Fix missing <chrono> include

Angle.cpp

@@ -3,15 +3,15 @@
 // file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
 #include "Angle.h"
-#include <math.h>
 #include "FloatSingle.h"
+#include <math.h>
 
-namespace LinearAlgebra {
+const float Rad2Deg = 57.29578F;
+const float Deg2Rad = 0.0174532924F;
 
 //===== AngleSingle, AngleOf<float>
 
-template <>
+template <> AngleOf<float> Passer::LinearAlgebra::AngleOf<float>::Degrees(float degrees) {
-AngleOf<float> AngleOf<float>::Degrees(float degrees) {
   if (isfinite(degrees)) {
     while (degrees < -180)
       degrees += 360;
@@ -22,8 +22,7 @@ AngleOf<float> AngleOf<float>::Degrees(float degrees) {
   return AngleOf<float>(degrees);
 }
 
-template <>
+template <> AngleOf<float> AngleOf<float>::Radians(float radians) {
-AngleOf<float> AngleOf<float>::Radians(float radians) {
   if (isfinite(radians)) {
     while (radians <= -pi)
       radians += 2 * pi;
@@ -34,13 +33,9 @@ AngleOf<float> AngleOf<float>::Radians(float radians) {
   return Binary(radians * Rad2Deg);
 }
 
-template <>
+template <> float AngleOf<float>::InDegrees() const { return this->value; }
-float AngleOf<float>::InDegrees() const {
-  return this->value;
-}
 
-template <>
+template <> float AngleOf<float>::InRadians() const {
-float AngleOf<float>::InRadians() const {
   return this->value * Deg2Rad;
 }
 
@@ -63,29 +58,25 @@ AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
   return Binary(value);
 }
 
-template <>
+template <> float AngleOf<signed short>::InDegrees() const {
-float AngleOf<signed short>::InDegrees() const {
   float degrees = this->value / 65536.0f * 360.0f;
   return degrees;
 }
 
-template <>
+template <> float AngleOf<signed short>::InRadians() const {
-float AngleOf<signed short>::InRadians() const {
   float radians = this->value / 65536.0f * (2 * pi);
   return radians;
 }
 
 //===== Angle8, AngleOf<signed char>
 
-template <>
+template <> AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
-AngleOf<signed char> AngleOf<signed char>::Degrees(float degrees) {
   // map float [-180..180) to integer [-128..127)
   signed char value = (signed char)roundf(degrees / 360.0F * 256.0F);
   return Binary(value);
 }
 
-template <>
+template <> AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
-AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
   if (!isfinite(radians))
     return AngleOf<signed char>::zero;
 
@@ -94,42 +85,32 @@ AngleOf<signed char> AngleOf<signed char>::Radians(float radians) {
   return Binary(value);
 }
 
-template <>
+template <> float AngleOf<signed char>::InDegrees() const {
-float AngleOf<signed char>::InDegrees() const {
   float degrees = this->value / 256.0f * 360.0f;
   return degrees;
 }
 
-template <>
+template <> float AngleOf<signed char>::InRadians() const {
-float AngleOf<signed char>::InRadians() const {
   float radians = this->value / 128.0f * pi;
   return radians;
 }
 
 //===== Generic
 
-template <typename T>
+template <typename T> AngleOf<T>::AngleOf() : value(0) {}
-AngleOf<T>::AngleOf() : value(0) {}
 
-template <typename T>
+template <typename T> AngleOf<T>::AngleOf(T rawValue) : value(rawValue) {}
-AngleOf<T>::AngleOf(T rawValue) : value(rawValue) {}
 
-template <typename T>
+template <typename T> const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
-const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
 
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::Binary(T rawValue) {
-AngleOf<T> AngleOf<T>::Binary(T rawValue) {
   AngleOf<T> angle = AngleOf<T>();
   angle.SetBinary(rawValue);
   return angle;
 }
 
-template <typename T>
+template <typename T> T AngleOf<T>::GetBinary() const { return this->value; }
-T AngleOf<T>::GetBinary() const {
+template <typename T> void AngleOf<T>::SetBinary(T rawValue) {
-  return this->value;
-}
-template <typename T>
-void AngleOf<T>::SetBinary(T rawValue) {
   this->value = rawValue;
 }
 
@@ -138,28 +119,24 @@ bool AngleOf<T>::operator==(const AngleOf<T> angle) const {
   return this->value == angle.value;
 }
 
-template <typename T>
+template <typename T> bool AngleOf<T>::operator>(AngleOf<T> angle) const {
-bool AngleOf<T>::operator>(AngleOf<T> angle) const {
   return this->value > angle.value;
 }
 
-template <typename T>
+template <typename T> bool AngleOf<T>::operator>=(AngleOf<T> angle) const {
-bool AngleOf<T>::operator>=(AngleOf<T> angle) const {
   return this->value >= angle.value;
 }
 
-template <typename T>
+template <typename T> bool AngleOf<T>::operator<(AngleOf<T> angle) const {
-bool AngleOf<T>::operator<(AngleOf<T> angle) const {
   return this->value < angle.value;
 }
 
-template <typename T>
+template <typename T> bool AngleOf<T>::operator<=(AngleOf<T> angle) const {
-bool AngleOf<T>::operator<=(AngleOf<T> angle) const {
   return this->value <= angle.value;
 }
 
 template <typename T>
-signed int AngleOf<T>::Sign(AngleOf<T> angle) {
+signed int Passer::LinearAlgebra::AngleOf<T>::Sign(AngleOf<T> angle) {
   if (angle.value < 0)
     return -1;
   if (angle.value > 0)
@@ -168,15 +145,14 @@ signed int AngleOf<T>::Sign(AngleOf<T> angle) {
 }
 
 template <typename T>
-AngleOf<T> AngleOf<T>::Abs(AngleOf<T> angle) {
+AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Abs(AngleOf<T> angle) {
   if (Sign(angle) < 0)
     return -angle;
   else
     return angle;
 }
 
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::operator-() const {
-AngleOf<T> AngleOf<T>::operator-() const {
   AngleOf<T> angle = Binary(-this->value);
   return angle;
 }
@@ -230,8 +206,7 @@ AngleOf<T> AngleOf<T>::operator+=(const AngleOf<T>& angle) {
 //   return AngleOf::Degrees((float)factor * angle.InDegrees());
 // }
 
-template <typename T>
+template <typename T> void AngleOf<T>::Normalize() {
-void AngleOf<T>::Normalize() {
   float angleValue = this->InDegrees();
   if (!isfinite(angleValue))
     return;
@@ -243,8 +218,7 @@ void AngleOf<T>::Normalize() {
   *this = AngleOf::Degrees(angleValue);
 }
 
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
-AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
   float angleValue = angle.InDegrees();
   if (!isfinite(angleValue))
     return angle;
@@ -263,8 +237,7 @@ AngleOf<T> AngleOf<T>::Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max) {
 }
 
 template <typename T>
-AngleOf<T> AngleOf<T>::MoveTowards(AngleOf<T> fromAngle,
+AngleOf<T> AngleOf<T>::MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
-                                   AngleOf<T> toAngle,
                                    float maxDegrees) {
   maxDegrees = fmaxf(0, maxDegrees); // filter out negative distances
   AngleOf<T> d = toAngle - fromAngle;
@@ -276,34 +249,28 @@ AngleOf<T> AngleOf<T>::MoveTowards(AngleOf<T> fromAngle,
   return fromAngle + d;
 }
 
-template <typename T>
+template <typename T> float AngleOf<T>::Cos(AngleOf<T> angle) {
-float AngleOf<T>::Cos(AngleOf<T> angle) {
   return cosf(angle.InRadians());
 }
-template <typename T>
+template <typename T> float AngleOf<T>::Sin(AngleOf<T> angle) {
-float AngleOf<T>::Sin(AngleOf<T> angle) {
   return sinf(angle.InRadians());
 }
-template <typename T>
+template <typename T> float AngleOf<T>::Tan(AngleOf<T> angle) {
-float AngleOf<T>::Tan(AngleOf<T> angle) {
   return tanf(angle.InRadians());
 }
 
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::Acos(float f) {
-AngleOf<T> AngleOf<T>::Acos(float f) {
   return AngleOf<T>::Radians(acosf(f));
 }
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::Asin(float f) {
-AngleOf<T> AngleOf<T>::Asin(float f) {
   return AngleOf<T>::Radians(asinf(f));
 }
-template <typename T>
+template <typename T> AngleOf<T> AngleOf<T>::Atan(float f) {
-AngleOf<T> AngleOf<T>::Atan(float f) {
   return AngleOf<T>::Radians(atanf(f));
 }
 
 template <typename T>
-AngleOf<T> AngleOf<T>::Atan2(float y, float x) {
+AngleOf<T> Passer::LinearAlgebra::AngleOf<T>::Atan2(float y, float x) {
   return AngleOf<T>::Radians(atan2f(y, x));
 }
 
@@ -387,8 +354,6 @@ AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
   return alpha;
 }
 
