RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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merge into: RoboidControl:main
Branches Tags
RoboidControl:main
RoboidControl:ESP-IDF
RoboidControl:ControlCore
RoboidControl:Experimental
RoboidControl:subtree
RoboidControl:edition/arduino
RoboidControl:lighthousedeck
RoboidControl:hierarchy-support
RoboidControl:Quadcopter2
RoboidControl:DiscreteAngle
RoboidControl:master
RoboidControl:v0.2.1
RoboidControl:v0.1
RoboidControl:v0.2
...
pull from: RoboidControl:subtree
Branches Tags
RoboidControl:ESP-IDF
RoboidControl:main
RoboidControl:ControlCore
RoboidControl:Experimental
RoboidControl:subtree
RoboidControl:edition/arduino
RoboidControl:lighthousedeck
RoboidControl:hierarchy-support
RoboidControl:Quadcopter2
RoboidControl:DiscreteAngle
RoboidControl:master
RoboidControl:v0.2.1
RoboidControl:v0.1
RoboidControl:v0.2

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3
.gitignore vendored
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doxygen/html
doxygen/DoxyWarnLogfile.txt
build
.vscode
DoxyGen/DoxyWarnLogfile.txt

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.gitlab-ci.yml Normal file
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# This file is a template, and might need editing before it works on your project.
# This is a sample GitLab CI/CD configuration file that should run without any modifications.
# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
# it uses echo commands to simulate the pipeline execution.
#
# A pipeline is composed of independent jobs that run scripts, grouped into stages.
# Stages run in sequential order, but jobs within stages run in parallel.
#
# For more information, see: https://docs.gitlab.com/ee/ci/yaml/index.html#stages
#
# You can copy and paste this template into a new `.gitlab-ci.yml` file.
# You should not add this template to an existing `.gitlab-ci.yml` file by using the `include:` keyword.
#
# To contribute improvements to CI/CD templates, please follow the Development guide at:
# https://docs.gitlab.com/ee/development/cicd/templates.html
# This specific template is located at:
# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
# This file is a template, and might need editing before it works on your project.
# This is a sample GitLab CI/CD configuration file that should run without any modifications.
# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
# it uses echo commands to simulate the pipeline execution.
#
# A pipeline is composed of independent jobs that run scripts, grouped into stages.
# Stages run in sequential order, but jobs within stages run in parallel.
#
# For more information, see: https://docs.gitlab.com/ee/ci/yaml/index.html#stages
#
# You can copy and paste this template into a new `.gitlab-ci.yml` file.
# You should not add this template to an existing `.gitlab-ci.yml` file by using the `include:` keyword.
#
# To contribute improvements to CI/CD templates, please follow the Development guide at:
# https://docs.gitlab.com/ee/development/cicd/templates.html
# This specific template is located at:
# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
variables:
GIT_SUBMODULE_STRATEGY: recursive
default:
image: rikorose/gcc-cmake
stages:
- test
unit-test-job:
stage: test
script:
- mkdir build
- cd build
- cmake ..
- cmake --build .
- export GTEST_OUTPUT="xml:report.xml"
- ls -la
- ls -ls test
- "./test/RoboidControlTest"
artifacts:
when: always
reports:
junit: build/report.xml
sast:
stage: test
include:
- template: Security/SAST.gitlab-ci.yml

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.gitmodules vendored Normal file
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[submodule "float16"]
path = float16
url = ../float16.git

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AbsoluteEncoder.cpp Normal file
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#include "AbsoluteEncoder.h"

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AbsoluteEncoder.h Normal file
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#pragma once
#include "ServoMotor.h"
namespace Passer {
namespace RoboidContol {
class AbsoluteEncoder {
public:
AbsoluteEncoder() {}
virtual Angle16 GetActualAngle() = 0;
virtual float GetActualVelocity() = 0;
};
} // namespace RoboidContol
} // namespace Passer

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Accelerometer.cpp Normal file
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#include "Accelerometer.h"
Accelerometer::Accelerometer() {}
Spherical Accelerometer::GetVector() { return Spherical(); }

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Accelerometer.h Normal file
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#pragma once
#include "LinearAlgebra/Spherical.h"
#include "Sensor.h"
namespace Passer {
namespace RoboidControl {
class Accelerometer : public Sensor {
public:
Accelerometer();
virtual Spherical GetVector();
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

