaternion());
+	SCTEST_CHECK_EQ(p.Rotate(v), vr);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_ShortestSLERP()
+{
+	// Our starting point is an Orientation that is yawed 45° - our
+	// Orientation is pointed π/4 radians in the X Axis.
+	geom::Quaterniond	p {0.92388, 0.382683, 0, 0};
+	// Our ending point is an Orientation that is yawed -45° - or
+	// pointed -π/4 radians in the X Axis.
+	geom::Quaterniond	q {0.92388, -0.382683, 0, 0};
+	// The halfway point should be oriented midway about the X Axis. It turns
+	// out this is an identity MakeQuaternion.
+	geom::Quaterniond	r;
+
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, 0.0), p);
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, 1.0), q);
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, 0.5), r);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_ShortestSLERP2()
+{
+	// Start with an Orientation pointing forward, all Euler angles
+	// set to 0.
+	geom::Quaterniond	start {1.0, 0.0, 0.0, 0.0};
+	// The goal is to end up face up, or 90º pitch (still facing forward).
+	geom::Quaterniond	end {0.707107, 0, -0.707107, 0};
+	// Halfway to the endpoint should be a 45º pitch.
+	geom::Quaterniond	halfway {0.92388, 0, -0.382683, 0};
+	// 2/3 of the way should be 60º pitch.
+	geom::Quaterniond	twoThirds {0.866025, 0, -0.5, 0};
+
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, 0.0), start);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, 1.0), end);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, 0.5), halfway);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, 2.0/3.0), twoThirds);
+
+	return true;
+}
+
+
+static bool
+Quaterniond_Unit()
+{
+	geom::Quaterniond	q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
+
+	SCTEST_CHECK(q.IsUnitQuaternion());
+
+	return true;
+}
+
+
+static bool
+Quaterniond_UtilityCreator()
+{
+	geom::Vector3D v {1.0, 1.0, 1.0};
+	double         w = M_PI;
+	geom::Quaterniond	p = geom::MakeQuaternion(v, w);
+	geom::Quaterniond	q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
+
+	SCTEST_CHECK_EQ(p, q);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Addition()
+{
+	geom::Quaternionf	p {3.0, 1.0, -2.0, 1.0};
+	geom::Quaternionf	q {2.0, -1.0, 2.0, 3.0};
+	geom::Quaternionf	expected {5.0, 0.0, 0.0, 4.0};
+
+	SCTEST_CHECK_EQ(p + q, expected);
+	SCTEST_CHECK_EQ(expected - q, p);
+	SCTEST_CHECK_NE(expected - q, q); // exercise !=
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Conjugate()
+{
+	geom::Quaternionf	p {2.0, 3.0, 4.0, 5.0};
+	geom::Quaternionf	q {2.0, -3.0, -4.0, -5.0};
+
+	SCTEST_CHECK_EQ(p.Conjugate(), q);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Euler()
+{
+	geom::Quaternionf	p = geom::MakeQuaternion(
+	    geom::Vector3F{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
+	geom::Quaternionf	q = geom::FloatQuaternionFromEuler(p.Euler());
+
+	SCTEST_CHECK_EQ(p, q);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Identity()
+{
+	geom::Quaternionf	p {1.0, 3.0, 1.0, -2.0};
+	geom::Quaternionf	q;
+
+	SCTEST_CHECK_EQ(p * q, p);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Inverse()
+{
+	geom::Quaternionf	p {2.0, 3.0, 4.0, 5.0};
+	geom::Quaternionf	q {0.03704, -0.05556, -0.07407, -0.09259};
+
+	SCTEST_CHECK_EQ(p.Inverse(), q);
+	
+	return true;
+}
+
+
+static bool
+Quaternionf_Norm()
+{
+	geom::Quaternionf	p {0.9899139811480784, 9.387110042325054, 6.161341707794767, 5.563199889674063};
+	float 			norm = 12.57016663729933;
+
+	SCTEST_CHECK_FEQ(p.Norm(), norm);
+	
+	return true;
+}
+
+
+static bool
+Quaternionf_Product()
+{
+	geom::Quaternionf	p {3.0, 1.0, -2.0, 1.0};
+	geom::Quaternionf	q {2.0, -1.0, 2.0, 3.0};
+	geom::Quaternionf	expected {8.0, -9.0, -2.0, 11.0};
+
+	SCTEST_CHECK_EQ(p * q, expected);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Rotate()
+{
+	geom::Vector3F v {1.0, 0.0, 0.0};
+	geom::Vector3F yAxis {0.0, 1.0, 0.0};
+	float          angle = M_PI / 2;
+
+	geom::Quaternionf p = geom::MakeQuaternion(yAxis, angle);
+	geom::Vector3F    vr {0.0, 0.0, 1.0};
+
+	SCTEST_CHECK(p.IsUnitQuaternion());
+	SCTEST_CHECK_EQ(p.Rotate(v), vr);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_ShortestSLERP()
+{
+	// Our starting point is an Orientation that is yawed 45° - our
+	// Orientation is pointed π/4 radians in the X Axis.
+	geom::Quaternionf	p {0.92388, 0.382683, 0, 0};
+	// Our ending point is an Orientation that is yawed -45° - or
+	// pointed -π/4 radians in the X Axis.
+	geom::Quaternionf	q {0.92388, -0.382683, 0, 0};
+	// The halfway point should be oriented midway about the X Axis. It turns
+	// out this is an identity MakeQuaternion.
+	geom::Quaternionf	r;
+
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, (float)0.0), p);
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, (float)1.0), q);
+	SCTEST_CHECK_EQ(geom::ShortestSLERP(p, q, (float)0.5), r);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_ShortestSLERP2()
+{
+	// Start with an Orientation pointing forward, all Euler angles
+	// set to 0.
+	geom::Quaternionf	start {1.0, 0.0, 0.0, 0.0};
+	// The goal is to end up face up, or 90º pitch (still facing forward).
+	geom::Quaternionf	end {0.707107, 0, -0.707107, 0};
+	// Halfway to the endpoint should be a 45º pitch.
+	geom::Quaternionf	halfway {0.92388, 0, -0.382683, 0};
+	// 2/3 of the way should be 60º pitch.