-template class AngleOf<float>;
+template class Passer::LinearAlgebra::AngleOf<float>;
-template class AngleOf<signed char>;
+template class Passer::LinearAlgebra::AngleOf<signed char>;
-template class AngleOf<signed short>;
+template class Passer::LinearAlgebra::AngleOf<signed short>;
-
-}  // namespace LinearAlgebra

Angle.h

@@ -5,6 +5,7 @@
 #ifndef ANGLE_H
 #define ANGLE_H
 
+namespace Passer {
 namespace LinearAlgebra {
 
 static float pi = 3.1415927410125732421875F;
@@ -17,11 +18,10 @@ static float Deg2Rad = (pi * 2) / 360.0f;
 /// The angle is internally limited to (-180..180] degrees or (-PI...PI]
 /// radians. When an angle exceeds this range, it is normalized to a value
 /// within the range.
-template <typename T>
+template <typename T> class AngleOf {
-class AngleOf {
 public:
   /// @brief Create a new angle with a zero value
-  AngleOf();
+  AngleOf<T>();
 
   /// @brief An zero value angle
   const static AngleOf<T> zero;
@@ -150,8 +150,7 @@ class AngleOf {
   /// @param toAngle The angle to rotate towards
   /// @param maxAngle The maximum angle to rotate
   /// @return The rotated angle
-  static AngleOf<T> MoveTowards(AngleOf<T> fromAngle,
+  static AngleOf<T> MoveTowards(AngleOf<T> fromAngle, AngleOf<T> toAngle,
-                                AngleOf<T> toAngle,
                                 float maxAngle);
 
   /// @brief Calculates the cosine of an angle
@@ -209,19 +208,15 @@ class AngleOf {
 private:
   T value;
 
-  AngleOf(T rawValue);
+  AngleOf<T>(T rawValue);
 };
 
 using AngleSingle = AngleOf<float>;
 using Angle16 = AngleOf<signed short>;
 using Angle8 = AngleOf<signed char>;
 
-#if defined(ARDUINO)
-using Angle = Angle16;
-#else
-using Angle = AngleSingle;
-#endif
-
 } // namespace LinearAlgebra
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #endif

Direction.cpp

@@ -9,9 +9,7 @@
 
 #include <math.h>
 
-namespace LinearAlgebra {
+template <typename T> DirectionOf<T>::DirectionOf() {
-template <typename T>
-DirectionOf<T>::DirectionOf() {
   this->horizontal = AngleOf<T>();
   this->vertical = AngleOf<T>();
 }
@@ -43,7 +41,7 @@ const DirectionOf<T> DirectionOf<T>::right =
     DirectionOf<T>(AngleOf<T>::Degrees(90), AngleOf<T>());
 
 template <typename T>
-Vector3 DirectionOf<T>::ToVector3() const {
+Vector3 Passer::LinearAlgebra::DirectionOf<T>::ToVector3() const {
   Quaternion q = Quaternion::Euler(-this->vertical.InDegrees(),
                                    this->horizontal.InDegrees(), 0);
   Vector3 v = q * Vector3::forward;
@@ -51,12 +49,12 @@ Vector3 DirectionOf<T>::ToVector3() const {
 }
 
 template <typename T>
-DirectionOf<T> DirectionOf<T>::FromVector3(Vector3 vector) {
+DirectionOf<T>
+Passer::LinearAlgebra::DirectionOf<T>::FromVector3(Vector3 vector) {
   DirectionOf<T> d;
   d.horizontal = AngleOf<T>::Atan2(
       vector.Right(),
-      vector
+      vector.Forward()); // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
-          .Forward());  // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
   d.vertical =
       AngleOf<T>::Degrees(-90) -
       AngleOf<T>::Acos(
@@ -66,32 +64,34 @@ DirectionOf<T> DirectionOf<T>::FromVector3(Vector3 vector) {
 }
 
 template <typename T>
-DirectionOf<T> DirectionOf<T>::Degrees(float horizontal, float vertical) {
+DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Degrees(float horizontal,
+                                                              float vertical) {
   return DirectionOf<T>(AngleOf<T>::Degrees(horizontal),
                         AngleOf<T>::Degrees(vertical));
 }
 
 template <typename T>
-DirectionOf<T> DirectionOf<T>::Radians(float horizontal, float vertical) {
+DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Radians(float horizontal,
+                                                              float vertical) {
   return DirectionOf<T>(AngleOf<T>::Radians(horizontal),
                         AngleOf<T>::Radians(vertical));
 }
 
 template <typename T>
-bool DirectionOf<T>::operator==(const DirectionOf<T> direction) const {
+bool Passer::LinearAlgebra::DirectionOf<T>::operator==(
+    const DirectionOf<T> direction) const {
   return (this->horizontal == direction.horizontal) &&
          (this->vertical == direction.vertical);
 }
 
 template <typename T>
-DirectionOf<T> DirectionOf<T>::operator-() const {
+DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::operator-() const {
   DirectionOf<T> r = DirectionOf<T>(this->horizontal + AngleOf<T>::Degrees(180),
                                     -this->vertical);
   return r;
 }
 
-template <typename T>
+template <typename T> void DirectionOf<T>::Normalize() {
-void DirectionOf<T>::Normalize() {
   if (this->vertical > AngleOf<T>::Degrees(90) ||
       this->vertical < AngleOf<T>::Degrees(-90)) {
     this->horizontal += AngleOf<T>::Degrees(180);
@@ -99,6 +99,5 @@ void DirectionOf<T>::Normalize() {
   }
 }
 
-template class LinearAlgebra::DirectionOf<float>;
+template class Passer::LinearAlgebra::DirectionOf<float>;
-template class LinearAlgebra::DirectionOf<signed short>;
+template class Passer::LinearAlgebra::DirectionOf<signed short>;
-}

Direction.h

@@ -7,6 +7,7 @@
 
 #include "Angle.h"
 
+namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector3;
@@ -21,21 +22,20 @@ struct Vector3;
 /// rotation has been applied.
 /// The angles are automatically normalized to stay within the abovenmentioned
 /// ranges.
-template <typename T>
+template <typename T> class DirectionOf {
-class DirectionOf {
 public:
+  /// @brief Create a new direction with zero angles
+  DirectionOf<T>();
+  /// @brief Create a new direction
+  /// @param horizontal The horizontal angle
+  /// @param vertical The vertical angle.
+  DirectionOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical);
+
   /// @brief horizontal angle, range= (-180..180]
   AngleOf<T> horizontal;
   /// @brief vertical angle, range in degrees = (-90..90]
   AngleOf<T> vertical;
   
-  /// @brief Create a new direction with zero angles
-  DirectionOf();
-  /// @brief Create a new direction
-  /// @param horizontal The horizontal angle
-  /// @param vertical The vertical angle.
-  DirectionOf(AngleOf<T> horizontal, AngleOf<T> vertical);
-
   /// @brief Convert the direction into a carthesian vector
   /// @return The carthesian vector corresponding to this direction.
   Vector3 ToVector3() const;
@@ -91,12 +91,8 @@ class DirectionOf {
 using DirectionSingle = DirectionOf<float>;
 using Direction16 = DirectionOf<signed short>;
 
-#if defined(ARDUINO)
-using Direction = Direction16;
-#else
-using Direction = DirectionSingle;
-#endif
-
 } // namespace LinearAlgebra
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #endif

FloatSingle.h

@@ -5,6 +5,7 @@
 #ifndef FLOAT_H
 #define FLOAT_H
 
+namespace Passer {
 namespace LinearAlgebra {
 
 class Float {
@@ -16,7 +17,7 @@ class Float {
 };
 
 } // namespace LinearAlgebra
-
+} // namespace Passer
-using namespace LinearAlgebra;
+using namespace Passer::LinearAlgebra;
 
 #endif

Matrix.cpp

@@ -1,290 +1,6 @@
 #include "Matrix.h"
-#if !defined(NO_STD) 
-#include <iostream>
-#endif
 