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Activation.cpp Normal file
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#include "Activation.h"
float Activation::HeavisideStep(float inputValue, float bias) {
return (inputValue + bias > 0) ? 1.0F : 0.0F;
}
float Activation::Tanh(float inputValue) {
return (exp(inputValue) - exp(-inputValue)) / (exp(inputValue) + exp(-inputValue));
}
float Activation::Sigmoid(float inputValue) {
return 1 / (1 + expf(-inputValue));
}
float Activation::Linear(float inputValue, float minValue, float range) {
if (inputValue > minValue + range)
return 0;
if (inputValue < minValue)
return 1;
float f = (inputValue - minValue) * (1 / range); // normalize to 1..0
float influence = 1 - f; // invert
return influence;
}
float Activation::Quadratic(float inputValue, float minValue, float range) {
if (inputValue > minValue + range)
return 0;
if (inputValue < minValue)
return 1;
float f = (inputValue - minValue) * (1 / range); // normalize to 1..0
float influence = 1 - (f * f); // quadratic & invert
return influence;
}
float Activation::ParticleLife(float minValue, float maxValue, float attraction, float inputValue) {
if (inputValue < minValue)
return inputValue / minValue - 1;
if (inputValue < maxValue)
return attraction * (1 - fabs(2 * inputValue - minValue - maxValue) / (maxValue - minValue));
return 0;
}

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Activation.h Normal file
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#ifndef RC_ACTIVATION_H
#define RC_ACTIVATION_H
#include <math.h>
namespace Passer {
namespace RoboidControl {
/// @brief Activation function for control
/// @note This is mainly for future use :-)
class Activation {
public:
static float HeavisideStep(float inputValue, float bias = 0); // Range: {0,1}
static float Tanh(float inputValue); // Range: (-1, 1)
static float Sigmoid(float inputValue); // Range: (0, 1)
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 ParticleLife(float minValue, float maxValue, float attraction,
float inputValue); // minValue = bias
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;
#endif

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Arduino/ArduinoParticipant.cpp
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#include "ArduinoParticipant.h"
#if defined(ARDUINO)
#if defined(ARDUINO_ARCH_ESP8266)
#include <ESP8266WiFi.h>
#elif defined(ESP32)
#include <WiFi.h>
#elif defined(UNO_R4)
#include <WiFi.h>
#elif defined(ARDUINO_ARCH_RP2040) // not functional, for future use
#include <WifiNINA.h>
#endif
#endif
namespace RoboidControl {
namespace Arduino {
void LocalParticipant::Setup(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(ARDUINO) && defined(HAS_WIFI)
this->remoteIpAddress = remoteIpAddress;
this->remotePort = remotePort;
GetBroadcastAddress();
#if defined(UNO_R4)
if (WiFi.status() == WL_NO_MODULE) {
std::cout << "No network available!\n";
return;
}
#else
if (WiFi.isConnected() == false) {
std::cout << "No network available!\n";
return;
}
#endif
udp.begin(localPort);
std::cout << "Wifi sync started to port " << this->remotePort << "\n";
#endif
}
void LocalParticipant::GetBroadcastAddress() {
#if defined(ARDUINO) && defined(HAS_WIFI)
IPAddress broadcastAddress = WiFi.localIP();
broadcastAddress[3] = 255;
String broadcastIpString = broadcastAddress.toString();
this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
broadcastIpString.toCharArray(this->broadcastIpAddress,
broadcastIpString.length() + 1);
std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
#endif
}
void LocalParticipant::Receive() {
#if defined(ARDUINO) && defined(HAS_WIFI)
int packetSize = udp.parsePacket();
while (packetSize > 0) {
udp.read(buffer, packetSize);
String senderAddress = udp.remoteIP().toString();
char sender_ipAddress[16];
senderAddress.toCharArray(sender_ipAddress, 16);
unsigned int sender_port = udp.remotePort();
// Participant* remoteParticipant = this->GetParticipant(sender_ipAddress,
// sender_port); if (remoteParticipant == nullptr) {
// remoteParticipant = this->AddParticipant(sender_ipAddress,
// sender_port);
// // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// // << "\n";
// // std::cout << "New remote participant " <<
// remoteParticipant->ipAddress
// // << ":" << remoteParticipant->port << " "
// // << (int)remoteParticipant->networkId << "\n";
// }
// ReceiveData(packetSize, remoteParticipant);
ReceiveData(packetSize, sender_ipAddress, sender_port);
packetSize = udp.parsePacket();
}
#endif
}
bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
#if defined(ARDUINO) && defined(HAS_WIFI)
// std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
// << remoteParticipant->port << "\n";
int n = 0;
do {
if (n > 0) {
std::cout << "Retry sending\n";
delay(10);
}
n++;
udp.beginPacket(remoteParticipant->ipAddress, remoteParticipant->port);
udp.write((unsigned char*)buffer, bufferSize);
} while (udp.endPacket() == 0 && n < 10);
#endif
return true;
}
bool LocalParticipant::Publish(IMessage* msg) {
#if defined(ARDUINO) && defined(HAS_WIFI)
int bufferSize = msg->Serialize((char*)this->buffer);
if (bufferSize <= 0)
return true;
udp.beginPacket(this->broadcastIpAddress, this->remotePort);
udp.write((unsigned char*)buffer, bufferSize);
udp.endPacket();
// std::cout << "Publish to " << this->broadcastIpAddress << ":"
// << this->remotePort << "\n";
#endif
return true;
};
} // namespace Arduino
} // namespace RoboidControl