+	geom::Quaternionf	twoThirds {0.866025, 0, -0.5, 0};
+
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, (float)0.0), start);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, (float)1.0), end);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, (float)0.5), halfway);
+	SCTEST_CHECK_EQ(ShortestSLERP(start, end, (float)(2.0/3.0)), twoThirds);
+
+	return true;
+}
+
+
+static bool
+Quaternionf_Unit()
+{
+	geom::Quaternionf	q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
+
+	SCTEST_CHECK(q.IsUnitQuaternion());
+
+	return true;
+}
+
+
+static bool
+Quaternionf_UtilityCreator()
+{
+	geom::Vector3F v {1.0, 1.0, 1.0};
+	float          w = M_PI;
+	geom::Quaternionf	p = geom::MakeQuaternion(v, w);
+	geom::Quaternionf	q {0.0, 0.5773502691896258, 0.5773502691896258, 0.5773502691896258};
+
+	SCTEST_CHECK_EQ(p, q);
+
+	return true;
+}
+
+
+static bool
+QuaternionMiscellaneous_SanityChecks()
+{
+	geom::Vector4D q {4.0, 1.0, 2.0, 3.0};
+	geom::Vector3D v {1.0, 2.0, 3.0};
+	double         w = 4.0;
+	geom::Quaterniond	p(q);
+	geom::Quaterniond	u = p.UnitQuaternion();
+
+	SCTEST_CHECK_EQ(p.Axis(), v);
+	SCTEST_CHECK_DEQ(p.Angle(), w);
+	SCTEST_CHECK(u.IsUnitQuaternion());
+
+	return true;
+}
+
+
+static bool
+QuaternionMiscellaneous_OutputStream()
+{
+	geom::Quaternionf	p {4.0, 1.0, 2.0, 3.0};
+	geom::Quaterniond	q {4.0, 1.0, 2.0, 3.0};
+	stringstream		ss;
+
+	ss << p;
+	SCTEST_CHECK_EQ(ss.str(), "4 + <1, 2, 3>");
+	ss.str("");
+
+	ss << q;
+	SCTEST_CHECK_EQ(ss.str(), "4 + <1, 2, 3>");
+
+	return true;
+}
+
+
+static bool
+QuaternionMiscellanous_InitializerConstructor()
+{
+	geom::Quaternionf	p {1.0, 1.0, 1.0, 1.0};
+	geom::Quaternionf	q(geom::Vector4F {1.0, 1.0, 1.0, 1.0});
+
+	SCTEST_CHECK_EQ(p, q);
+	SCTEST_CHECK_FEQ(p.Norm(), (float)2.0);
+
+	return true;
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_quaternion",
+				     "This test validates the Quaternion class.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("QuaternionSelfTest", Quaternion_SelfTest);
+	suite.AddTest("QuaternionMiscellanous_InitializerConstructor",
+		      QuaternionMiscellanous_InitializerConstructor);
+	suite.AddTest("QuaternionMiscellaneous_SanityChecks",
+		      QuaternionMiscellaneous_SanityChecks);
+	suite.AddTest("QuaternionMiscellaneous_OutputStream",
+		      QuaternionMiscellaneous_OutputStream);
+
+	suite.AddTest("Quaterniond_Addition", Quaterniond_Addition);
+	suite.AddTest("Quaterniond_Conjugate", Quaterniond_Conjugate);
+	suite.AddTest("Quaterniond_Euler", Quaterniond_Euler);
+	suite.AddTest("Quaterniond_Identity", Quaterniond_Identity);
+	suite.AddTest("Quaterniond_Inverse", Quaterniond_Inverse);
+	suite.AddTest("Quaterniond_Norm", Quaterniond_Norm);
+	suite.AddTest("Quaterniond_Product", Quaterniond_Product);
+	suite.AddTest("Quaterniond_Rotate", Quaterniond_Rotate);
+	suite.AddTest("Quaterniond_ShortestSLERP", Quaterniond_ShortestSLERP);
+	suite.AddTest("Quaterniond_ShortestSLERP2", Quaterniond_ShortestSLERP2);
+	suite.AddTest("Quaterniond_Unit", Quaterniond_Unit);
+	suite.AddTest("Quaterniond_UtilityCreator", Quaterniond_UtilityCreator);
+
+	suite.AddTest("Quaternionf_Addition", Quaternionf_Addition);
+	suite.AddTest("Quaternionf_Conjugate", Quaternionf_Conjugate);
+	suite.AddTest("Quaternionf_Euler", Quaternionf_Euler);
+	suite.AddTest("Quaternionf_Identity", Quaternionf_Identity);
+	suite.AddTest("Quaternionf_Inverse", Quaternionf_Inverse);
+	suite.AddTest("Quaternionf_Norm", Quaternionf_Norm);
+	suite.AddTest("Quaternionf_Product", Quaternionf_Product);
+	suite.AddTest("Quaternionf_Rotate", Quaternionf_Rotate);
+	suite.AddTest("Quaternionf_ShortestSLERP", Quaternionf_ShortestSLERP);
+	suite.AddTest("Quaternionf_ShortestSLERP2", Quaternionf_ShortestSLERP2);
+	suite.AddTest("Quaternionf_Unit", Quaternionf_Unit);
+	suite.AddTest("Quaternionf_UtilityCreator", Quaternionf_UtilityCreator);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/simple_suite_example.cc

@@ -0,0 +1,89 @@
+///
+/// \file test/simple_suite_example.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2017-06-05
+///
+/// simple_suite_example demonstrates the usage of the SimpleSuite test class
+/// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
+///
+///
+/// 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.
+///
+
+#include <iostream>
+
+#include <scsl/Flags.h>
+#include <sctest/SimpleSuite.h>
+
+
+static bool
+prepareTests() 
+{ 
+	std::cout << "time passes...\n";
+	std::cout << "tests are ready.\n";
+	return true;
+}
+
+
+static bool
+destroyTests() 
+{ 
+	std::cout << "time passes...\n" ;
+	std::cout << "tests have been destroyed.\n";
+	return true;
+}
+
+
+static bool addOne() { return 1 + 1 == 2; }
+static bool four()   { return 2 + 2 == 4; }
+static bool nope()   { return 2 + 2 == 5; }
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.Setup(prepareTests);
+	suite.Teardown(destroyTests);
+	suite.AddTest("1 + 1", addOne);
+	suite.AddTest("fourness", four);
+	suite.AddFailingTest("self-evident truth", nope);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/stringutil.cc

@@ -0,0 +1,182 @@
+///
+/// \file test/stringutil_test.cc
+/// \author kyle 
+/// \date 10/14/23
+/// \brief Ensure the stringutil functions work.
+///
+/// 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 <functional>
+#include <iostream>
+
+#include <scsl/Flags.h>
+#include <scsl/StringUtil.h>
+#include <sctest/Assert.h>
+#include <sctest/SimpleSuite.h>
+
+
+using namespace scsl;
+
+
+namespace {
+
+
+void
+TestTrimming(std::string line, std::string lExpected, std::string rExpected, std::string expected)
+{
+	std::string result;
+	std::string message;
+
+	result  = scstring::TrimLeadingWhitespaceDup(line);
+	message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == lExpected, message);
+
+	result  = scstring::TrimTrailingWhitespaceDup(line);
+	message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == rExpected, message);
+
+	result  = scstring::TrimWhitespaceDup(line);
+	message = "TrimDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == expected, message);
+
+	result = line;
+	scstring::TrimLeadingWhitespace(result);
+	message = "TrimLeadingDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == lExpected, message);
+
+	result = line;
+	scstring::TrimTrailingWhitespace(result);
+	message = "TrimTrailingDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == rExpected, message);
+
+	result = line;
+	scstring::TrimWhitespace(result);
+	message = "TrimDup(\"" + line + "\"): '" + result + "'";