-namespace LinearAlgebra {
+template <> MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {
-
-#pragma region Matrix1
-
-Matrix1::Matrix1(int size) : size(size) {
-  if (this->size == 0)
-    data = nullptr;
-  else {
-    this->data = new float[size]();
-    this->externalData = false;
-  }
-}
-
-Matrix1::Matrix1(float* data, int size) : data(data), size(size) {
-  this->externalData = true;
-}
-
-Matrix1 LinearAlgebra::Matrix1::FromQuaternion(Quaternion q) {
-  Matrix1 r = Matrix1(4);
-  float* data = r.data;
-  data[0] = q.x;
-  data[1] = q.y;
-  data[2] = q.z;
-  data[3] = q.w;
-  return r;
-}
-
-Quaternion LinearAlgebra::Matrix1::ToQuaternion() {
-  return Quaternion(this->data[0], this->data[1], this->data[2], this->data[3]);
-}
-
-// Matrix1
-#pragma endregion
-
-#pragma region Matrix2
-
-Matrix2::Matrix2() {}
-
-Matrix2::Matrix2(int nRows, int nCols) : nRows(nRows), nCols(nCols) {
-  this->nValues = nRows * nCols;
-  if (this->nValues == 0)
-    this->data = nullptr;
-  else {
-    this->data = new float[this->nValues];
-    this->externalData = false;
-  }
-}
-
-Matrix2::Matrix2(float* data, int nRows, int nCols)
-    : nRows(nRows), nCols(nCols), data(data) {
-  this->nValues = nRows * nCols;
-  this->externalData = true;
-}
-
-Matrix2::Matrix2(const Matrix2& m)
-    : nRows(m.nRows), nCols(m.nCols), nValues(m.nValues) {
-  if (this->nValues == 0)
-    this->data = nullptr;
-  else {
-    this->data = new float[this->nValues];
-
-    for (int ix = 0; ix < this->nValues; ++ix)
-      this->data[ix] = m.data[ix];
-  }
-}
-
-Matrix2& Matrix2::operator=(const Matrix2& m) {
-  if (this != &m) {
-    delete[] this->data;  // Free the current memory
-
-    this->nRows = m.nRows;
-    this->nCols = m.nCols;
-    this->nValues = m.nValues;
-    if (this->nValues == 0)
-      this->data = nullptr;
-    else {
-      this->data = new float[this->nValues];
-      for (int ix = 0; ix < this->nValues; ++ix)
-        this->data[ix] = m.data[ix];
-    }
-  }
-  return *this;
-}
-
-Matrix2::~Matrix2() {
-  if (!this->externalData)
-    delete[] data;
-}
-
-Matrix2 Matrix2::Clone() const {
-  Matrix2 r = Matrix2(this->nRows, this->nCols);
-  for (int ix = 0; ix < this->nValues; ++ix)
-    r.data[ix] = this->data[ix];
-  return r;
-}
-
-// Move constructor
-Matrix2::Matrix2(Matrix2&& other) noexcept
-    : nRows(other.nRows),
-      nCols(other.nCols),
-      nValues(other.nValues),
-      data(other.data) {
-  other.data = nullptr;  // Set the other object's pointer to nullptr to avoid
-                         // double deletion
-}
-
-// Move assignment operator
-Matrix2& Matrix2::operator=(Matrix2&& other) noexcept {
-  if (this != &other) {
-    delete[] data;  // Clean up current data
-    nRows = other.nRows;
-    nCols = other.nCols;
-    nValues = other.nValues;
-    data = other.data;
-    other.data = nullptr;  // Avoid double deletion
-  }
-  return *this;
-}
-
-Matrix2 Matrix2::Zero(int nRows, int nCols) {
-  Matrix2 r = Matrix2(nRows, nCols);
-  for (int ix = 0; ix < r.nValues; ix++)
-    r.data[ix] = 0;
-  return r;
-}
-
-void Matrix2::Clear() {
-  for (int ix = 0; ix < this->nValues; ix++)
-    this->data[ix] = 0;
-}
-
-Matrix2 Matrix2::Identity(int size) {
-  return Diagonal(1, size);
-}
-
-Matrix2 Matrix2::Diagonal(float f, int size) {
-  Matrix2 r = Matrix2::Zero(size, size);
-  float* data = r.data;
-  int valueIx = 0;
-  for (int ix = 0; ix < size; ix++) {
-    data[valueIx] = f;
-    valueIx += size + 1;
-  }
-  return r;
-}
-
-Matrix2 Matrix2::SkewMatrix(const Vector3& v) {
-  Matrix2 r = Matrix2(3, 3);
-  float* data = r.data;
-  data[0 * 3 + 1] = -v.z;  // result(0, 1)
-  data[0 * 3 + 2] = v.y;   // result(0, 2)
-  data[1 * 3 + 0] = v.z;   // result(1, 0)
-  data[1 * 3 + 2] = -v.x;  // result(1, 2)
-  data[2 * 3 + 0] = -v.y;  // result(2, 0)
-  data[2 * 3 + 1] = v.x;   // result(2, 1)
-  return r;
-}
-
-Matrix2 Matrix2::Transpose() const {
-  Matrix2 r = Matrix2(this->nCols, this->nRows);
-
-  for (int rowIx = 0; rowIx < this->nRows; rowIx++) {
-    for (int colIx = 0; colIx < this->nCols; colIx++)
-      r.data[colIx * this->nCols + rowIx] =
-          this->data[rowIx * this->nCols + colIx];
-  }
-  return r;
-}
-
-Matrix2 LinearAlgebra::Matrix2::operator-() const {
-  Matrix2 r = Matrix2(this->nRows, this->nCols);
-  for (int ix = 0; ix < r.nValues; ix++)
-    r.data[ix] = -this->data[ix];
-  return r;
-}
-
-Matrix2 LinearAlgebra::Matrix2::operator+(const Matrix2& v) const {
-  Matrix2 r = Matrix2(this->nRows, this->nCols);
-  for (int ix = 0; ix < r.nValues; ix++)
-    r.data[ix] = this->data[ix] + v.data[ix];
-  return r;
-}
-
-Matrix2 Matrix2::operator+=(const Matrix2& v) {
-  for (int ix = 0; ix < this->nValues; ix++)
-    this->data[ix] += v.data[ix];
-  return *this;
-}
-
-Matrix2 LinearAlgebra::Matrix2::operator*(const Matrix2& B) const {
-  Matrix2 r = Matrix2(this->nRows, B.nCols);
-
-  int ACols = this->nCols;
-  int BCols = B.nCols;
-  int ARows = this->nRows;
-  // int BRows = B.nRows;
-
-  for (int i = 0; i < ARows; ++i) {
-    // Pre-compute row offsets
-    int ARowOffset = i * ACols;  // ARowOffset is constant for each row of A
-    int BColOffset = i * BCols;  // BColOffset is constant for each row of B
-    for (int j = 0; j < BCols; ++j) {
-      float sum = 0;
-      std::cout << " 0";
-      int BIndex = j;
-      for (int k = 0; k < ACols; ++k) {
-        std::cout << " + " << this->data[ARowOffset + k] << " * "
-                  << B.data[BIndex];
-        sum += this->data[ARowOffset + k] * B.data[BIndex];
-        BIndex += BCols;
-      }
-      r.data[BColOffset + j] = sum;
-      std::cout << " = " << sum << " ix: " << BColOffset + j << "\n";
-    }
-  }
-  return r;
-}
-
-Matrix2 Matrix2::Slice(int rowStart, int rowStop, int colStart, int colStop) {
-  Matrix2 r = Matrix2(rowStop - rowStart, colStop - colStart);
-
-  int resultRowIx = 0;
-  int resultColIx = 0;
-  for (int i = rowStart; i < rowStop; i++) {
-    for (int j = colStart; j < colStop; j++)
-      r.data[resultRowIx * r.nCols + resultColIx] =
-          this->data[i * this->nCols + j];
-  }
-  return r;
-}
-
-void Matrix2::UpdateSlice(int rowStart,
-                          int rowStop,
-                          int colStart,
-                          int colStop,
-                          const Matrix2& m) const {
-  // for (int i = rowStart; i < rowStop; i++) {
-  //   for (int j = colStart; j < colStop; j++)
-  //     this->data[i * this->nCols + j] =
-  //         m.data[(i - rowStart) * m.nCols + (j - colStart)];
-  // }
-
-  int rRowDataIx = rowStart * this->nCols;
-  int mRowDataIx = 0;
-  for (int rowIx = rowStart; rowIx < rowStop; rowIx++) {
-    rRowDataIx = rowIx * this->nCols;
-    // rRowDataIx += this->nCols;
-    mRowDataIx += m.nCols;
-    for (int colIx = colStart; colIx < colStop; colIx++) {
-      this->data[rRowDataIx + colIx] = m.data[mRowDataIx + (colIx - colStart)];
-    }
-  }
-}
-
-/// @brief Compute the Omega matrix of a 3D vector
-/// @param v The vector
-/// @return 4x4 Omega matrix
-Matrix2 LinearAlgebra::Matrix2::Omega(const Vector3& v) {
-  Matrix2 r = Matrix2::Zero(4, 4);
-  r.UpdateSlice(0, 3, 0, 3, -Matrix2::SkewMatrix(v));
-
-  // set last row to -v
-  int ix = 3 * 4;
-  r.data[ix++] = -v.x;
-  r.data[ix++] = -v.y;
-  r.data[ix] = -v.z;
-
-  // Set last column to v
-  ix = 3;
-  r.data[ix += 4] = v.x;
-  r.data[ix += 4] = v.y;
-  r.data[ix] = v.z;
-  return r;
-}
-
-// Matrix2
-#pragma endregion
-
-}  // namespace LinearAlgebra
-
-template <>
-MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {
   if (rows <= 0 || cols <= 0) {
     this->rows = 0;
     this->cols = 0;
@@ -298,8 +14,7 @@ MatrixOf<float>::MatrixOf(unsigned int rows, unsigned int cols) {
   this->data = new float[matrixSize]{0.0f};
 }
 