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Arduino/ArduinoParticipant.h
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#pragma once
#include "../LocalParticipant.h"
#if defined(HAS_WIFI)
#include <WiFiUdp.h>
#endif
namespace RoboidControl {
namespace Arduino {
class LocalParticipant : public RoboidControl::LocalParticipant {
public:
void Setup(int localPort, const char* remoteIpAddress, int remotePort);
void Receive();
bool Send(Participant* remoteParticipant, int bufferSize);
bool Publish(IMessage* msg);
protected:
#if defined(HAS_WIFI)
const char* remoteIpAddress = nullptr;
unsigned short remotePort = 0;
char* broadcastIpAddress = nullptr;
WiFiUDP udp;
#endif
void GetBroadcastAddress();
};
} // namespace Arduino
} // namespace RoboidControl

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Arduino/ArduinoUtils.cpp
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#include "ArduinoUtils.h"
#if defined(ARDUINO)
#include <Arduino.h>
#if defined(ARDUINO_ARCH_ESP8266)
#include <ESP8266WiFi.h>
#include <ESP8266httpUpdate.h>
#include <HTTPClient.h>
#elif defined(ESP32)
#include <HTTPClient.h>
#include <HTTPUpdate.h>
#include <WiFi.h>
#elif defined(UNO_R4)
#include <WiFi.h>
#endif
const char* hotspotSSID = "Roboid";
const char* hotspotPassword = "alchemy7000";
#if ESP32
// Flash storage
#include "Preferences.h"
#define PREFERENCES_NAMESPACE "roboidControl"
Preferences wifiPreferences;
#define STORAGE_KEY_WIFI "rc/wifi"
struct WifiCredentials {
char ssid[32] = "\0";
char password[32] = "\0";
} credentials;
#define STORAGE_KEY_NSS "rc/nss"
struct NssServer {
char ipAddress[16] = "127.0.0.1\0";
unsigned short port = 7681;
} nssServer;
#endif
bool StartWifi(const char* wifiSsid,
const char* wifiPassword,
bool hotspotFallback) {
#if !defined(HAS_WIFI)
return false;
#else
#if defined(UNO_R4) || defined(ARDUINO_ARCH_RP2040)
if (WiFi.status() == WL_NO_MODULE) {
Serial.println("WiFi not present, WiFiSync is disabled");
return false;
}
#endif
#if ESP32
printf("Connecting to WiFi %s\n", wifiSsid);
#else
Serial.print("Connecting to WiFi ");
Serial.println(wifiSsid);
#endif
// Connect to Wifi
WiFi.begin(wifiSsid, wifiPassword);
uint32_t notConnectedCounter = 0;
bool connected = false;
bool hotSpotEnabled = false;
while (WiFi.status() != WL_CONNECTED && !hotSpotEnabled) {
#if ESP32
printf(".");
#else
Serial.print(".");
#endif
delay(500);
notConnectedCounter++;
if (notConnectedCounter > 20 && hotspotFallback) {
#if ESP32
printf("\nCould not connect to home network.\n");
#else
Serial.println();
Serial.println("Could not connect to home network");
#endif
WiFi.disconnect();
if (hotspotFallback) {
#if ESP32
WiFi.mode(WIFI_OFF);
WiFi.mode(WIFI_AP);
IPAddress wifiMyIp(192, 168, 4, 1);
WiFi.softAPConfig(wifiMyIp, wifiMyIp, IPAddress(255, 255, 255, 0));
WiFi.softAP(hotspotSSID, hotspotPassword);
#elif UNO_R4 || ARDUINO_ARCH_RP2040
WiFi.beginAP(hotspotSSID);
#endif
printf("Setup WiFi hotspot...\n");
// printf("ssid = %s, password = %s\n", hotspotSSID, hotspotPassword);
#if ARDUINO_ARCH_RP2040
String ipAddress = WiFi.localIP().toString();
#else
String ipAddress = WiFi.softAPIP().toString();
#endif
char buf[20];
ipAddress.toCharArray(buf, 20);
printf("IP address: %s\n", buf);
hotSpotEnabled = true;
}
}
}
connected = notConnectedCounter <= 20;
if (connected) {
char buf[20];
String ipAddress = WiFi.localIP().toString();
ipAddress.toCharArray(buf, 20);
#if ESP32 || ESP8266
printf("\nWifi connected, IP address: %s\n", buf);
#else
Serial.println();
Serial.println("Wifi connected");
#endif
#if ESP32
printf("Checking credentials in flash\n");
wifiPreferences.begin(PREFERENCES_NAMESPACE);
wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials,
sizeof(credentials));
if (strcmp(wifiSsid, credentials.ssid) != 0 ||
strcmp(wifiPassword, credentials.password) != 0) {
printf("Updating credentials in flash...");
const int ssidLen = strlen(wifiSsid);
if (ssidLen < 32) {
memcpy(credentials.ssid, wifiSsid, ssidLen);
credentials.ssid[ssidLen] = '\0';
}
const int pwdLen = strlen(wifiPassword);
if (pwdLen < 32) {
memcpy(credentials.password, wifiPassword, pwdLen);
credentials.password[pwdLen] = '\0';
}
wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials,
sizeof(credentials));
printf(" completed.\n");
}
wifiPreferences.end();
#endif
}
return (!hotSpotEnabled);
#endif
}
void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
#if !defined(HAS_WIFI)
return;
#else
#if defined(UNO_R4) // Uno R4 Wifi does not support this kind of firmware
// update (as far as I know)
return;
#else
Serial.println("Checking for firmware updates.");
WiFiClient client;
HTTPClient httpClient;
String versionURL = url + FIRMWARE_NAME + ".version";
httpClient.begin(client, versionURL);
int httpCode = httpClient.GET();
if (httpCode == 200) {
String newFWVersion = httpClient.getString();
Serial.print("Current firmware version: ");
Serial.println(FIRMWARE_VERSION);
Serial.print("Available firmware version: ");
Serial.println(newFWVersion);
int newVersion = newFWVersion.toInt();
if (newVersion > FIRMWARE_VERSION) {
Serial.println("Preparing to update firmware.");
String firmwareURL = url + FIRMWARE_NAME + ".bin";
#if defined(ESP32)
t_httpUpdate_return ret = httpUpdate.update(client, firmwareURL);
#else
t_httpUpdate_return ret = ESPhttpUpdate.update(client, firmwareURL);
#endif
switch (ret) {
case HTTP_UPDATE_FAILED:
#if defined(ESP32)
Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
httpUpdate.getLastError(),
httpUpdate.getLastErrorString().c_str());
#else
Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
ESPhttpUpdate.getLastError(),
ESPhttpUpdate.getLastErrorString().c_str());
#endif
break;
case HTTP_UPDATE_NO_UPDATES:
Serial.println("HTTP_UPDATE_NO_UPDATES");
break;
case HTTP_UPDATE_OK:
break;
}
} else {
Serial.println("No Firmware update necessary.");
}
} else {
Serial.print("Http Error: ");
Serial.println(httpCode);
}
#endif
#endif
}
#endif

