Update namespace, Windows compatibility

Angle.cpp

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

Angle.h

@@ -5,7 +5,6 @@
 #ifndef ANGLE_H
 #define ANGLE_H
 
-namespace Passer {
 namespace LinearAlgebra {
 
 static float pi = 3.1415927410125732421875F;
@@ -18,7 +17,8 @@ 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> class AngleOf {
+template <typename T>
+class AngleOf {
  public:
   /// @brief Create a new angle with a zero value
   AngleOf<T>();
@@ -150,7 +150,8 @@ public:
   /// @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, AngleOf<T> toAngle,
+  static AngleOf<T> MoveTowards(AngleOf<T> fromAngle,
+                                AngleOf<T> toAngle,
                                 float maxAngle);
 
   /// @brief Calculates the cosine of an angle
@@ -215,8 +216,12 @@ 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

@@ -9,7 +9,8 @@
 
 #include <math.h>
 
-template <typename T> DirectionOf<T>::DirectionOf() {
+template <typename T>
+DirectionOf<T>::DirectionOf() {
   this->horizontal = AngleOf<T>();
   this->vertical = AngleOf<T>();
 }
@@ -41,7 +42,7 @@ const DirectionOf<T> DirectionOf<T>::right =
     DirectionOf<T>(AngleOf<T>::Degrees(90), AngleOf<T>());
 
 template <typename T>
-Vector3 Passer::LinearAlgebra::DirectionOf<T>::ToVector3() const {
+Vector3 DirectionOf<T>::ToVector3() const {
   Quaternion q = Quaternion::Euler(-this->vertical.InDegrees(),
                                    this->horizontal.InDegrees(), 0);
   Vector3 v = q * Vector3::forward;
@@ -49,12 +50,12 @@ Vector3 Passer::LinearAlgebra::DirectionOf<T>::ToVector3() const {
 }
 
 template <typename T>
-DirectionOf<T>
+DirectionOf<T> DirectionOf<T>::FromVector3(Vector3 vector) {
-Passer::LinearAlgebra::DirectionOf<T>::FromVector3(Vector3 vector) {
   DirectionOf<T> d;
   d.horizontal = AngleOf<T>::Atan2(
       vector.Right(),
-      vector.Forward()); // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
+      vector
+          .Forward());  // AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
   d.vertical =
       AngleOf<T>::Degrees(-90) -
       AngleOf<T>::Acos(
@@ -64,34 +65,32 @@ Passer::LinearAlgebra::DirectionOf<T>::FromVector3(Vector3 vector) {
 }
 
 template <typename T>
-DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Degrees(float horizontal,
+DirectionOf<T> DirectionOf<T>::Degrees(float horizontal, float vertical) {
-                                                              float vertical) {
   return DirectionOf<T>(AngleOf<T>::Degrees(horizontal),
                         AngleOf<T>::Degrees(vertical));
 }
 
 template <typename T>
-DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::Radians(float horizontal,
+DirectionOf<T> DirectionOf<T>::Radians(float horizontal, float vertical) {
-                                                              float vertical) {
   return DirectionOf<T>(AngleOf<T>::Radians(horizontal),
                         AngleOf<T>::Radians(vertical));
 }
 
 template <typename T>
-bool Passer::LinearAlgebra::DirectionOf<T>::operator==(
+bool DirectionOf<T>::operator==(const DirectionOf<T> direction) const {
-    const DirectionOf<T> direction) const {
   return (this->horizontal == direction.horizontal) &&
          (this->vertical == direction.vertical);
 }
 
 template <typename T>
-DirectionOf<T> Passer::LinearAlgebra::DirectionOf<T>::operator-() const {
+DirectionOf<T> DirectionOf<T>::operator-() const {
   DirectionOf<T> r = DirectionOf<T>(this->horizontal + AngleOf<T>::Degrees(180),
                                     -this->vertical);
   return r;
 }
 
-template <typename T> void DirectionOf<T>::Normalize() {
+template <typename T>
+void DirectionOf<T>::Normalize() {
   if (this->vertical > AngleOf<T>::Degrees(90) ||
       this->vertical < AngleOf<T>::Degrees(-90)) {
     this->horizontal += AngleOf<T>::Degrees(180);
@@ -99,5 +98,5 @@ template <typename T> void DirectionOf<T>::Normalize() {
   }
 }
 
-template class Passer::LinearAlgebra::DirectionOf<float>;
+template class DirectionOf<float>;
-template class Passer::LinearAlgebra::DirectionOf<signed short>;
+template class DirectionOf<signed short>;

Direction.h

@@ -7,7 +7,6 @@
 
 #include "Angle.h"
 
-namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector3;
@@ -22,7 +21,8 @@ struct Vector3;
 /// rotation has been applied.
 /// The angles are automatically normalized to stay within the abovenmentioned
 /// ranges.
-template <typename T> class DirectionOf {
+template <typename T>
+class DirectionOf {
  public:
   /// @brief horizontal angle, range= (-180..180]
   AngleOf<T> horizontal;
@@ -91,8 +91,14 @@ protected:
 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;
+using namespace LinearAlgebra;
 
 #endif

FloatSingle.h

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

Matrix.h

@@ -3,11 +3,11 @@
 
 #include "Vector3.h"
 
-namespace Passer {
 namespace LinearAlgebra {
 
 /// @brief Single precision float matrix
-template <typename T> class MatrixOf {
+template <typename T>
+class MatrixOf {
  public:
   MatrixOf(unsigned int rows, unsigned int cols);
   MatrixOf(unsigned int rows, unsigned int cols, const T* source)
@@ -54,7 +54,8 @@ public:
     }
   }
 
-  static void Multiply(const MatrixOf<T> *m1, const MatrixOf<T> *m2,
+  static void Multiply(const MatrixOf<T>* m1,
+                       const MatrixOf<T>* m2,
                        MatrixOf<T>* r);
   void Multiply(const MatrixOf<T>* m, MatrixOf<T>* r) const {
     Multiply(this, m, r);
@@ -115,7 +116,6 @@ private:
 };
 
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #endif

Polar.cpp

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

Polar.h

@@ -7,15 +7,16 @@
 
 #include "Angle.h"
 
-namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector2;
-template <typename T> class SphericalOf;
+template <typename T>
+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> class PolarOf {
+template <typename T>
+class PolarOf {
  public:
   /// @brief The distance in meters
   /// @remark The distance shall never be negative
@@ -153,8 +154,7 @@ using Polar16 = PolarOf<signed short>;
 // using Polar = PolarSingle;
 
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"
 #include "Vector2.h"

Quaternion.h

@@ -32,7 +32,6 @@ typedef struct Quat {
 } Quat;
 }
 
-namespace Passer {
 namespace LinearAlgebra {
 
 /// <summary>
@@ -157,7 +156,8 @@ public:
   /// <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, const Quaternion &to,
+  static Quaternion RotateTowards(const Quaternion& from,
+                                  const Quaternion& to,
                                   float maxDegreesDelta);
 
   /// <summary>
@@ -191,7 +191,8 @@ public:
   /// <returns>The resulting rotation</returns>
   /// A factor 0 returns rotation1, factor1 returns rotation2.
   static Quaternion Slerp(const Quaternion& rotation1,
-                          const Quaternion &rotation2, float factor);
+                          const Quaternion& rotation2,
+                          float factor);
   /// <summary>
   /// Unclamped sherical lerp between two rotations
   /// </summary>
@@ -202,7 +203,8 @@ public:
   /// 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, float factor);
+                                   const Quaternion& rotation2,
+                                   float factor);
 
   /// <summary>
   /// Create a rotation from euler angles
@@ -260,8 +262,10 @@ public:
   /// <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, Quaternion rotation,
+  static void GetSwingTwist(Vector3 axis,
-                            Quaternion *swing, Quaternion *twist);
+                            Quaternion rotation,
+                            Quaternion* swing,
+                            Quaternion* twist);
 
   /// <summary>
   /// Calculate the dot product of two quaternions
@@ -284,7 +288,6 @@ private:
 };
 
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #endif

Spherical.cpp

@@ -5,13 +5,15 @@
 
 #include <math.h>
 
-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, AngleOf<T> horizontal,
+SphericalOf<T>::SphericalOf(float distance,
+                            AngleOf<T> horizontal,
                             AngleOf<T> vertical) {
   if (distance < 0) {
     this->distance = -distance;
@@ -34,7 +36,8 @@ SphericalOf<T>::SphericalOf(float distance, DirectionOf<T> direction) {
 }
 
 template <typename T>
-SphericalOf<T> SphericalOf<T>::Degrees(float distance, float horizontal,
+SphericalOf<T> SphericalOf<T>::Degrees(float distance,
+                                       float horizontal,
                                        float vertical) {
   AngleOf<T> horizontalAngle = AngleOf<T>::Degrees(horizontal);
   AngleOf<T> verticalAngle = AngleOf<T>::Degrees(vertical);
@@ -43,7 +46,8 @@ SphericalOf<T> SphericalOf<T>::Degrees(float distance, float horizontal,
 }
 
 template <typename T>
-SphericalOf<T> SphericalOf<T>::Radians(float distance, float horizontal,
+SphericalOf<T> SphericalOf<T>::Radians(float distance,
+                                       float horizontal,
                                        float vertical) {
   return SphericalOf<T>(distance, AngleOf<T>::Radians(horizontal),
                         AngleOf<T>::Radians(vertical));
@@ -57,7 +61,8 @@ SphericalOf<T> SphericalOf<T>::FromPolar(PolarOf<T> polar) {
   return r;
 }
 
