Added namespaces

Accelerometer.h

@@ -2,6 +2,9 @@
 
 #include "Sensor.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A Sensor which can measure the magnetic field
 class Accelerometer : public Sensor {
  public:
@@ -32,3 +35,7 @@ class Accelerometer : public Sensor {
   /// @note the unity (m/s^2, 0..1) depends on the sensor.
   float GetAccelerationMagnitude();
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Activation.h

@@ -3,6 +3,9 @@
 
 #include <math.h>
 
+namespace Passer {
+namespace RoboidControl {
+
 class Activation {
  public:
   static float HeavisideStep(float inputValue, float bias = 0);  // Range: {0,1}
@@ -13,9 +16,18 @@ class Activation {
 
   static float Linear(float inputValue, float bias = 0, float range = 0);
 
-  static float Quadratic(float inputValue, float bias = 0, float range = 0);  // minValue = bias
+  static float Quadratic(float inputValue,
+                         float bias = 0,
+                         float range = 0);  // minValue = bias
 
-  static float ParticleLife(float minValue, float maxValue, float attraction, float inputValue);  // minValue = bias
+  static float ParticleLife(float minValue,
+                            float maxValue,
+                            float attraction,
+                            float inputValue);  // minValue = bias
 };
 
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;
+
 #endif

ControlledMotor.h

@@ -3,6 +3,9 @@
 #include "Encoder.h"
 #include "Motor.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A motor with speed control
 /// It uses a feedback loop from an encoder to regulate the speed
 /// The speed is measured in revolutions per second.
@@ -39,8 +42,7 @@ class ControlledMotor : public Thing {
   float netDistance = 0;
   float startDistance = 0;
 
-  enum Direction { Forward = 1,
+  enum Direction { Forward = 1, Reverse = -1 };
-                   Reverse = -1 };
 
   Direction rotationDirection;
 
@@ -48,3 +50,7 @@ class ControlledMotor : public Thing {
   float targetDistance = 0;
   float lastEncoderPosition = 0;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

DistanceSensor.h

@@ -2,6 +2,9 @@
 
 #include "Sensor.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A Sensor which can measure the distance to the nearest object
 class DistanceSensor : public Sensor {
  public:
@@ -22,3 +25,7 @@ class DistanceSensor : public Sensor {
  protected:
   float distance = 0;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Encoder.h

@@ -1,5 +1,8 @@
 #pragma once
 
+namespace Passer {
+namespace RoboidControl {
+
 class Encoder {
  public:
   Encoder();
@@ -14,3 +17,7 @@ class Encoder {
  protected:
   unsigned char transitionsPerRotation;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Magnetometer.h

@@ -2,16 +2,22 @@
 
 #include "Sensor.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A Sensor which can measure the magnetic field
 class Magnetometer : public Sensor {
  public:
   Magnetometer();
 
-  /// @brief Returns the direction of the magnetic field relative to the forward direction
+  /// @brief Returns the direction of the magnetic field relative to the forward
+  /// direction
   /// @return The direction, negative is to the left, positive is to the right
-  /// @note The actual unit (degrees, radians, -1..1, ...) depends on the sensor.
+  /// @note The actual unit (degrees, radians, -1..1, ...) depends on the
+  /// sensor.
   virtual float GetDirection();
-  /// @brief Returns the inclination of the magnetic field relative to the horizontal plane
+  /// @brief Returns the inclination of the magnetic field relative to the
+  /// horizontal plane
   /// @return The direction, negative is downward, positive is upward
   /// @note The actual unit (degrees, radias, -1..1, ...) depends on the sensor.
   virtual float GetInclination();
@@ -20,4 +26,8 @@ class Magnetometer : public Sensor {
   /// @return The strength. This values should always be positive
   /// @note The actual unit (tesla, 0..1, ...) depends on the sensor.
   virtual unsigned float GetMagnitude();
-}
+};
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Motor.h

@@ -3,6 +3,9 @@
 #include <time.h>
 #include "Thing.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 class Motor : public Thing {
  public:
   Motor();
@@ -23,3 +26,7 @@ class Motor : public Thing {
   float targetDistance = 0;
   time_t startTime = 0;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Perception.h

@@ -1,3 +1,10 @@
 #include "Sensing.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 using Perception = Sensing;
+
+}
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Placement.h

@@ -7,6 +7,9 @@
 #include "Vector2.h"
 #include "Vector3.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 class Placement {
  public:
   Placement();
@@ -22,3 +25,7 @@ class Placement {
   Vector3 direction;
   Thing* thing;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Propulsion.h

@@ -6,6 +6,9 @@
 
 #include <time.h>
 
+namespace Passer {
+namespace RoboidControl {
+
 class Propulsion {
  public:
   /// @brief Setup sensing
@@ -52,3 +55,7 @@ class Propulsion {
   time_t startTime;
   float lastUpdateTime;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Quadcopter.h