+	sctest::Assert(result == expected, message);
+}
+
+
+std::function<bool()>
+TestSplit(std::string line, std::string delim, size_t maxCount, std::vector<std::string> expected)
+{
+	return [line, delim, maxCount, expected]() {
+	    return scstring::SplitN(line, delim, maxCount) == expected;
+
+	};
+}
+
+
+bool
+TestSplitChar()
+{
+	auto expected = std::vector<std::string>{"hello", "world"};
+	const auto *inputLine = "hello=world\n";
+	auto actual = scstring::SplitKeyValuePair(inputLine, '=');
+
+	return actual == expected;
+}
+
+
+bool
+TestWrapping()
+{
+	std::string testLine = "A much longer line, something that can be tested with WrapText. ";
+	testLine += "Does it handle puncuation? I hope so.";
+
+	std::vector<std::string> expected{
+	    "A much longer",
+	    "line, something",
+	    "that can be",
+	    "tested with",
+	    "WrapText. Does",
+	    "it handle",
+	    "puncuation? I",
+	    "hope so.",
+	};
+
+	auto wrapped = scstring::WrapText(testLine, 16);
+	if (wrapped.size() != expected.size()) {
+		std::cerr << scstring::VectorToString(wrapped)
+			  << " != "
+			  << scstring::VectorToString(expected)
+			  << "\n";
+	}
+
+	for (size_t i = 0; i < wrapped.size(); i++) {
+		if (wrapped[i] == expected[i]) {
+			continue;
+		}
+
+		std::cerr << "[" << i << "] \"" << wrapped[i] << "\" != \""
+			  << expected[i] << "\"\n";
+		return false;
+	}
+
+//	scstring::WriteTabIndented(std::cout, wrapped, 4, true);
+	return true;
+}
+
+
+} // anonymous namespace
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto *flags = new scsl::Flags("test_orientation",
+				     "This test validates various orientation-related components in scmp.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	TestTrimming(" foo\t ", "foo\t ", " foo", "foo");
+	TestTrimming(" foo\tbar ", "foo\tbar ", " foo\tbar", "foo\tbar");
+
+	suite.AddTest("SplitN(0)", TestSplit("abc:def:ghij:klm", ":", 0,
+					     std::vector<std::string>{"abc", "def", "ghij", "klm"}));
+	suite.AddTest("SplitN(3)", TestSplit("abc:def:ghij:klm", ":", 3,
+					     std::vector<std::string>{"abc", "def", "ghij:klm"}));
+	suite.AddTest("SplitN(2)", TestSplit("abc:def:ghij:klm", ":", 2,
+					     std::vector<std::string>{"abc", "def:ghij:klm"}));
+	suite.AddTest("SplitN(1)", TestSplit("abc:def:ghij:klm", ":", 1,
+					     std::vector<std::string>{"abc:def:ghij:klm"}));
+	suite.AddTest("SplitN(0) with empty element",
+		      TestSplit("abc::def:ghi", ":", 0,
+				std::vector<std::string>{"abc", "", "def", "ghi"}));
+	suite.AddTest("TestSplitKV(char)", TestSplitChar);
+	suite.AddTest("TextWrapping", TestWrapping);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/test_fixtures.h

@@ -3,7 +3,7 @@
 
 
 #include <string.h>
-#include "TLV.h"
+#include <scsl/TLV.h>
 
 
 #define ARENA_SIZE	128

test/tlv.cc

@@ -0,0 +1,172 @@
+///
+/// \file test/tlv.cc
+/// \author K. Isom <kyle@imap.cc>
+/// \date 2023-10-05
+/// \brief Unit tests for the TLV namespace.
+///
+/// simple_suite_example demonstrates the usage of the SimpleSuite test class
+/// and serves to unit test the unit tester (qui custodiet ipsos custodes)?
+///
+/// \section COPYRIGHT
+///
+/// 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 <exception>
+#include <iostream>
+
+#include <scsl/Arena.h>
+#include <scsl/Flags.h>
+#include <scsl/TLV.h>
+#include <sctest/Checks.h>
+#include <sctest/SimpleSuite.h>
+
+#include "test_fixtures.h"
+
+
+using namespace scsl;
+
+
+static uint8_t		arenaBuffer[ARENA_SIZE];
+
+
+bool
+runTLVTest(Arena &backend)
+{
+	TLV::Record rec1, rec2, rec3, rec4;
+	uint8_t     *cursor = nullptr;
+
+	TLV::SetRecord(rec1, 1, TEST_STRLEN1, TEST_STR1);
+	TLV::SetRecord(rec2, 2, TEST_STRLEN2, TEST_STR2);
+	TLV::SetRecord(rec3, 1, TEST_STRLEN4, TEST_STR4);
+	rec4.Tag = 1;
+
+	cursor = TLV::WriteToMemory(backend, cursor, rec1);
+	SCTEST_CHECK_NE(cursor, nullptr);
+
+	cursor = TLV::WriteToMemory(backend, cursor, rec2);
+	SCTEST_CHECK_NE(cursor, nullptr);
+
+	cursor = TLV::WriteToMemory(backend, cursor, rec3);
+	SCTEST_CHECK_NE(cursor, nullptr);
+
+
+	// the cursor should point At the next record,
+	// and rec4 should contain the same data as rec1.
+	cursor = TLV::FindTag(backend, nullptr, rec4);
+	SCTEST_CHECK_NE(cursor, nullptr);
+	SCTEST_CHECK_NE(cursor, backend.Start());
+	SCTEST_CHECK(cmpRecord(rec1, rec4));
+
+	cursor = TLV::FindTag(backend, cursor, rec4);
+	SCTEST_CHECK_NE(cursor, nullptr);
+	SCTEST_CHECK(cmpRecord(rec3, rec4));
+
+	TLV::SetRecord(rec4, 3, TEST_STRLEN3, TEST_STR3);
+	SCTEST_CHECK(TLV::WriteToMemory(backend, nullptr, rec4));
+
+	rec4.Tag = 2;
+	cursor = TLV::FindTag(backend, nullptr, rec4);
+	SCTEST_CHECK_NE(cursor, nullptr);
+
+	TLV::DeleteRecord(backend, cursor);
+	SCTEST_CHECK_EQ(cursor[0], 3);
+	rec4.Tag = 3;
+	cursor = nullptr;
+
+	return true;
+}
+
+
+bool
+tlvTestSuite(ArenaType arenaType)
+{
+	Arena backend;
+
+	switch (arenaType) {
+	case ArenaType::Static:
+		if (backend.SetStatic(arenaBuffer, ARENA_SIZE) != 0) {
+			std::cerr << "[!] failed to set up statically-allocated arena\n";
+			return false;
+		}
+		break;
+	case ArenaType::Alloc:
+		if (backend.SetAlloc(ARENA_SIZE) != 0) {
+			std::cerr << "[!] failed to set up dynamically-allocated arena\n";
+			return false;
+		}
+		break;
+	case ArenaType::MemoryMapped:
+		if (backend.Create(ARENA_FILE, ARENA_SIZE)) {
+			std::cerr << "[!] failed to set up memory-mapped arena\n";
+			return false;
+		}
+		break;
+	default:
+		std::cerr << "[!] " << static_cast<int>(arenaType) << " is invalid for this test.\n";
+		return false;
+	}
+
+	auto result = runTLVTest(backend);
+	if (!result) {
+		std::cerr << "[!] suite failed with " << backend << "\n";
+	}
+	backend.Destroy();
+	return result;
+}
+
+std::function<bool()>
+buildTestSuite(ArenaType arenaType)
+{
+	return [arenaType](){
+		return tlvTestSuite(arenaType);
+	};
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_tlv",
+				     "This test validates various TLV-related components in scsl.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	sctest::SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("ArenaStatic", buildTestSuite(ArenaType::Static));
+	suite.AddTest("ArenaAlloc", buildTestSuite(ArenaType::Alloc));
+	suite.AddTest("ArenaFile", buildTestSuite(ArenaType::MemoryMapped));
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

test/vector.cc

@@ -0,0 +1,514 @@
+//
+// Project: scccl
+// File: test/math/geom2d_test.cpp
+// Author: Kyle Isom
+// Date: 2020-02-19
+//
+// vector runs a set of unit tests on the vector parts of the
+// math::geom namespace.