-template <typename T> SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
+template <typename T>
+SphericalOf<T> SphericalOf<T>::FromVector3(Vector3 v) {
   float distance = v.magnitude();
   if (distance == 0.0f) {
     return SphericalOf(distance, AngleOf<T>(), AngleOf<T>());
@@ -81,7 +86,8 @@ template <typename T> 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> Vector3 SphericalOf<T>::ToVector3() const {
+template <typename T>
+Vector3 SphericalOf<T>::ToVector3() const {
   float verticalRad = (pi / 2) - this->direction.vertical.InRadians();
   float horizontalRad = this->direction.horizontal.InRadians();
 
@@ -126,7 +132,8 @@ SphericalOf<T> SphericalOf<T>::WithDistance(float distance) {
   return v;
 }
 
-template <typename T> SphericalOf<T> SphericalOf<T>::operator-() const {
+template <typename T>
+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));
@@ -209,12 +216,14 @@ SphericalOf<T> SphericalOf<T>::operator+=(const SphericalOf<T> &v) {
   return *this;
 }
 
-template <typename T> SphericalOf<T> SphericalOf<T>::operator*=(float f) {
+template <typename T>
+SphericalOf<T> SphericalOf<T>::operator*=(float f) {
   this->distance *= f;
   return *this;
 }
 
-template <typename T> SphericalOf<T> SphericalOf<T>::operator/=(float f) {
+template <typename T>
+SphericalOf<T> SphericalOf<T>::operator/=(float f) {
   this->distance /= f;
   return *this;
 }
@@ -256,8 +265,8 @@ AngleOf<T> SphericalOf<T>::AngleBetween(const SphericalOf &v1,
 }
 
 template <typename T>
-AngleOf<T> Passer::LinearAlgebra::SphericalOf<T>::SignedAngleBetween(
+AngleOf<T> SphericalOf<T>::SignedAngleBetween(const SphericalOf<T>& v1,
-    const SphericalOf<T> &v1, const SphericalOf<T> &v2,
+                                              const SphericalOf<T>& v2,
                                               const SphericalOf<T>& axis) {
   Vector3 v1_vector = v1.ToVector3();
   Vector3 v2_vector = v2.ToVector3();
@@ -290,5 +299,5 @@ SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T> &v,
   return r;
 }
 
-template class Passer::LinearAlgebra::SphericalOf<float>;
+template class SphericalOf<float>;
-template class Passer::LinearAlgebra::SphericalOf<signed short>;
+template class SphericalOf<signed short>;

Spherical.h

@@ -7,15 +7,16 @@
 
 #include "Direction.h"
 
-namespace Passer {
 namespace LinearAlgebra {
 
 struct Vector3;
-template <typename T> class PolarOf;
+template <typename T>
+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> class SphericalOf {
+template <typename T>
+class SphericalOf {
  public:
   /// @brief The distance in meters
   /// @remark The distance should never be negative
@@ -38,7 +39,8 @@ public:
   /// @param horizontal The horizontal angle in degrees
   /// @param vertical The vertical angle in degrees
   /// @return The spherical vector
-  static SphericalOf<T> Degrees(float distance, float horizontal,
+  static SphericalOf<T> Degrees(float distance,
+                                float horizontal,
                                 float vertical);
   /// @brief Short-hand Deg alias for the Degrees function
   constexpr static auto Deg = Degrees;
@@ -48,7 +50,8 @@ public:
   /// @param horizontal The horizontal angle in radians
   /// @param vertical The vertical angle in radians
   /// @return The spherical vectpr
-  static SphericalOf<T> Radians(float distance, float horizontal,
+  static SphericalOf<T> Radians(float distance,
+                                float horizontal,
                                 float vertical);
   // Short-hand Rad alias for the Radians function
   constexpr static auto Rad = Radians;
@@ -154,7 +157,8 @@ public:
   /// @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, AngleOf<T> horizontalAngle,
+  static SphericalOf<T> Rotate(const SphericalOf& v,
+                               AngleOf<T> horizontalAngle,
                                AngleOf<T> verticalAngle);
   /// @brief Rotate a spherical vector horizontally
   /// @param v The vector to rotate
@@ -180,9 +184,14 @@ 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 LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #include "Polar.h"
 #include "Vector3.h"