-template <>
+template <> MatrixOf<float>::MatrixOf(Vector3 v) : MatrixOf(3, 1) {
-MatrixOf<float>::MatrixOf(Vector3 v) : MatrixOf(3, 1) {
   Set(0, 0, v.Right());
   Set(1, 0, v.Up());
   Set(2, 0, v.Forward());
@@ -307,8 +22,7 @@ MatrixOf<float>::MatrixOf(Vector3 v) : MatrixOf(3, 1) {
 
 template <>
 void MatrixOf<float>::Multiply(const MatrixOf<float> *m1,
-                               const MatrixOf<float>* m2,
+                               const MatrixOf<float> *m2, MatrixOf<float> *r) {
-                               MatrixOf<float>* r) {
   for (unsigned int rowIx1 = 0; rowIx1 < m1->rows; rowIx1++) {
     for (unsigned int colIx2 = 0; colIx2 < m2->cols; colIx2++) {
       unsigned int rDataIx = colIx2 * m2->cols + rowIx1;
@@ -333,8 +47,7 @@ Vector3 MatrixOf<float>::Multiply(const MatrixOf<float>* m, Vector3 v) {
   return r;
 }
 
-template <typename T>
+template <typename T> Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
-Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
   float *vData = new float[3]{v.Right(), v.Up(), v.Forward()};
   MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
   float *rData = new float[3]{};

Matrix.h

@@ -1,122 +1,13 @@
 #ifndef MATRIX_H
 #define MATRIX_H
 
-#include "Quaternion.h"
 #include "Vector3.h"
 
+namespace Passer {
 namespace LinearAlgebra {
 
-/// @brief A 1-dimensional matrix or vector of arbitrary size
-class Matrix1 {
- public:
-  float* data = nullptr;
-  int size = 0;
-
-  Matrix1(int size);
-  Matrix1(float* data, int size);
-
-  static Matrix1 FromQuaternion(Quaternion q);
-  Quaternion ToQuaternion();
-
- private:
-  bool externalData = true;
-};
-
-/// @brief A 2-dimensional matrix of arbitrary size
-class Matrix2 {
- public:
-  int nRows = 0;
-  int nCols = 0;
-  int nValues = 0;
-  float* data = nullptr;
-
-  Matrix2();
-  Matrix2(int nRows, int nCols);
-  Matrix2(float* data, int nRows, int nCols);
-  Matrix2(const Matrix2& m);
-  Matrix2& operator=(const Matrix2& other);
-
-  ~Matrix2();
-
-  Matrix2 Clone() const;
-
-  static Matrix2 Zero(int nRows, int nCols);
-  void Clear();
-
-  static Matrix2 Identity(int size);
-
-  static Matrix2 Diagonal(float f, int size);
-
-  static Matrix2 SkewMatrix(const Vector3& v);
-
-  Matrix2 Transpose() const;
-
-  Matrix2 operator-() const;
-
-  /// @brief Add a matrix to this matrix
-  /// @param m The matrix to add to this matrix
-  /// @return The result of the addition
-  Matrix2 operator+(const Matrix2& v) const;
-  Matrix2 operator+=(const Matrix2& v);
-
-  Matrix2 operator*(const Matrix2& m) const;
-  friend Matrix2 operator*(const Matrix2& m, float f) {
-    Matrix2 r = Matrix2(m.nRows, m.nCols);
-    for (int ix = 0; ix < r.nValues; ix++)
-      r.data[ix] = m.data[ix] * f;
-    return r;
-  }
-  friend Matrix2 operator*(float f, const Matrix2& m) {
-    Matrix2 r = Matrix2(m.nRows, m.nCols);
-    for (int ix = 0; ix < r.nValues; ix++)
-      r.data[ix] = f * m.data[ix];
-    return r;
-  }
-
-  friend Matrix1 operator*(const Matrix2& m, const Matrix1& v) {
-    Matrix1 r = Matrix1(m.nRows);
-    for (int rowIx = 0; rowIx < m.nRows; rowIx++) {
-      int mRowIx = rowIx * m.nCols;
-      for (int colIx = 0; colIx < m.nCols; colIx++)
-        r.data[rowIx] += m.data[mRowIx + colIx] * v.data[rowIx];
-    }
-    return r;
-  }
-
-  friend Matrix2 operator/(const Matrix2& m, float f) {
-    Matrix2 r = Matrix2(m.nRows, m.nCols);
-    for (int ix = 0; ix < r.nValues; ix++)
-      r.data[ix] = m.data[ix] / f;
-    return r;
-  }
-  friend Matrix2 operator/(float f, const Matrix2& m) {
-    Matrix2 r = Matrix2(m.nRows, m.nCols);
-    for (int ix = 0; ix < r.nValues; ix++)
-      r.data[ix] = f / m.data[ix];
-    return r;
-  }
-
-  Matrix2 Slice(int rawStart, int rowStop, int colStart, int colStop);
-
-  void UpdateSlice(int rowStart,
-                int rowStop,
-                int colStart,
-                int colStop,
-                const Matrix2& m) const;
-  // private:
-  //  move constructor and move assignment operator
-  Matrix2(Matrix2&& other) noexcept;
-  Matrix2& operator=(Matrix2&& other) noexcept;
-
-  static Matrix2 Omega(const Vector3& v);
-
- private:
-  bool externalData = true;
-};
-
 /// @brief Single precision float matrix
-template <typename T>
+template <typename T> class MatrixOf {
-class MatrixOf {
 public:
   MatrixOf(unsigned int rows, unsigned int cols);
   MatrixOf(unsigned int rows, unsigned int cols, const T *source)
@@ -163,8 +54,7 @@ class MatrixOf {
     }
   }
 
-  static void Multiply(const MatrixOf<T>* m1,
+  static void Multiply(const MatrixOf<T> *m1, const MatrixOf<T> *m2,
-                       const MatrixOf<T>* m2,
                        MatrixOf<T> *r);
   void Multiply(const MatrixOf<T> *m, MatrixOf<T> *r) const {
     Multiply(this, m, r);
@@ -225,6 +115,7 @@ class MatrixOf {
 };
 
 } // namespace LinearAlgebra
-// using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #endif

Polar.cpp

@@ -3,13 +3,11 @@
 #include "Polar.h"
 #include "Vector2.h"
 
-template <typename T>
+template <typename T> PolarOf<T>::PolarOf() {
-PolarOf<T>::PolarOf() {
   this->distance = 0.0f;
   this->angle = AngleOf<T>();
 }
-template <typename T>
+template <typename T> PolarOf<T>::PolarOf(float distance, AngleOf<T> angle) {
-PolarOf<T>::PolarOf(float distance, AngleOf<T> angle) {
   // distance should always be 0 or greater
   if (distance < 0.0f) {
     this->distance = -distance;
@@ -36,18 +34,16 @@ PolarOf<T> PolarOf<T>::Radians(float distance, float radians) {
   return PolarOf<T>(distance, AngleOf<T>::Radians(radians));
 }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::FromVector2(Vector2 v) {
-PolarOf<T> PolarOf<T>::FromVector2(Vector2 v) {
   float distance = v.magnitude();
   AngleOf<T> angle =
       AngleOf<T>::Degrees(Vector2::SignedAngle(Vector2::forward, v));
   PolarOf<T> p = PolarOf(distance, angle);
   return p;
 }
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::FromSpherical(SphericalOf<T> v) {
-PolarOf<T> PolarOf<T>::FromSpherical(SphericalOf<T> v) {
+  float distance = v.distance * cosf(v.direction.vertical.InDegrees() *
-  float distance =
+                                     Passer::LinearAlgebra::Deg2Rad);
-      v.distance * cosf(v.direction.vertical.InDegrees() * Deg2Rad);
   AngleOf<T> angle = v.direction.horizontal;
   PolarOf<T> p = PolarOf(distance, angle);
   return p;
@@ -64,37 +60,31 @@ const PolarOf<T> PolarOf<T>::right = PolarOf(1.0, AngleOf<T>::Degrees(90));
 template <typename T>
 const PolarOf<T> PolarOf<T>::left = PolarOf(1.0, AngleOf<T>::Degrees(-90));
 
-template <typename T>
+template <typename T> bool PolarOf<T>::operator==(const PolarOf &v) const {
-bool PolarOf<T>::operator==(const PolarOf& v) const {
   return (this->distance == v.distance &&
           this->angle.InDegrees() == v.angle.InDegrees());
 }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::Normalize(const PolarOf &v) {
-PolarOf<T> PolarOf<T>::Normalize(const PolarOf& v) {
   PolarOf<T> r = PolarOf(1, v.angle);
   return r;
 }
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::normalized() const {
-PolarOf<T> PolarOf<T>::normalized() const {
   PolarOf<T> r = PolarOf(1, this->angle);
   return r;
 }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator-() const {
-PolarOf<T> PolarOf<T>::operator-() const {
   PolarOf<T> v =
       PolarOf(this->distance, this->angle + AngleOf<T>::Degrees(180));
   return v;
 }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator-(const PolarOf &v) const {
-PolarOf<T> PolarOf<T>::operator-(const PolarOf& v) const {
   PolarOf<T> r = -v;
   return *this + r;
 }
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator-=(const PolarOf &v) {
-PolarOf<T> PolarOf<T>::operator-=(const PolarOf& v) {
   *this = *this - v;
   return *this;
   // angle = AngleOf<T>::Normalize(newAngle);
@@ -115,8 +105,7 @@ PolarOf<T> PolarOf<T>::operator-=(const PolarOf& v) {
 //   return d;
 // }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator+(const PolarOf &v) const {
-PolarOf<T> PolarOf<T>::operator+(const PolarOf& v) const {
   if (v.distance == 0)
     return PolarOf(this->distance, this->angle);
   if (this->distance == 0.0f)
@@ -144,19 +133,16 @@ PolarOf<T> PolarOf<T>::operator+(const PolarOf& v) const {
   PolarOf vector = PolarOf(newDistance, newAngleA);
   return vector;
 }
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator+=(const PolarOf &v) {
-PolarOf<T> PolarOf<T>::operator+=(const PolarOf& v) {
   *this = *this + v;
   return *this;
 }
 