+//
+// Copyright 2020 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 <iostream>
+#include <sstream>
+
+#include <scmp/geom/Vector.h>
+#include <sctest/SimpleSuite.h>
+#include <sctest/Checks.h>
+#include "scsl/Flags.h"
+
+
+using namespace scmp;
+using namespace sctest;
+using namespace std;
+
+
+static bool
+Vector3Miscellaneous_ExtractionOperator3d()
+{
+	geom::Vector3D vec {1.0, 2.0, 3.0};
+	stringstream   vecBuffer;
+
+	vecBuffer << vec;
+	SCTEST_CHECK_EQ(vecBuffer.str(), "<1, 2, 3>");
+
+	return true;
+}
+
+static bool
+Vector3Miscellaneous_ExtractionOperator3f()
+{
+	geom::Vector3F vec {1.0, 2.0, 3.0};
+	stringstream   vecBuffer;
+
+	vecBuffer << vec;
+	SCTEST_CHECK_EQ(vecBuffer.str(), "<1, 2, 3>");
+	return true;
+}
+
+
+static bool
+Vector3Miscellaneous_SetEpsilon() {
+	geom::Vector3F a {1.0, 1.0, 1.0};
+	geom::Vector3F b;
+
+	a.SetEpsilon(1.1);
+	SCTEST_CHECK_EQ(a, b);
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_Magnitude()
+{
+	geom::Vector3F v3f {1.0, -2.0, 3.0};
+	const float    expected = 3.74165738677394;
+
+	SCTEST_CHECK_FEQ(v3f.Magnitude(), expected);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_Equality()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F b {1.0, 2.0, 3.0};
+	geom::Vector3F c {1.0, 2.0, 1.0};
+
+	SCTEST_CHECK_EQ(a, b);
+	SCTEST_CHECK_EQ(b, a);
+	SCTEST_CHECK_NE(a, c);
+	SCTEST_CHECK_NE(b, c);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_Addition()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F b {4.0, 5.0, 6.0};
+	geom::Vector3F expected {5.0, 7.0, 9.0};
+
+	SCTEST_CHECK_EQ(a+b, expected);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_Subtraction()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F b {4.0, 5.0, 6.0};
+	geom::Vector3F c {5.0, 7.0, 9.0};
+
+	SCTEST_CHECK_EQ(c-b, a);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_ScalarMultiplication()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F expected {3.0, 6.0, 9.0};
+
+	SCTEST_CHECK_EQ(a * 3.0, expected);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_ScalarDivision()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F b {3.0, 6.0, 9.0};
+
+	SCTEST_CHECK_EQ(b / 3.0, a);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_DotProduct()
+{
+	geom::Vector3F a {1.0, 2.0, 3.0};
+	geom::Vector3F b {4.0, 5.0, 6.0};
+
+	SCTEST_CHECK_FEQ(a * b, (float)32.0);
+
+	return true;
+}
+
+static bool
+Vector3FloatTests_UnitVector()
+{
+	// Test values randomly generated and calculated with numpy.
+	geom::Vector3F vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
+	geom::Vector3F unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
+	geom::Vector3F unit2;
+
+	SCTEST_CHECK_EQ(vec3.UnitVector(), unit);
+	SCTEST_CHECK_FALSE(vec3.IsUnitVector());
+	SCTEST_CHECK(unit.IsUnitVector());
+	SCTEST_CHECK(unit2.IsUnitVector());
+
+	return true;
+}
+
+static bool
+Vector3FloatTests_Angle()
+{
+	geom::Vector3F a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
+	geom::Vector3F b {9.817895298608196, 4.034166890407462, 4.37628316513266};
+	geom::Vector3F c {7.35, 0.221, 5.188};
+	geom::Vector3F d {2.751, 8.259, 3.985};
+
+	SCTEST_CHECK_FEQ(a.Angle(b), (float)0.9914540426033251);
+	if (!scmp::WithinTolerance(c.Angle(d), (float)1.052, (float)0.001)) {
+		return false;
+	}
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_ParallelOrthogonalVectors()
+{
+	geom::Vector3F a {-2.029, 9.97, 4.172};
+	geom::Vector3F b {-9.231, -6.639, -7.245};
+	geom::Vector3F c {-2.328, -7.284, -1.214};
+	geom::Vector3F d {-1.821, 1.072, -2.94};
+	geom::Vector3F e {-2.0, 1.0, 3.0};
+	geom::Vector3F f {-6.0, 3.0, 9.0};
+	geom::Vector3F zeroVector {0.0, 0.0, 0.0};
+
+	SCTEST_CHECK_FALSE(a.IsParallel(b));
+	SCTEST_CHECK_FALSE(a.IsOrthogonal(b));
+
+	SCTEST_CHECK_FALSE(c.IsParallel(d));
+	SCTEST_CHECK(c.IsOrthogonal(d));
+
+	SCTEST_CHECK(e.IsParallel(f));
+	SCTEST_CHECK_FALSE(e.IsOrthogonal(f));
+
+	SCTEST_CHECK(zeroVector.IsZero());
+	SCTEST_CHECK(c.IsParallel(zeroVector));
+	SCTEST_CHECK(c.IsOrthogonal(zeroVector));
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_Projections()
+{
+	geom::Vector3F a {4.866769214609107, 6.2356222686140566, 9.140878417029711};
+	geom::Vector3F b {6.135533104801077, 8.757851406697895, 0.6738031370548048};
+	geom::Vector3F c {4.843812341655318, 6.9140509888133055, 0.5319465962229454};
+	geom::Vector3F d {0.02295687295378901, -0.6784287201992489, 8.608931820806765};
+
+	SCTEST_CHECK_EQ(a.ProjectParallel(b), c);
+	SCTEST_CHECK_EQ(a.ProjectOrthogonal(b), d);
+
+	return true;
+}
+
+
+static bool
+Vector3FloatTests_CrossProduct()
+{
+	geom::Vector3F a {8.462, 7.893, -8.187};
+	geom::Vector3F b {6.984, -5.975, 4.778};
+	geom::Vector3F c {-11.2046, -97.6094, -105.685};
+
+	c.SetEpsilon(0.001);
+	SCTEST_CHECK_EQ(c, a.Cross(b));
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Magnitude()
+{
+	geom::Vector3D v3d{1.0, -2.0, 3.0};
+	const double   expected = 3.74165738677394;
+	
+	SCTEST_CHECK_DEQ(v3d.Magnitude(), expected);
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Equality()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D b {1.0, 2.0, 3.0};
+	geom::Vector3D c {1.0, 2.0, 1.0};
+
+	SCTEST_CHECK_EQ(a, b);
+	SCTEST_CHECK_EQ(b, a);
+	SCTEST_CHECK_NE(a, c);
+	SCTEST_CHECK_NE(b, c);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Addition()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D b {4.0, 5.0, 6.0};
+	geom::Vector3D expected {5.0, 7.0, 9.0};
+
+	SCTEST_CHECK_EQ(a+b, expected);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Subtraction()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D b {4.0, 5.0, 6.0};
+	geom::Vector3D c {5.0, 7.0, 9.0};
+
+	SCTEST_CHECK_EQ(c-b, a);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_ScalarMultiplication()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D expected {3.0, 6.0, 9.0};
+
+	SCTEST_CHECK_EQ(a * 3.0, expected);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_ScalarDivision()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D b {3.0, 6.0, 9.0};
+
+	SCTEST_CHECK_EQ(b / 3.0, a);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_DotProduct()
+{
+	geom::Vector3D a {1.0, 2.0, 3.0};
+	geom::Vector3D b {4.0, 5.0, 6.0};
+
+	SCTEST_CHECK_DEQ(a * b, 32.0);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_UnitVector()
+{
+	// Test values randomly generated and calculated with numpy.