SwingTwist.cpp

@@ -164,5 +164,5 @@ void SwingTwistOf<T>::Normalize() {
   }
 }
 
-template class Passer::LinearAlgebra::SwingTwistOf<float>;
+template class SwingTwistOf<float>;
-template class Passer::LinearAlgebra::SwingTwistOf<signed short>;
+template class SwingTwistOf<signed short>;

SwingTwist.h

@@ -10,13 +10,13 @@
 #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> class SwingTwistOf {
+template <typename T>
+class SwingTwistOf {
  public:
   DirectionOf<T> swing;
   AngleOf<T> twist;
@@ -25,7 +25,8 @@ public:
   SwingTwistOf<T>(DirectionOf<T> swing, AngleOf<T> twist);
   SwingTwistOf<T>(AngleOf<T> horizontal, AngleOf<T> vertical, AngleOf<T> twist);
 
-  static SwingTwistOf<T> Degrees(float horizontal, float vertical = 0,
+  static SwingTwistOf<T> Degrees(float horizontal,
+                                 float vertical = 0,
                                  float twist = 0);
 
   Quaternion ToQuaternion() const;
@@ -72,8 +73,13 @@ public:
 using SwingTwistSingle = SwingTwistOf<float>;
 using SwingTwist16 = SwingTwistOf<signed short>;
 
+#if defined(ARDUINO)
+using SwingTwist = SwingTwist16;
+#else
+using SwingTwist = SwingTwistSingle;
+#endif
+
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-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() * Passer::LinearAlgebra::Deg2Rad;
+  float horizontalRad = p.angle.InDegrees() * Deg2Rad;
   float cosHorizontal = cosf(horizontalRad);
   float sinHorizontal = sinf(horizontalRad);
 
@@ -56,9 +56,15 @@ 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 { return (float)sqrtf(x * x + y * y); }
+float Vector2::magnitude() const {
-float Vector2::SqrMagnitude(const Vector2 &v) { return v.x * v.x + v.y * v.y; }
+  return (float)sqrtf(x * x + y * 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);
@@ -77,7 +83,9 @@ Vector2 Vector2::normalized() const {
   return result;
 }
 
-Vector2 Vector2::operator-() { return Vector2(-this->x, -this->y); }
+Vector2 Vector2::operator-() {
+  return Vector2(-this->x, -this->y);
+}
 
 Vector2 Vector2::operator-(const Vector2& v) const {
   return Vector2(this->x - v.x, this->y - v.y);
@@ -148,12 +156,11 @@ 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) * Passer::LinearAlgebra::Rad2Deg;
+  return -(angleTo - angleFrom) * Rad2Deg;
 }
 
-Vector2 Vector2::Rotate(const Vector2 &v,
+Vector2 Vector2::Rotate(const Vector2& v, AngleSingle a) {
-                        Passer::LinearAlgebra::AngleSingle a) {
+  float angleRad = a.InDegrees() * Deg2Rad;
-  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> class PolarOf;
+template <typename T>
+class PolarOf;
 
 /// @brief A 2-dimensional vector
 /// @remark This uses the right=handed carthesian coordinate system.
@@ -188,7 +188,7 @@ public:
   /// @param v The vector to rotate
   /// @param a The angle in degrees to rotate
   /// @return The rotated vector
-  static Vector2 Rotate(const Vector2 &v, Passer::LinearAlgebra::AngleSingle a);
+  static Vector2 Rotate(const Vector2& v, AngleSingle a);
 
   /// @brief Lerp (linear interpolation) between two vectors
   /// @param v1 The starting vector
@@ -202,8 +202,7 @@ public:
 };
 
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #include "Polar.h"
 

Vector3.cpp

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

Vector3.h

@@ -31,10 +31,10 @@ protected:
 } Vec3;
 }
 
-namespace Passer {
 namespace LinearAlgebra {
 
-template <typename T> class SphericalOf;
+template <typename T>
+class SphericalOf;
 
 /// @brief A 3-dimensional vector
 /// @remark This uses a right-handed carthesian coordinate system.
@@ -210,7 +210,8 @@ public:
   /// @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, const Vector3 &v2,
+  static AngleOf<float> SignedAngle(const Vector3& v1,
+                                    const Vector3& v2,
                                     const Vector3& axis);
 
   /// @brief Lerp (linear interpolation) between two vectors
@@ -225,8 +226,7 @@ public:
 };
 
 }  // namespace LinearAlgebra
-} // namespace Passer
+using namespace LinearAlgebra;
-using namespace Passer::LinearAlgebra;
 
 #include "Spherical.h"
 

test/Angle16_test.cc

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

test/Angle8_test.cc

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

test/AngleSingle_test.cc

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