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator*=(float f) {
-PolarOf<T> PolarOf<T>::operator*=(float f) {
   this->distance *= f;
   return *this;
 }
-template <typename T>
+template <typename T> PolarOf<T> PolarOf<T>::operator/=(float f) {
-PolarOf<T> PolarOf<T>::operator/=(float f) {
   this->distance /= f;
   return *this;
 }
@@ -175,5 +161,5 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf& v, AngleOf<T> angle) {
   return r;
 }
 
-template class LinearAlgebra::PolarOf<float>;
+template class Passer::LinearAlgebra::PolarOf<float>;
-template class LinearAlgebra::PolarOf<signed short>;
+template class Passer::LinearAlgebra::PolarOf<signed short>;

Polar.h

@@ -7,16 +7,15 @@
 
 #include "Angle.h"
 
+namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector2;
-template <typename T>
+template <typename T> class SphericalOf;
-class SphericalOf;
 
 /// @brief A polar vector using an angle in various representations
 /// @tparam T The implementation type used for the representation of the angle
-template <typename T>
+template <typename T> class PolarOf {
-class PolarOf {
 public:
   /// @brief The distance in meters
   /// @remark The distance shall never be negative
@@ -154,7 +153,8 @@ using Polar16 = PolarOf<signed short>;
 // using Polar = PolarSingle;
 
 } // namespace LinearAlgebra
-using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"
 #include "Vector2.h"

Quaternion.cpp

@@ -6,7 +6,6 @@
 #include <float.h>
 #include <math.h>
 #include "Angle.h"
-#include "Matrix.h"
 #include "Vector3.h"
 
 void CopyQuat(const Quat& q1, Quat& q2) {
@@ -98,28 +97,6 @@ Vector3 Quaternion::ToAngles(const Quaternion& q1) {
   }
 }
 
-Matrix2 LinearAlgebra::Quaternion::ToRotationMatrix() {
-  Matrix2 r = Matrix2(3, 3);
-
-  float x = this->x;
-  float y = this->y;
-  float z = this->z;
-  float w = this->w;
-
-  float* data = r.data;
-  data[0 * 3 + 0] = 1 - 2 * (y * y + z * z);
-  data[0 * 3 + 1] = 2 * (x * y - w * z);
-  data[0 * 3 + 2] = 2 * (x * z + w * y);
-  data[1 * 3 + 0] = 2 * (x * y + w * z);
-  data[1 * 3 + 1] = 1 - 2 * (x * x + z * z);
-  data[1 * 3 + 2] = 2 * (y * z - w * x);
-  data[2 * 3 + 0] = 2 * (x * z - w * y);
-  data[2 * 3 + 1] = 2 * (y * z + w * x);
-  data[2 * 3 + 2] = 1 - 2 * (x * x + y * y);
-
-  return r;
-}
-
 Quaternion Quaternion::operator*(const Quaternion& r2) const {
   return Quaternion(
       this->x * r2.w + this->y * r2.z - this->z * r2.y + this->w * r2.x,

Quaternion.h

@@ -32,10 +32,9 @@ typedef struct Quat {
 } Quat;
 }
 
+namespace Passer {
 namespace LinearAlgebra {
 
-class Matrix2;
-
 /// <summary>
 /// A quaternion
 /// </summary>
@@ -91,8 +90,6 @@ struct Quaternion : Quat {
   /// The euler angles performed in the order: Z, X, Y
   static Vector3 ToAngles(const Quaternion &q);
 
-  Matrix2 ToRotationMatrix();
-
   /// <summary>
   /// Rotate a vector using this quaterion
   /// </summary>
@@ -160,8 +157,7 @@ struct Quaternion : Quat {
   /// <param name="to">The destination rotation</param>
   /// <param name="maxDegreesDelta">The maximum amount of degrees to
   /// rotate</param> <returns>The possibly limited rotation</returns>
-  static Quaternion RotateTowards(const Quaternion& from,
+  static Quaternion RotateTowards(const Quaternion &from, const Quaternion &to,
-                                  const Quaternion& to,
                                   float maxDegreesDelta);
 
   /// <summary>
@@ -195,8 +191,7 @@ struct Quaternion : Quat {
   /// <returns>The resulting rotation</returns>
   /// A factor 0 returns rotation1, factor1 returns rotation2.
   static Quaternion Slerp(const Quaternion &rotation1,
-                          const Quaternion& rotation2,
+                          const Quaternion &rotation2, float factor);
-                          float factor);
   /// <summary>
   /// Unclamped sherical lerp between two rotations
   /// </summary>
@@ -207,8 +202,7 @@ struct Quaternion : Quat {
   /// A factor 0 returns rotation1, factor1 returns rotation2.
   /// Values outside the 0..1 range will result in extrapolated rotations
   static Quaternion SlerpUnclamped(const Quaternion &rotation1,
-                                   const Quaternion& rotation2,
+                                   const Quaternion &rotation2, float factor);
-                                   float factor);
 
   /// <summary>
   /// Create a rotation from euler angles
@@ -266,10 +260,8 @@ struct Quaternion : Quat {
   /// <param name="swing">A pointer to the quaternion for the swing
   /// result</param> <param name="twist">A pointer to the quaternion for the
   /// twist result</param>
-  static void GetSwingTwist(Vector3 axis,
+  static void GetSwingTwist(Vector3 axis, Quaternion rotation,
-                            Quaternion rotation,
+                            Quaternion *swing, Quaternion *twist);
-                            Quaternion* swing,
-                            Quaternion* twist);
 
   /// <summary>
   /// Calculate the dot product of two quaternions
@@ -292,6 +284,7 @@ struct Quaternion : Quat {
 };
 
 } // namespace LinearAlgebra
-using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #endif

Spherical.cpp

@@ -5,17 +5,13 @@
 
 #include <math.h>
 
-namespace LinearAlgebra {
+template <typename T> SphericalOf<T>::SphericalOf() {
-
-template <typename T>
-SphericalOf<T>::SphericalOf() {
   this->distance = 0.0f;
   this->direction = DirectionOf<T>();
 }
 
 template <typename T>
-SphericalOf<T>::SphericalOf(float distance,
+SphericalOf<T>::SphericalOf(float distance, AngleOf<T> horizontal,
-                            AngleOf<T> horizontal,
                             AngleOf<T> vertical) {
   if (distance < 0) {
     this->distance = -distance;
@@ -38,8 +34,7 @@ SphericalOf<T>::SphericalOf(float distance, DirectionOf<T> direction) {
 }
 
 template <typename T>
-SphericalOf<T> SphericalOf<T>::Degrees(float distance,
+SphericalOf<T> SphericalOf<T>::Degrees(float distance, float horizontal,
-                                       float horizontal,
                                        float vertical) {
   AngleOf<T> horizontalAngle = AngleOf<T>::Degrees(horizontal);
   AngleOf<T> verticalAngle = AngleOf<T>::Degrees(vertical);
@@ -48,8 +43,7 @@ SphericalOf<T> SphericalOf<T>::Degrees(float distance,
 }
 
 template <typename T>
-SphericalOf<T> SphericalOf<T>::Radians(float distance,
+SphericalOf<T> SphericalOf<T>::Radians(float distance, float horizontal,
-                                       float horizontal,
                                        float vertical) {
   return SphericalOf<T>(distance, AngleOf<T>::Radians(horizontal),
                         AngleOf<T>::Radians(vertical));
@@ -63,8 +57,7 @@ SphericalOf<T> SphericalOf<T>::FromPolar(PolarOf<T> polar) {
   return r;
 }
 
-template <typename T>
+template <typename T> SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
-SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
   float distance = v.magnitude();
   if (distance == 0.0f) {
     return SphericalOf(distance, AngleOf<T>(), AngleOf<T>());
@@ -88,8 +81,7 @@ SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
  * @tparam T The type of the distance and direction values.
  * @return Vector3 The 3D vector representation of the spherical coordinates.
  */
-template <typename T>
+template <typename T> Vector3 SphericalOf<T>::ToVector3() const {
-Vector3 SphericalOf<T>::ToVector3() const {
   float verticalRad = (pi / 2) - this->direction.vertical.InRadians();
   float horizontalRad = this->direction.horizontal.InRadians();
 