+	geom::Vector3D vec3 {5.320264018493507, 5.6541812891273935, 1.9233435162644652};
+	geom::Vector3D unit {0.6651669556972103, 0.7069150218815566, 0.24046636539587804};
+	geom::Vector3D unit2;
+
+	SCTEST_CHECK_EQ(vec3.UnitVector(), unit);
+	SCTEST_CHECK_FALSE(vec3.IsUnitVector());
+	SCTEST_CHECK(unit.IsUnitVector());
+	SCTEST_CHECK(unit2.IsUnitVector());
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Angle()
+{
+	geom::Vector3D a {0.3977933061361172, 8.053980094436525, 8.1287759943773};
+	geom::Vector3D b {9.817895298608196, 4.034166890407462, 4.37628316513266};
+	geom::Vector3D c {7.35, 0.221, 5.188};
+	geom::Vector3D d {2.751, 8.259, 3.985};
+
+	SCTEST_CHECK_DEQ(a.Angle(b), 0.9914540426033251);
+	if (!scmp::WithinTolerance(c.Angle(d), (double)1.052, (double)0.001)) {
+		return false;
+	}
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_ParallelOrthogonalVectors()
+{
+	geom::Vector3D a {-2.029, 9.97, 4.172};
+	geom::Vector3D b {-9.231, -6.639, -7.245};
+	geom::Vector3D c {-2.328, -7.284, -1.214};
+	geom::Vector3D d {-1.821, 1.072, -2.94};
+	geom::Vector3D e {-2.0, 1.0, 3.0};
+	geom::Vector3D f {-6.0, 3.0, 9.0};
+	geom::Vector3D zeroVector {0.0, 0.0, 0.0};
+
+	SCTEST_CHECK_FALSE(a.IsParallel(b));
+	SCTEST_CHECK_FALSE(a.IsOrthogonal(b));
+
+	SCTEST_CHECK_FALSE(c.IsParallel(d));
+	SCTEST_CHECK(c.IsOrthogonal(d));
+
+	SCTEST_CHECK(e.IsParallel(f));
+	SCTEST_CHECK_FALSE(e.IsOrthogonal(f));
+
+	SCTEST_CHECK(zeroVector.IsZero());
+	SCTEST_CHECK(c.IsParallel(zeroVector));
+	SCTEST_CHECK(c.IsOrthogonal(zeroVector));
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_Projections()
+{
+	geom::Vector3D a {4.866769214609107, 6.2356222686140566, 9.140878417029711};
+	geom::Vector3D b {6.135533104801077, 8.757851406697895, 0.6738031370548048};
+	geom::Vector3D c {4.843812341655318, 6.9140509888133055, 0.5319465962229454};
+	geom::Vector3D d {0.02295687295378901, -0.6784287201992489, 8.608931820806765};
+
+	SCTEST_CHECK_EQ(a.ProjectParallel(b), c);
+	SCTEST_CHECK_EQ(a.ProjectOrthogonal(b), d);
+
+	return true;
+}
+
+
+static bool
+Vector3DoubleTests_CrossProduct()
+{
+	geom::Vector3D a {8.462, 7.893, -8.187};
+	geom::Vector3D b {6.984, -5.975, 4.778};
+	geom::Vector3D c {-11.2046, -97.6094, -105.685};
+
+	c.SetEpsilon(0.001); // double trouble
+	SCTEST_CHECK_EQ(c, a.Cross(b));
+
+	return true;
+}
+
+
+int
+main(int argc, char *argv[])
+{
+	auto noReport = false;
+	auto quiet = false;
+	auto flags = new scsl::Flags("test_vector",
+				     "This test validates the vector implementation.");
+	flags->Register("-n", false, "don't print the report");
+	flags->Register("-q", false, "suppress test output");
+
+	auto parsed = flags->Parse(argc, argv);
+	if (parsed != scsl::Flags::ParseStatus::OK) {
+		std::cerr << "Failed to parse flags: "
+			  << scsl::Flags::ParseStatusToString(parsed) << "\n";
+		exit(1);
+	}
+
+	SimpleSuite suite;
+	flags->GetBool("-n", noReport);
+	flags->GetBool("-q", quiet);
+	if (quiet) {
+		suite.Silence();
+	}
+
+	suite.AddTest("Vector3Miscellaneous_ExtractionOperator3d",
+		      Vector3Miscellaneous_ExtractionOperator3d);
+	suite.AddTest("Vector3Miscellaneous_ExtractionOperator3f",
+		      Vector3Miscellaneous_ExtractionOperator3f);
+	suite.AddTest("Vector3Miscellaneous_SetEpsilon",
+		      Vector3Miscellaneous_SetEpsilon);
+	suite.AddTest("Vector3FloatTests_Magnitude",
+		      Vector3FloatTests_Magnitude);
+	suite.AddTest("Vector3FloatTests_Equality",
+		      Vector3FloatTests_Equality);
+	suite.AddTest("Vector3FloatTests_Addition",
+		      Vector3FloatTests_Addition);
+	suite.AddTest("Vector3FloatTests_Subtraction",
+		      Vector3FloatTests_Subtraction);
+	suite.AddTest("Vector3FloatTests_ScalarMultiplication",
+		      Vector3FloatTests_ScalarMultiplication);
+	suite.AddTest("Vector3FloatTests_ScalarDivision",
+		      Vector3FloatTests_ScalarDivision);
+	suite.AddTest("Vector3FloatTests_DotProduct",
+		      Vector3FloatTests_DotProduct);
+	suite.AddTest("Vector3FloatTests_UnitVector",
+		      Vector3FloatTests_UnitVector);
+	suite.AddTest("Vector3FloatTests_Angle",
+		      Vector3FloatTests_Angle);
+	suite.AddTest("Vector3FloatTests_ParallelOrthogonalVectors",
+		      Vector3FloatTests_ParallelOrthogonalVectors);
+	suite.AddTest("Vector3FloatTests_Projections",
+		      Vector3FloatTests_Projections);
+	suite.AddTest("Vector3FloatTests_CrossProduct",
+		      Vector3FloatTests_CrossProduct);
+	suite.AddTest("Vector3DoubleTests_Magnitude",
+		      Vector3DoubleTests_Magnitude);
+	suite.AddTest("Vector3DoubleTests_Equality",
+		      Vector3DoubleTests_Equality);
+	suite.AddTest("Vector3DoubleTests_Addition",
+		      Vector3DoubleTests_Addition);
+	suite.AddTest("Vector3DoubleTests_Subtraction",
+		      Vector3DoubleTests_Subtraction);
+	suite.AddTest("Vector3DoubleTests_ScalarMultiplication",
+		      Vector3DoubleTests_ScalarMultiplication);
+	suite.AddTest("Vector3DoubleTests_ScalarDivision",
+		      Vector3DoubleTests_ScalarDivision);
+	suite.AddTest("Vector3DoubleTests_DotProduct",
+		      Vector3DoubleTests_DotProduct);
+	suite.AddTest("Vector3DoubleTests_UnitVector",
+		      Vector3DoubleTests_UnitVector);
+	suite.AddTest("Vector3DoubleTests_Angle",
+		      Vector3DoubleTests_Angle);
+	suite.AddTest("Vector3DoubleTests_ParallelOrthogonalVectors",
+		      Vector3DoubleTests_ParallelOrthogonalVectors);
+	suite.AddTest("Vector3DoubleTests_Projections",
+		      Vector3DoubleTests_Projections);
+	suite.AddTest("Vector3DoubleTests_CrossProduct",
+		      Vector3DoubleTests_CrossProduct);
+
+	delete flags;
+	auto result = suite.Run();
+	if (!noReport) { std::cout << suite.GetReport() << "\n"; }
+	return result ? 0 : 1;
+}

tlvTest.cc

@@ -1,124 +0,0 @@
-#include <cassert>
-#include <cstring>
-#include <exception>
-#include <iostream>
-
-#include "Arena.h"
-#include "Test.h"
-#include "TLV.h"
-
-#include "testFixtures.h"
-
-using namespace scsl;
-
-
-static uint8_t		arenaBuffer[ARENA_SIZE];
-
-
-void
-tlvTestSuite(Arena &backend)
-{
-	TLV::Record	 rec1, rec2, rec3, rec4;
-	uint8_t		*cursor = nullptr;
-
-	std::cout << "\tSetting first three records." << "\n";
-	TLV::SetRecord(rec1, 1, TEST_STRLEN1, TEST_STR1);
-	TLV::SetRecord(rec2, 2, TEST_STRLEN2, TEST_STR2);
-	TLV::SetRecord(rec3, 1, TEST_STRLEN4, TEST_STR4);
-	rec4.Tag = 1;
-
-	std::cout << "\twriting new rec1" << "\n";
-	assert(TLV::WriteToMemory(backend, cursor, rec1) != nullptr);
-	std::cout << "\twriting new rec2" << "\n";
-	assert((cursor = TLV::WriteToMemory(backend, cursor, rec2)) != nullptr);
-	std::cout << "\twriting new rec3" << "\n";
-	assert(TLV::WriteToMemory(backend, cursor, rec3) != nullptr);
-	cursor = nullptr;
-
-	// the cursor should point at the next record,
-	// and rec4 should contain the same data as rec1.