@@ -3,6 +3,9 @@
 #include "Thing.h"
 #include "Vector3.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 class Quadcopter : public Thing {
  public:
   Quadcopter();
@@ -24,3 +27,7 @@ class Quadcopter : public Thing {
   float yawSpeed = 0.0F;
   float rollSpeed = 0.0F;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Roboid.cpp

@@ -1,5 +1,6 @@
 #include "Roboid.h"
 #include <Arduino.h>
+
 Roboid::Roboid() {
   this->configuration = nullptr;
   this->thingCount = 0;
@@ -14,7 +15,8 @@ Roboid::Roboid(Placement configuration[], unsigned int thingCount) {
 }
 
 bool Roboid::Drive(Waypoint* waypoint, float currentTimeMs) {
-  bool finished = propulsion.Drive(waypoint->point, waypoint->rotation, currentTimeMs);
+  bool finished =
+      propulsion.Drive(waypoint->point, waypoint->rotation, currentTimeMs);
   return finished;
 }
 

Roboid.h

@@ -5,6 +5,9 @@
 #include "Placement.h"
 #include "Propulsion.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 class Waypoint {
  public:
   Waypoint(float forwardDistance, float rotation) {
@@ -54,3 +57,7 @@ class Roboid {
   Trajectory* trajectory;
   unsigned int waypointIx = 0;
 };
+}  // namespace RoboidControl
+}  // namespace Passer
+
+using namespace Passer::RoboidControl;

Sensing.h

@@ -5,11 +5,12 @@
 
 #include <list>
 
+namespace Passer::RoboidControl {
+
 class DistanceSensor;
 class Switch;
 
-class NewSensorPlacement : public Placement {
+class NewSensorPlacement : public Placement {};
-};
 
 struct SensorPlacement {
   DistanceSensor* distanceSensor;
@@ -38,26 +39,30 @@ class Sensing {
 
   /// @brief Distance to the closest object on the left
   /// @return distance in meters, INFINITY when no object is detected.
-  /// @note An object is on the left when the `angle` is between -180 and 0 degrees.
+  /// @note An object is on the left when the `angle` is between -180 and 0
+  /// degrees.
   /// @note An object dead straight (0 degrees) is not reported.
   float DistanceLeft() { return DistanceLeft(180); }
   /// @brief Distance to the closest object on the left
   /// @param angle the maximum angle on the left used for detection.
   /// @return distance in meters, INFINITY when no object is detected.
-  /// @note An object is on the left when the `angle` is between -`angle` and 0 degrees.
+  /// @note An object is on the left when the `angle` is between -`angle` and 0
+  /// degrees.
   /// @note An object dead straight (0 degrees) is not reported.
   /// @note When an object is beyond `angle` meters, it is not reported.
   float DistanceLeft(float angle);
 
   /// @brief Distance to the closest object on the right
   /// @return distance in meters, INFINITY when no object is detected
-  /// @note An object is on the right when the `angle` is between 0 and 180 degrees
+  /// @note An object is on the right when the `angle` is between 0 and 180
+  /// degrees
   /// @note An object dead straight (0 degrees) is not reported
   float DistanceRight() { return DistanceRight(180); }
   /// @brief Distance to the closest object on the right
   /// @param angle the maximum angle on the left used for detection.
   /// @return distance in meters, INFINITY when no object is detected
-  /// @note An object is on the left when the `angle` is between 0 and `angle` degrees.
+  /// @note An object is on the left when the `angle` is between 0 and `angle`
+  /// degrees.
   /// @note An object dead straight (0 degrees) is not reported.
   /// @note When an object is beyond `angle` meters, it is not reported.
   float DistanceRight(float angle);
@@ -88,3 +93,7 @@ class Sensing {
   float rangeMaximum;
   float* depthMap = nullptr;
 };
+
+}  // namespace Passer::RoboidControl
+
+using namespace Passer::RoboidControl;

Sensor.h

@@ -2,9 +2,16 @@
 
 #include "Thing.h"
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A sensor is a thing which can perform measurements in the environment
 class Sensor : public Thing {
  public:
   Sensor();
   bool isDistanceSensor = false;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

Thing.h

@@ -1,5 +1,8 @@
 #pragma once
 
+namespace Passer {
+namespace RoboidControl {
+
 /// @brief A thing is a functional component on a robot
 class Thing {
  public:
@@ -14,3 +17,7 @@ class Thing {
   // bool isMotor;
   // bool isControlledMotor;
 };
+
+}  // namespace RoboidControl
+}  // namespace Passer
+using namespace Passer::RoboidControl;

VectorAlgebra

@@ -1 +1 @@
-Subproject commit 493a3f748907b4fb7e64177f94b7cb98a951af4c
+Subproject commit 80c89a8232aa77cabaee9f739ef6fdd3e5508260