@@ -134,8 +126,7 @@ SphericalOf<T> SphericalOf<T>::WithDistance(float distance) {
   return v;
 }
 
-template <typename T>
+template <typename T> SphericalOf<T> SphericalOf<T>::operator-() const {
-SphericalOf<T> SphericalOf<T>::operator-() const {
   SphericalOf<T> v = SphericalOf<T>(
       this->distance, this->direction.horizontal + AngleOf<T>::Degrees(180),
       this->direction.vertical + AngleOf<T>::Degrees(180));
@@ -218,14 +209,12 @@ SphericalOf<T> SphericalOf<T>::operator+=(const SphericalOf<T>& v) {
   return *this;
 }
 
-template <typename T>
+template <typename T> SphericalOf<T> SphericalOf<T>::operator*=(float f) {
-SphericalOf<T> SphericalOf<T>::operator*=(float f) {
   this->distance *= f;
   return *this;
 }
 
-template <typename T>
+template <typename T> SphericalOf<T> SphericalOf<T>::operator/=(float f) {
-SphericalOf<T> SphericalOf<T>::operator/=(float f) {
   this->distance /= f;
   return *this;
 }
@@ -267,8 +256,8 @@ AngleOf<T> SphericalOf<T>::AngleBetween(const SphericalOf& v1,
 }
 
 template <typename T>
-AngleOf<T> SphericalOf<T>::SignedAngleBetween(const SphericalOf<T>& v1,
+AngleOf<T> Passer::LinearAlgebra::SphericalOf<T>::SignedAngleBetween(
-                                              const SphericalOf<T>& v2,
+    const SphericalOf<T> &v1, const SphericalOf<T> &v2,
     const SphericalOf<T> &axis) {
   Vector3 v1_vector = v1.ToVector3();
   Vector3 v2_vector = v2.ToVector3();
@@ -301,7 +290,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T>& v,
   return r;
 }
 
-template class SphericalOf<float>;
+template class Passer::LinearAlgebra::SphericalOf<float>;
-template class SphericalOf<signed short>;
+template class Passer::LinearAlgebra::SphericalOf<signed short>;
-
-}  // namespace LinearAlgebra

Spherical.h

@@ -7,26 +7,30 @@
 
 #include "Direction.h"
 
+namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector3;
-template <typename T>
+template <typename T> class PolarOf;
-class PolarOf;
 
 /// @brief A spherical vector using angles in various representations
 /// @tparam T The implementation type used for the representations of the agles
-template <typename T>
+template <typename T> class SphericalOf {
-class SphericalOf {
 public:
   /// @brief The distance in meters
   /// @remark The distance should never be negative
   float distance;
-  /// @brief The direction of the vector
+  /// @brief The angle in the horizontal plane in degrees, clockwise rotation
+  /// @details The angle is automatically normalized to -180 .. 180
+  // AngleOf<T> horizontal;
+  /// @brief The angle in the vertical plane in degrees. Positive is upward.
+  /// @details The angle is automatically normalized to -180 .. 180
+  // AngleOf<T> vertical;
   DirectionOf<T> direction;
 
-  SphericalOf();
+  SphericalOf<T>();
-  SphericalOf(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
+  SphericalOf<T>(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
-  SphericalOf(float distance, DirectionOf<T> direction);
+  SphericalOf<T>(float distance, DirectionOf<T> direction);
 
   /// @brief Create spherical vector without using AngleOf type. All given
   /// angles are in degrees
@@ -34,8 +38,7 @@ class SphericalOf {
   /// @param horizontal The horizontal angle in degrees
   /// @param vertical The vertical angle in degrees
   /// @return The spherical vector
-  static SphericalOf<T> Degrees(float distance,
+  static SphericalOf<T> Degrees(float distance, float horizontal,
-                                float horizontal,
                                 float vertical);
   /// @brief Short-hand Deg alias for the Degrees function
   constexpr static auto Deg = Degrees;
@@ -45,8 +48,7 @@ class SphericalOf {
   /// @param horizontal The horizontal angle in radians
   /// @param vertical The vertical angle in radians
   /// @return The spherical vectpr
-  static SphericalOf<T> Radians(float distance,
+  static SphericalOf<T> Radians(float distance, float horizontal,
-                                float horizontal,
                                 float vertical);
   // Short-hand Rad alias for the Radians function
   constexpr static auto Rad = Radians;
@@ -152,8 +154,7 @@ class SphericalOf {
   /// @param horizontalAngle The horizontal rotation angle in local space
   /// @param verticalAngle The vertical rotation angle in local space
   /// @return The rotated vector
-  static SphericalOf<T> Rotate(const SphericalOf& v,
+  static SphericalOf<T> Rotate(const SphericalOf &v, AngleOf<T> horizontalAngle,
-                               AngleOf<T> horizontalAngle,
                                AngleOf<T> verticalAngle);
   /// @brief Rotate a spherical vector horizontally
   /// @param v The vector to rotate
@@ -179,13 +180,9 @@ using SphericalSingle = SphericalOf<float>;
 /// hardware
 using Spherical16 = SphericalOf<signed short>;
 
-#if defined(ARDUINO)
-using Spherical = Spherical16;
-#else
-using Spherical = SphericalSingle;
-#endif
-
 } // namespace LinearAlgebra
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #include "Polar.h"
 #include "Vector3.h"

SwingTwist.cpp

@@ -4,8 +4,6 @@
 
 #include "SwingTwist.h"
 
-namespace LinearAlgebra {
-
 template <typename T>
 SwingTwistOf<T>::SwingTwistOf() {
   this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
@@ -166,7 +164,5 @@ void SwingTwistOf<T>::Normalize() {
   }
 }
 
-template class SwingTwistOf<float>;
+template class Passer::LinearAlgebra::SwingTwistOf<float>;
-template class SwingTwistOf<signed short>;
+template class Passer::LinearAlgebra::SwingTwistOf<signed short>;
-
-}

SwingTwist.h

@@ -10,23 +10,22 @@
 #include "Quaternion.h"
 #include "Spherical.h"
 
+namespace Passer {
 namespace LinearAlgebra {
 
 /// @brief An orientation using swing and twist angles in various
 /// representations
 /// @tparam T The implmentation type used for the representation of the angles
-template <typename T>
+template <typename T> class SwingTwistOf {
-class SwingTwistOf {
 public:
   DirectionOf<T> swing;
   AngleOf<T> twist;
 
-  SwingTwistOf();
+  SwingTwistOf<T>();
-  SwingTwistOf(DirectionOf<T> swing, AngleOf<T> twist);
+  SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
-  SwingTwistOf(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
+  SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
 
-  static SwingTwistOf<T> Degrees(float horizontal,
+  static SwingTwistOf<T> Degrees(float horizontal, float vertical = 0,
-                                 float vertical = 0,
                                  float twist = 0);
 
   Quaternion ToQuaternion() const;
@@ -73,13 +72,8 @@ class SwingTwistOf {
 using SwingTwistSingle = SwingTwistOf<float>;
 using SwingTwist16 = SwingTwistOf<signed short>;
 
-#if defined(ARDUINO)
-using SwingTwist = SwingTwist16;
-#else
-using SwingTwist = SwingTwistSingle;
-#endif
-
 } // namespace LinearAlgebra
-using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #endif

Vector2.cpp

@@ -30,7 +30,7 @@ Vector2::Vector2(Vector3 v) {
   y = v.Forward(); // z;
 }
 Vector2::Vector2(PolarSingle p) {
-  float horizontalRad = p.angle.InDegrees() * Deg2Rad;
+  float horizontalRad = p.angle.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
   float cosHorizontal = cosf(horizontalRad);
   float sinHorizontal = sinf(horizontalRad);
 
@@ -56,15 +56,9 @@ bool Vector2::operator==(const Vector2& v) {
 float Vector2::Magnitude(const Vector2 &v) {
   return sqrtf(v.x * v.x + v.y * v.y);
 }
-float Vector2::magnitude() const {
+float Vector2::magnitude() const { return (float)sqrtf(x * x + y * y); }
-  return (float)sqrtf(x * x + y * y);
+float Vector2::SqrMagnitude(const Vector2 &v) { return v.x * v.x + v.y * v.y; }
-}
+float Vector2::sqrMagnitude() const { return (x * x + y * y); }
-float Vector2::SqrMagnitude(const Vector2& v) {
-  return v.x * v.x + v.y * v.y;
-}
-float Vector2::sqrMagnitude() const {
-  return (x * x + y * y);
-}
 
 Vector2 Vector2::Normalize(const Vector2 &v) {
   float num = Vector2::Magnitude(v);
@@ -83,9 +77,7 @@ Vector2 Vector2::normalized() const {
   return result;
 }
 
-Vector2 Vector2::operator-() {
+Vector2 Vector2::operator-() { return Vector2(-this->x, -this->y); }
-  return Vector2(-this->x, -this->y);
-}
 