-	std::cout << "\tFindTag 1" << "\n";
-	cursor = TLV::FindTag(backend, cursor, rec4);
-	assert(cursor != nullptr); 
-	assert(cursor != backend.Start());
-	assert(cmpRecord(rec1, rec4));
-
-	std::cout << "\tFindTag 2" << "\n";
-	cursor = TLV::FindTag(backend, cursor, rec4);
-	assert(cursor != nullptr);
-	assert(cmpRecord(rec3, rec4));
-
-	std::cout << "\tSetRecord 1\n";
-	TLV::SetRecord(rec4, 3, TEST_STRLEN3, TEST_STR3);
-	assert(TLV::WriteToMemory(backend, nullptr, rec4));
-
-	std::cout << "FindTag 3\n";
-	rec4.Tag = 2;
-	cursor = TLV::FindTag(backend, nullptr, rec4);
-	assert(cursor != nullptr);
-
-	std::cout << "DeleteRecord\n";
-	TLV::DeleteRecord(backend, cursor);
-	assert(cursor[0] == 3);
-}
-
-bool
-runSuite(Arena &backend, const char *label)
-{
-	std::exception exc;
-
-	std::cout << backend << "\n";
-	std::cout << "running test suite " << label << ": ";
-	try {
-		tlvTestSuite(backend);
-	} catch (std::exception &exc){
-		std::cout << "FAILED: " << exc.what() << "\n";
-		return false;
-	}
-	std::cout << "OK" << "\n";
-
-	std::cout << "\tdestroying arena: ";
-	backend.Destroy();
-
-	std::cout << "OK" << "\n";
-	return true;
-}
-
-
-int
-main(int argc, const char *argv[])
-{
-	(void)argc; (void)argv;
-
-	Arena	arenaStatic;
-	Arena	arenaMem;
-
-	std::cout << "TESTPROG: " << argv[0] << "\n";
-
-	if (-1 == arenaStatic.SetStatic(arenaBuffer, ARENA_SIZE)) {
-		abort();
-	} else if (!runSuite(arenaStatic, "arenaStatic")) {
-		abort();
-	}
-	arenaStatic.Clear();
-
-	Arena	arenaFile;
-	auto	status = arenaFile.Create(ARENA_FILE, ARENA_SIZE);
-
-	if (status != 0) {
-		std::cerr << "Create failed with error " << status << "\n";
-		abort();
-	} else if (!runSuite(arenaFile, "arenaFile")) {
-		abort();
-	}
-
-	if (-1 == arenaMem.SetAlloc(ARENA_SIZE)) {
-		abort();
-	} else if (!runSuite(arenaMem, "arenaMem")) {
-		abort();
-	}
-	arenaMem.Clear();
-
-	std::cout << "OK" << "\n";
-	return 0;
-}

trunk

@@ -0,0 +1,446 @@
+#!/bin/bash
+
+###############################################################################
+#                                                                             #
+#   Setup                                                                     #
+#                                                                             #
+###############################################################################
+
+set -euo pipefail
+
+readonly TRUNK_LAUNCHER_VERSION="1.2.7" # warning: this line is auto-updated
+
+readonly SUCCESS_MARK="\033[0;32m✔\033[0m"
+readonly FAIL_MARK="\033[0;31m✘\033[0m"
+readonly PROGRESS_MARKS=("⡿" "⢿" "⣻" "⣽" "⣾" "⣷" "⣯" "⣟")
+
+# This is how mktemp(1) decides where to create stuff in tmpfs.
+readonly TMPDIR="${TMPDIR:-/tmp}"
+
+KERNEL=$(uname | tr "[:upper:]" "[:lower:]")
+if [[ ${KERNEL} == mingw64* || ${KERNEL} == msys* ]]; then
+  KERNEL="mingw"
+fi
+readonly KERNEL
+
+MACHINE=$(uname -m)
+if [[ $MACHINE == "aarch64" ]]; then
+  MACHINE="arm64";
+fi
+
+readonly MACHINE
+
+PLATFORM="${KERNEL}-${MACHINE}"
+readonly PLATFORM
+
+PLATFORM_UNDERSCORE="${KERNEL}_${MACHINE}"
+readonly PLATFORM_UNDERSCORE
+
+# https://en.wikipedia.org/wiki/ANSI_escape_code#CSI_(Control_Sequence_Introducer)_sequences
+# [nF is "cursor previous line" and moves to the beginning of the nth previous line
+# [0K is "erase display" and clears from the cursor to the end of the screen
+readonly CLEAR_LAST_MSG="\033[1F\033[0K"
+
+if [[ ! -z ${CI:-} && "${CI}" = true && -z ${TRUNK_LAUNCHER_QUIET:-} ]]; then
+  TRUNK_LAUNCHER_QUIET=1
+else
+  TRUNK_LAUNCHER_QUIET=${TRUNK_LAUNCHER_QUIET:-${TRUNK_QUIET:-false}}
+fi
+
+readonly TRUNK_LAUNCHER_DEBUG
+
+if [[ ${TRUNK_LAUNCHER_QUIET} != false ]]; then
+  exec 3>&1 4>&2 &>/dev/null
+fi
+
+TRUNK_CACHE="${TRUNK_CACHE:-}"
+if [[ -n ${TRUNK_CACHE} ]]; then
+  :
+elif [[ -n ${XDG_CACHE_HOME:-} ]]; then
+  TRUNK_CACHE="${XDG_CACHE_HOME}/trunk"
+else
+  TRUNK_CACHE="${HOME}/.cache/trunk"
+fi
+readonly TRUNK_CACHE
+readonly CLI_DIR="${TRUNK_CACHE}/cli"
+mkdir -p "${CLI_DIR}"
+
+# platform check
+readonly MINIMUM_MACOS_VERSION="10.15"
+check_darwin_version() {
+  local osx_version
+  osx_version="$(sw_vers -productVersion)"
+
+  # trunk-ignore-begin(shellcheck/SC2312): the == will fail if anything inside the $() fails
+  if [[ "$(printf "%s\n%s\n" "${MINIMUM_MACOS_VERSION}" "${osx_version}" |
+    sort --version-sort |
+    head -n 1)" == "${MINIMUM_MACOS_VERSION}"* ]]; then
+    return
+  fi
+  # trunk-ignore-end(shellcheck/SC2312)
+
+  echo -e "${FAIL_MARK} Trunk requires at least MacOS ${MINIMUM_MACOS_VERSION}" \
+    "(yours is ${osx_version}). See https://docs.trunk.io for more info."
+  exit 1
+}
+
+if [[ ${PLATFORM} == "darwin-x86_64" || ${PLATFORM} == "darwin-arm64" ]]; then
+  check_darwin_version
+elif [[ ${PLATFORM} == "linux-x86_64" || ${PLATFORM} == "linux-arm64" || ${PLATFORM} == "windows-x86_64" || ${PLATFORM} == "mingw-x86_64" ]]; then
+  :
+else
+  echo -e "${FAIL_MARK} Trunk is only supported on Linux (x64_64, arm64), MacOS (x86_64, arm64), and Windows (x86_64)." \
+    "See https://docs.trunk.io for more info."
+  exit 1
+fi
+
+TRUNK_TMPDIR="${TMPDIR}/trunk-$(
+  set -e
+  id -u
+)/launcher_logs"
+readonly TRUNK_TMPDIR
+mkdir -p "${TRUNK_TMPDIR}"
+
+# For the `mv $TOOL_TMPDIR/trunk $TOOL_DIR` to be atomic (i.e. just inode renames), the source and destination filesystems need to be the same
+TOOL_TMPDIR=$(mktemp -d "${CLI_DIR}/tmp.XXXXXXXXXX")
+readonly TOOL_TMPDIR
+
+cleanup() {
+  rm -rf "${TOOL_TMPDIR}"
+  if [[ $1 == "0" ]]; then
+    rm -rf "${TRUNK_TMPDIR}"
+  fi
+}
+trap 'cleanup $?' EXIT
+
+# e.g. 2022-02-16-20-40-31-0800
+dt_str() { date +"%Y-%m-%d-%H-%M-%S%z"; }
+
+LAUNCHER_TMPDIR="${TOOL_TMPDIR}/launcher"
+readonly LAUNCHER_TMPDIR
+mkdir -p "${LAUNCHER_TMPDIR}"
+
+if [[ -n ${TRUNK_LAUNCHER_DEBUG:-} ]]; then
+  set -x
+fi
+
+# launcher awk
+#
+# BEGIN{ORS="";}
+#   use "" as the output record separator
+#   ORS defaults to "\n" for bwk, which results in
+#     $(printf "foo bar" | awk '{print $2}') == "bar\n"
+#
+# {gsub(/\r/, "", $0)}
+#   for every input record (i.e. line), the regex "\r" should be replaced with ""
+#   This is necessary to handle CRLF files in a portable fashion.
+#
+# Some StackOverflow answers suggest using RS="\r?\n" to handle CRLF files (RS is the record
+# separator, i.e. the line delimiter); unfortunately, original-awk only allows single-character
+# values for RS (see https://www.gnu.org/software/gawk/manual/gawk.html#awk-split-records).
+lawk() {
+  awk 'BEGIN{ORS="";}{gsub(/\r/, "", $0)}'"${1}" "${@:2}"
+}
+awk_test() {
+  # trunk-ignore-begin(shellcheck/SC2310,shellcheck/SC2312)
+  # SC2310 and SC2312 are about set -e not propagating to the $(); if that happens, the string
+  # comparison will fail and we'll claim the user's awk doesn't work
+  if [[ $(
+    set -e
+    printf 'k1: v1\n \tk2: v2\r\n' | lawk '/[ \t]+k2:/{print $2}'
+  ) == 'v2' &&
+  $(
+    set -e
+    printf 'k1: v1\r\n\t k2: v2\r\n' | lawk '/[ \t]+k2:/{print $2}'
+  ) == 'v2' ]]; then
+    return
+  fi
+  # trunk-ignore-end(shellcheck/SC2310,shellcheck/SC2312)
+
+  echo -e "${FAIL_MARK} Trunk does not work with your awk;" \
+    "please report this at https://slack.trunk.io."
+  echo -e "Your version of awk is:"
+  awk --version || awk -Wversion
+  exit 1
+}
+awk_test
+
+readonly CURL_FLAGS="${CURL_FLAGS:- -vvv --max-time 120 --retry 3 --fail}"
+readonly WGET_FLAGS="${WGET_FLAGS:- --verbose --tries=3 --limit-rate=10M}"
+TMP_DOWNLOAD_LOG="${TRUNK_TMPDIR}/download-$(
+  set -e
+  dt_str
+).log"
+readonly TMP_DOWNLOAD_LOG
+
+# Detect whether we should use wget or curl.
+if command -v wget &>/dev/null; then
+  download_cmd() {
+    local url="${1}"
+    local output_to="${2}"
+    # trunk-ignore-begin(shellcheck/SC2312): we don't care if wget --version errors
+    cat >>"${TMP_DOWNLOAD_LOG}" <<EOF
+Using wget to download '${url}' to '${output_to}'
+
+Is Trunk up?: https://status.trunk.io
+
+WGET_FLAGS: ${WGET_FLAGS}
+
+wget --version:
+$(wget --version 2>&1)
+
+EOF
+    # trunk-ignore-end(shellcheck/SC2312)
+
+    # Support BusyBox wget
+    if wget --help 2>&1 | grep BusyBox; then
+      wget "${url}" -O "${output_to}" 2>>"${TMP_DOWNLOAD_LOG}" &
+    else
+      # trunk-ignore(shellcheck/SC2086): we deliberately don't quote WGET_FLAGS
+      wget ${WGET_FLAGS} "${url}" --output-document "${output_to}" 2>>"${TMP_DOWNLOAD_LOG}" &
+    fi
+  }
+elif command -v curl &>/dev/null; then
+  download_cmd() {
+    local url="${1}"
+    local output_to="${2}"
+    # trunk-ignore-begin(shellcheck/SC2312): we don't care if curl --version errors
+    cat >>"${TMP_DOWNLOAD_LOG}" <<EOF
+Using curl to download '${url}' to '${output_to}'
+
+Is Trunk up?: https://status.trunk.io
+
+CURL_FLAGS: ${CURL_FLAGS}
+
+curl --version:
+$(curl --version)
+
+EOF
+    # trunk-ignore-end(shellcheck/SC2312)
+
+    # trunk-ignore(shellcheck/SC2086): we deliberately don't quote CURL_FLAGS
+    curl ${CURL_FLAGS} "${url}" --output "${output_to}" 2>>"${TMP_DOWNLOAD_LOG}" &
+  }
+else
+  download_cmd() {
+    echo -e "${FAIL_MARK} Cannot download '${url}'; please install curl or wget."
+    exit 1
+  }
+fi
+
+download_url() {
+  local url="${1}"
+  local output_to="${2}"
+  local progress_message="${3:-}"
+
+  if [[ -n ${progress_message} ]]; then
+    echo -e "${PROGRESS_MARKS[0]} ${progress_message}..."
+  fi
+
+  download_cmd "${url}" "${output_to}"
+  local download_pid="$!"
+
+  local i_prog=0
+  while [[ -d "/proc/${download_pid}" && -n ${progress_message} ]]; do
+    echo -e "${CLEAR_LAST_MSG}${PROGRESS_MARKS[${i_prog}]} ${progress_message}..."
+    sleep 0.2
+    i_prog=$(((i_prog + 1) % ${#PROGRESS_MARKS[@]}))
+  done
+
+  local download_log
+  if ! wait "${download_pid}"; then
+    download_log="${TRUNK_TMPDIR}/launcher-download-$(
+      set -e
+      dt_str
+    ).log"
+    mv "${TMP_DOWNLOAD_LOG}" "${download_log}"
+    echo -e "${CLEAR_LAST_MSG}${FAIL_MARK} ${progress_message}... FAILED (see ${download_log})"
+    echo -e "Please check your connection and try again." \
+      "If you continue to see this error message," \
+      "consider reporting it to us at https://slack.trunk.io."