 Vector2 Vector2::operator-(const Vector2 &v) const {
   return Vector2(this->x - v.x, this->y - v.y);
@@ -156,11 +148,12 @@ float Vector2::SignedAngle(const Vector2& v1, const Vector2& v2) {
 
   float angleFrom = atan2f(v1.y, v1.x);
   float angleTo = atan2f(v2.y, v2.x);
-  return -(angleTo - angleFrom) * Rad2Deg;
+  return -(angleTo - angleFrom) * Passer::LinearAlgebra::Rad2Deg;
 }
 
-Vector2 Vector2::Rotate(const Vector2& v, AngleSingle a) {
+Vector2 Vector2::Rotate(const Vector2 &v,
-  float angleRad = a.InDegrees() * Deg2Rad;
+                        Passer::LinearAlgebra::AngleSingle a) {
+  float angleRad = a.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
 #if defined(AVR)
   float sinValue = sin(angleRad);
   float cosValue = cos(angleRad); // * Angle::Deg2Rad);

Vector2.h

@@ -26,11 +26,11 @@ typedef struct Vec2 {
 } Vec2;
 }
 
+namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector3;
-template <typename T>
+template <typename T> class PolarOf;
-class PolarOf;
 
 /// @brief A 2-dimensional vector
 /// @remark This uses the right=handed carthesian coordinate system.
@@ -188,7 +188,7 @@ struct Vector2 : Vec2 {
   /// @param v The vector to rotate
   /// @param a The angle in degrees to rotate
   /// @return The rotated vector
-  static Vector2 Rotate(const Vector2& v, AngleSingle a);
+  static Vector2 Rotate(const Vector2 &v, Passer::LinearAlgebra::AngleSingle a);
 
   /// @brief Lerp (linear interpolation) between two vectors
   /// @param v1 The starting vector
@@ -202,7 +202,8 @@ struct Vector2 : Vec2 {
 };
 
 } // namespace LinearAlgebra
-using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #include "Polar.h"
 

Vector3.cpp

@@ -31,8 +31,10 @@ Vector3::Vector3(Vector2 v) {
 }
 
 Vector3::Vector3(SphericalOf<float> s) {
-  float verticalRad = (90.0f - s.direction.vertical.InDegrees()) * Deg2Rad;
+  float verticalRad = (90.0f - s.direction.vertical.InDegrees()) *
-  float horizontalRad = s.direction.horizontal.InDegrees() * Deg2Rad;
+                      Passer::LinearAlgebra::Deg2Rad;
+  float horizontalRad =
+      s.direction.horizontal.InDegrees() * Passer::LinearAlgebra::Deg2Rad;
   float cosVertical = cosf(verticalRad);
   float sinVertical = sinf(verticalRad);
   float cosHorizontal = cosf(horizontalRad);
@@ -68,16 +70,12 @@ const Vector3 Vector3::back = Vector3(0, 0, -1);
 float Vector3::Magnitude(const Vector3 &v) {
   return sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
 }
-float Vector3::magnitude() const {
+float Vector3::magnitude() const { return (float)sqrtf(x * x + y * y + z * z); }
-  return (float)sqrtf(x * x + y * y + z * z);
-}
 
 float Vector3::SqrMagnitude(const Vector3 &v) {
   return v.x * v.x + v.y * v.y + v.z * v.z;
 }
-float Vector3::sqrMagnitude() const {
+float Vector3::sqrMagnitude() const { return (x * x + y * y + z * z); }
-  return (x * x + y * y + z * z);
-}
 
 Vector3 Vector3::Normalize(const Vector3 &v) {
   float num = Vector3::Magnitude(v);
@@ -202,8 +200,7 @@ AngleOf<float> Vector3::Angle(const Vector3& v1, const Vector3& v2) {
   return AngleOf<float>::Radians(r);
 }
 
-AngleOf<float> Vector3::SignedAngle(const Vector3& v1,
+AngleOf<float> Vector3::SignedAngle(const Vector3 &v1, const Vector3 &v2,
-                                    const Vector3& v2,
                                     const Vector3 &axis) {
   // angle in [0,180]
   AngleOf<float> angle = Vector3::Angle(v1, v2);

Vector3.h

@@ -14,7 +14,7 @@ extern "C" {
 /// This is a C-style implementation
 /// This uses the right-handed coordinate system.
 typedef struct Vec3 {
- public:
+protected:
   /// <summary>
   /// The right axis of the vector
   /// </summary>
@@ -31,10 +31,10 @@ typedef struct Vec3 {
 } Vec3;
 }
 
+namespace Passer {
 namespace LinearAlgebra {
 
-template <typename T>
+template <typename T> class SphericalOf;
-class SphericalOf;
 
 /// @brief A 3-dimensional vector
 /// @remark This uses a right-handed carthesian coordinate system.
@@ -210,8 +210,7 @@ struct Vector3 : Vec3 {
   /// @param v2 The ending vector
   /// @param axis The axis to rotate around
   /// @return The signed angle between the two vectors
-  static AngleOf<float> SignedAngle(const Vector3& v1,
+  static AngleOf<float> SignedAngle(const Vector3 &v1, const Vector3 &v2,
-                                    const Vector3& v2,
                                     const Vector3 &axis);
 
   /// @brief Lerp (linear interpolation) between two vectors
@@ -226,7 +225,8 @@ struct Vector3 : Vec3 {
 };
 
 } // namespace LinearAlgebra
-using namespace LinearAlgebra;
+} // namespace Passer
+using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"
 

test/Angle16_test.cc

@@ -1,13 +1,11 @@
 #if GTEST
 #include "gtest/gtest.h"
 
-#include <math.h>
 #include <limits>
+#include <math.h>
 
 #include "Angle.h"
 
-using namespace LinearAlgebra;
-
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
 TEST(Angle16, Construct) {

test/Angle8_test.cc

@@ -1,13 +1,11 @@
 #if GTEST
 #include <gtest/gtest.h>
 
-#include <math.h>
 #include <limits>
+#include <math.h>
 
 #include "Angle.h"
 
-using namespace LinearAlgebra;
-
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
 TEST(Angle8, Construct) {

test/AngleSingle_test.cc

@@ -1,13 +1,11 @@
 #if GTEST
 #include <gtest/gtest.h>
 
-#include <math.h>
 #include <limits>
+#include <math.h>
 
 #include "Angle.h"
 
-using namespace LinearAlgebra;
-
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
 TEST(AngleSingle, Construct) {

test/Direction_test.cc

@@ -6,8 +6,6 @@
 
 #include "Direction.h"
 
-using namespace LinearAlgebra;
-
 #define FLOAT_INFINITY std::numeric_limits<float>::infinity()
 
 TEST(Direction16, Compare) {

test/Matrix_test.cc

@@ -1,90 +1,10 @@
 #if GTEST
 #include <gtest/gtest.h>
-#include <math.h>
 #include <limits>
+#include <math.h>
 
 #include "Matrix.h"
 
-TEST(Matrix2, Zero) {
-      // Test case 1: 2x2 zero matrix
-      Matrix2 zeroMatrix = Matrix2::Zero(2, 2);
-      EXPECT_TRUE(zeroMatrix.nRows == 2);
-      EXPECT_TRUE(zeroMatrix.nCols == 2);
-      for (int i = 0; i < zeroMatrix.nValues; ++i) {
-        EXPECT_TRUE(zeroMatrix.data[i] == 0.0f);
-      }
-      std::cout << "Test case 1 passed: 2x2 zero matrix\n";
-  
-      // Test case 2: 3x3 zero matrix
-      zeroMatrix = Matrix2::Zero(3, 3);
-      EXPECT_TRUE(zeroMatrix.nRows == 3);
-      EXPECT_TRUE(zeroMatrix.nCols == 3);
-      for (int i = 0; i < zeroMatrix.nValues; ++i) {
-        EXPECT_TRUE(zeroMatrix.data[i] == 0.0f);
-      }
-      std::cout << "Test case 2 passed: 3x3 zero matrix\n";
-  
-      // Test case 3: 1x1 zero matrix
-      zeroMatrix = Matrix2::Zero(1, 1);
-      EXPECT_TRUE(zeroMatrix.nRows == 1);
-      EXPECT_TRUE(zeroMatrix.nCols == 1);
-      EXPECT_TRUE(zeroMatrix.data[0] == 0.0f);
-      std::cout << "Test case 3 passed: 1x1 zero matrix\n";
-  
-      // Test case 4: 0x0 matrix (edge case)
-      zeroMatrix = Matrix2::Zero(0, 0);
-      EXPECT_TRUE(zeroMatrix.nRows == 0);
-      EXPECT_TRUE(zeroMatrix.nCols == 0);
-      EXPECT_TRUE(zeroMatrix.data == nullptr);
-      std::cout << "Test case 4 passed: 0x0 matrix\n";
-}
-
-TEST(Matrix2, Multiplication) {
-  // Test 1: Multiplying two 2x2 matrices
-  float dataA[] = {1, 2, 3, 4};
-  float dataB[] = {5, 6, 7, 8};
-  Matrix2 A(dataA, 2, 2);
-  Matrix2 B(dataB, 2, 2);
-
-  Matrix2 result = A * B;
-
-  float expectedData[] = {19, 22, 43, 50};
-  for (int i = 0; i < 4; ++i) 
-    EXPECT_TRUE(result.data[i] == expectedData[i]);  
-  std::cout << "Test 1 passed: 2x2 matrix multiplication.\n";
-
-  
-  // Test 2: Multiplying a 3x2 matrix with a 2x3 matrix
-  float dataC[] = {1, 2, 3, 4, 5, 6};
-  float dataD[] = {7, 8, 9, 10, 11, 12};
-  Matrix2 C(dataC, 3, 2);
-  Matrix2 D(dataD, 2, 3);
-
-  Matrix2 result2 = C * D;
-
-  float expectedData2[] = {27, 30, 33, 61, 68, 75, 95, 106, 117};
-  for (int i = 0; i < 9; ++i)
-    EXPECT_TRUE(result2.data[i] == expectedData2[i]);
-  std::cout << "Test 2 passed: 3x2 * 2x3 matrix multiplication.\n";
-  
-  // Test 3: Multiplying with a zero matrix
-  Matrix2 zeroMatrix = Matrix2::Zero(2, 2);
-  Matrix2 result3 = A * zeroMatrix;
-
-  for (int i = 0; i < 4; ++i)
-    EXPECT_TRUE(result3.data[i] == 0);
-  std::cout << "Test 3 passed: Multiplication with zero matrix.\n";
-  
-  // Test 4: Multiplying with an identity matrix
-  Matrix2 identityMatrix = Matrix2::Identity(2);
-  Matrix2 result4 = A * identityMatrix;
-
-  for (int i = 0; i < 4; ++i)
-    EXPECT_TRUE(result4.data[i] == A.data[i]);
-  std::cout << "Test 4 passed: Multiplication with identity matrix.\n";
-  
-}
-
 TEST(MatrixSingle, Init) {
   // zero
   MatrixOf<float> m0 = MatrixOf<float>(0, 0);