+    exit 1
+  fi
+
+  if [[ -n ${progress_message} ]]; then
+    echo -e "${CLEAR_LAST_MSG}${SUCCESS_MARK} ${progress_message}... done"
+  fi
+
+}
+
+# sha256sum is in coreutils, so we prefer that over shasum, which is installed with perl
+if command -v sha256sum &>/dev/null; then
+  :
+elif command -v shasum &>/dev/null; then
+  sha256sum() { shasum -a 256 "$@"; }
+else
+  sha256sum() {
+    echo -e "${FAIL_MARK} Cannot compute sha256; please install sha256sum or shasum"
+    exit 1
+  }
+fi
+
+###############################################################################
+#                                                                             #
+#   CLI resolution functions                                                  #
+#                                                                             #
+###############################################################################
+
+trunk_yaml_abspath() {
+  local repo_head
+  local cwd
+
+  if repo_head=$(git rev-parse --show-toplevel 2>/dev/null); then
+    echo "${repo_head}/.trunk/trunk.yaml"
+  elif [[ -f .trunk/trunk.yaml ]]; then
+    cwd="$(pwd)"
+    echo "${cwd}/.trunk/trunk.yaml"
+  else
+    echo ""
+  fi
+}
+
+read_cli_version_from() {
+  local config_abspath="${1}"
+  local cli_version
+
+  cli_version="$(
+    set -e
+    lawk '/[ \t]+version:/{print $2; exit;}' "${config_abspath}"
+  )"
+  if [[ -z ${cli_version} ]]; then
+    echo -e "${FAIL_MARK} Invalid .trunk/trunk.yaml, no cli version found." \
+      "See https://docs.trunk.io for more info." >&2
+    exit 1
+  fi
+
+  echo "${cli_version}"
+}
+
+download_cli() {
+  local dl_version="${1}"
+  local expected_sha256="${2}"
+  local actual_sha256
+
+  readonly TMP_INSTALL_DIR="${LAUNCHER_TMPDIR}/install"
+  mkdir -p "${TMP_INSTALL_DIR}"
+
+  TRUNK_NEW_URL_VERSION=0.10.2-beta.1
+  if sort --help 2>&1 | grep BusyBox; then
+    readonly URL="https://trunk.io/releases/${dl_version}/trunk-${dl_version}-${PLATFORM}.tar.gz"
+  else
+    if [[ "$(printf "%s\n%s\n" "${TRUNK_NEW_URL_VERSION}" "${dl_version}" |
+      sort --version-sort |
+      head -n 1 || true)" == "${TRUNK_NEW_URL_VERSION}"* ]]; then
+      readonly URL="https://trunk.io/releases/${dl_version}/trunk-${dl_version}-${PLATFORM}.tar.gz"
+    else
+      readonly URL="https://trunk.io/releases/trunk-${dl_version}.${KERNEL}.tar.gz"
+    fi
+  fi
+
+  readonly DOWNLOAD_TAR_GZ="${TMP_INSTALL_DIR}/download-${dl_version}.tar.gz"
+
+  download_url "${URL}" "${DOWNLOAD_TAR_GZ}" "Downloading Trunk ${dl_version}"
+
+  if [[ -n ${expected_sha256:-} ]]; then
+    local verifying_text="Verifying Trunk sha256..."
+    echo -e "${PROGRESS_MARKS[0]} ${verifying_text}"
+
+    actual_sha256="$(
+      set -e
+      sha256sum "${DOWNLOAD_TAR_GZ}" | lawk '{print $1}'
+    )"
+
+    if [[ ${actual_sha256} != "${expected_sha256}" ]]; then
+      echo -e "${CLEAR_LAST_MSG}${FAIL_MARK} ${verifying_text} FAILED"
+      echo "Expected sha256: ${expected_sha256}"
+      echo "  Actual sha256: ${actual_sha256}"
+      exit 1
+    fi
+
+    echo -e "${CLEAR_LAST_MSG}${SUCCESS_MARK} ${verifying_text} done"
+  fi
+
+  local unpacking_text="Unpacking Trunk..."
+  echo -e "${PROGRESS_MARKS[0]} ${unpacking_text}"
+  tar --strip-components=1 -C "${TMP_INSTALL_DIR}" -xf "${DOWNLOAD_TAR_GZ}"
+  echo -e "${CLEAR_LAST_MSG}${SUCCESS_MARK} ${unpacking_text} done"
+
+  rm -f "${DOWNLOAD_TAR_GZ}"
+  mkdir -p "${TOOL_DIR}"
+  readonly OLD_TOOL_DIR="${CLI_DIR}/${version}"
+  # Create a backwards compatability link for old versions of trunk that want to write their
+  # crashpad_handlers to that dir.
+  if [[ ! -e ${OLD_TOOL_DIR} ]]; then
+    ln -sf "${TOOL_PART}" "${OLD_TOOL_DIR}"
+  fi
+  mv -n "${TMP_INSTALL_DIR}/trunk" "${TOOL_DIR}/" || true
+  rm -rf "${TMP_INSTALL_DIR}"
+}
+
+###############################################################################
+#                                                                             #
+#   CLI resolution                                                            #
+#                                                                             #
+###############################################################################
+
+CONFIG_ABSPATH="$(
+  set -e
+  trunk_yaml_abspath
+)"
+readonly CONFIG_ABSPATH
+
+version="${TRUNK_CLI_VERSION:-}"
+if [[ -n ${version:-} ]]; then
+  :
+elif [[ -f ${CONFIG_ABSPATH} ]]; then
+  version="$(
+    set -e
+    read_cli_version_from "${CONFIG_ABSPATH}"
+  )"
+  version_sha256="$(
+    set -e
+    lawk "/${PLATFORM_UNDERSCORE}:/"'{print $2}' "${CONFIG_ABSPATH}"
+  )"
+else
+  readonly LATEST_FILE="${LAUNCHER_TMPDIR}/latest"
+  download_url "https://trunk.io/releases/latest" "${LATEST_FILE}"
+  version=$(
+    set -e
+    lawk '/version:/{print $2}' "${LATEST_FILE}"
+  )
+  version_sha256=$(
+    set -e
+    lawk "/${PLATFORM_UNDERSCORE}:/"'{print $2}' "${LATEST_FILE}"
+  )
+fi
+
+readonly TOOL_PART="${version}-${PLATFORM}"
+readonly TOOL_DIR="${CLI_DIR}/${TOOL_PART}"
+
+if [[ ! -e ${TOOL_DIR}/trunk ]]; then
+  download_cli "${version}" "${version_sha256:-}"
+  echo # add newline between launcher and CLI output
+fi
+
+if [[ ${TRUNK_LAUNCHER_QUIET} != false ]]; then
+  exec 1>&3 3>&- 2>&4 4>&-
+fi
+
+###############################################################################
+#                                                                             #
+#   CLI invocation                                                            #
+#                                                                             #
+###############################################################################
+
+if [[ -n ${LATEST_FILE:-} ]]; then
+  mv -n "${LATEST_FILE}" "${TOOL_DIR}/version" >/dev/null 2>&1 || true
+fi
+
+# NOTE: exec will overwrite the process image, so trap will not catch the exit signal.
+# Therefore, run cleanup manually here.
+cleanup 0
+
+exec \
+  env TRUNK_LAUNCHER_VERSION="${TRUNK_LAUNCHER_VERSION}" \
+  env TRUNK_LAUNCHER_PATH="${BASH_SOURCE[0]}" \
+  "${TOOL_DIR}/trunk" "$@"