test/Vector2_test.cc

@@ -34,32 +34,26 @@ TEST(Vector2, FromPolar) {
   EXPECT_FLOAT_EQ(r.y, 0.0F) << "FromPolar(0 0)";
 }
 
-TEST(Vector2, Magnitude) {
+TEST(Vector2, Equality) {
-  Vector2 v = Vector2(1, 2);
+  Vector2 v1 = Vector2(4, 5);
-  float m = 0;
+  Vector2 v2 = Vector2(1, 2);
+  bool r = false;
 
-  m = v.magnitude();
+  r = v1 == v2;
-  EXPECT_FLOAT_EQ(m, 2.236068F) << "v.magnitude 1 2";
+  EXPECT_FALSE(r) << "4 5 == 1 2";
 
-  m = Vector2::Magnitude(v);
+  v2 = Vector2(4, 5);
-  EXPECT_FLOAT_EQ(m, 2.236068F) << "Vector2::Magnitude 1 2";
+  r = v1 == v2;
-
+  EXPECT_TRUE(r) << "4 5 == 1 2";
-  v = Vector2(-1, -2);
-  m = v.magnitude();
-  EXPECT_FLOAT_EQ(m, 2.236068F) << "v.magnitude -1 -2";
-
-  v = Vector2(0, 0);
-  m = v.magnitude();
-  EXPECT_FLOAT_EQ(m, 0) << "v.magnitude 0 0 ";
 
   if (std::numeric_limits<float>::is_iec559) {
-    v = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
+    v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
-    m = v.magnitude();
+    r = v1 == v2;
-    EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude INFINITY INFINITY ";
+    EXPECT_FALSE(r) << "4 5 == INFINITY INFINITY";
 
-    v = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
+    v1 = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
-    m = v.magnitude();
+    r = v1 == v2;
-    EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude -INFINITY -INFINITY ";
+    EXPECT_FALSE(r) << "-INFINITY -INFINITY == INFINITY INFINITY";
   }
 }
 
@@ -92,6 +86,35 @@ TEST(Vector2, SqrMagnitude) {
   }
 }
 
+TEST(Vector2, Magnitude) {
+  Vector2 v = Vector2(1, 2);
+  float m = 0;
+
+  m = v.magnitude();
+  EXPECT_FLOAT_EQ(m, 2.236068F) << "v.magnitude 1 2";
+
+  m = Vector2::Magnitude(v);
+  EXPECT_FLOAT_EQ(m, 2.236068F) << "Vector2::Magnitude 1 2";
+
+  v = Vector2(-1, -2);
+  m = v.magnitude();
+  EXPECT_FLOAT_EQ(m, 2.236068F) << "v.magnitude -1 -2";
+
+  v = Vector2(0, 0);
+  m = v.magnitude();
+  EXPECT_FLOAT_EQ(m, 0) << "v.magnitude 0 0 ";
+
+  if (std::numeric_limits<float>::is_iec559) {
+    v = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
+    m = v.magnitude();
+    EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude INFINITY INFINITY ";
+
+    v = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
+    m = v.magnitude();
+    EXPECT_FLOAT_EQ(m, FLOAT_INFINITY) << "v.magnitude -INFINITY -INFINITY ";
+  }
+}
+
 TEST(Vector2, Normalize) {
   bool r = false;
 
@@ -311,56 +334,6 @@ TEST(Vector2, Divide) {
   }
 }
 
-TEST(Vector2, Dot) {
-  Vector2 v1 = Vector2(4, 5);
-  Vector2 v2 = Vector2(1, 2);
-  float f = 0;
-
-  f = Vector2::Dot(v1, v2);
-  EXPECT_FLOAT_EQ(f, 14) << "Dot(4 5, 1 2)";
-
-  v2 = Vector2(-1, -2);
-  f = Vector2::Dot(v1, v2);
-  EXPECT_FLOAT_EQ(f, -14) << "Dot(4 5, -1 -2)";
-
-  v2 = Vector2(0, 0);
-  f = Vector2::Dot(v1, v2);
-  EXPECT_FLOAT_EQ(f, 0) << "Dot(4 5, 0 0)";
-
-  if (std::numeric_limits<float>::is_iec559) {
-    v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
-    f = Vector2::Dot(v1, v2);
-    EXPECT_FLOAT_EQ(f, FLOAT_INFINITY) << "Dot(4 5, INFINITY INFINITY)";
-
-    v2 = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
-    f = Vector2::Dot(v1, v2);
-    EXPECT_FLOAT_EQ(f, -FLOAT_INFINITY) << "Dot(4 5, -INFINITY -INFINITY)";
-  }
-}
-
-TEST(Vector2, Equality) {
-  Vector2 v1 = Vector2(4, 5);
-  Vector2 v2 = Vector2(1, 2);
-  bool r = false;
-
-  r = v1 == v2;
-  EXPECT_FALSE(r) << "4 5 == 1 2";
-
-  v2 = Vector2(4, 5);
-  r = v1 == v2;
-  EXPECT_TRUE(r) << "4 5 == 1 2";
-
-  if (std::numeric_limits<float>::is_iec559) {
-    v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
-    r = v1 == v2;
-    EXPECT_FALSE(r) << "4 5 == INFINITY INFINITY";
-
-    v1 = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
-    r = v1 == v2;
-    EXPECT_FALSE(r) << "-INFINITY -INFINITY == INFINITY INFINITY";
-  }
-}
-
 TEST(Vector2, Distance) {
   Vector2 v1 = Vector2(4, 5);
   Vector2 v2 = Vector2(1, 2);
@@ -388,6 +361,33 @@ TEST(Vector2, Distance) {
   }
 }
 
+TEST(Vector2, Dot) {
+  Vector2 v1 = Vector2(4, 5);
+  Vector2 v2 = Vector2(1, 2);
+  float f = 0;
+
+  f = Vector2::Dot(v1, v2);
+  EXPECT_FLOAT_EQ(f, 14) << "Dot(4 5, 1 2)";
+
+  v2 = Vector2(-1, -2);
+  f = Vector2::Dot(v1, v2);
+  EXPECT_FLOAT_EQ(f, -14) << "Dot(4 5, -1 -2)";
+
+  v2 = Vector2(0, 0);
+  f = Vector2::Dot(v1, v2);
+  EXPECT_FLOAT_EQ(f, 0) << "Dot(4 5, 0 0)";
+
+  if (std::numeric_limits<float>::is_iec559) {
+    v2 = Vector2(FLOAT_INFINITY, FLOAT_INFINITY);
+    f = Vector2::Dot(v1, v2);
+    EXPECT_FLOAT_EQ(f, FLOAT_INFINITY) << "Dot(4 5, INFINITY INFINITY)";
+
+    v2 = Vector2(-FLOAT_INFINITY, -FLOAT_INFINITY);
+    f = Vector2::Dot(v1, v2);
+    EXPECT_FLOAT_EQ(f, -FLOAT_INFINITY) << "Dot(4 5, -INFINITY -INFINITY)";
+  }
+}
+
 TEST(Vector2, Angle) {
   Vector2 v1 = Vector2(4, 5);
   Vector2 v2 = Vector2(1, 2);