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Arduino/ArduinoUtils.h
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#pragma once
#if defined(ARDUINO)
#include <Arduino.h>
bool StartWifi(const char *wifiSsid, const char *wifiPassword,
bool hotspotFallback = false);
void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION);
#endif

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Arduino/Things/DRV8833.cpp
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#include "DRV8833.h"
#include <Arduino.h>
namespace RoboidControl {
namespace Arduino {
DRV8833Motor::DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse)
: Thing(participant) {
this->pinIn1 = pinIn1;
this->pinIn2 = pinIn2;
#if (ESP32)
in1Ch = nextAvailablePwmChannel++;
ledcSetup(in1Ch, 500, 8);
ledcAttachPin(pinIn1, in1Ch);
in2Ch = nextAvailablePwmChannel++;
ledcSetup(in2Ch, 500, 8);
ledcAttachPin(pinIn2, in2Ch);
#else
pinMode(pinIn1, OUTPUT); // configure the in1 pin to output mode
pinMode(pinIn2, OUTPUT); // configure the in1 pin to output mode
#endif
this->reverse = reverse;
}
void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
this->maxRpm = rpm;
}
void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
Thing::SetAngularVelocity(velocity);
// ignoring rotation axis for now.
// Spherical angularVelocity = this->GetAngularVelocity();
float angularSpeed = velocity.distance; // in degrees/sec
float rpm = angularSpeed / 360 * 60;
float motorSpeed = rpm / this->maxRpm;
uint8_t motorSignal = (uint8_t)(motorSpeed * 255);
// if (direction == RotationDirection::CounterClockwise)
// speed = -speed;
// Determine the rotation direction
if (velocity.direction.horizontal.InDegrees() < 0)
motorSpeed = -motorSpeed;
if (this->reverse)
motorSpeed = -motorSpeed;
// std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm " << rpm
// << ", motor signal = " << (int)motorSignal << "\n";
#if (ESP32)
if (motorSpeed == 0) { // stop
ledcWrite(in1Ch, 0);
ledcWrite(in2Ch, 0);
} else if (motorSpeed > 0) { // forward
#if FAST_DECAY
ledcWrite(in1Ch, motorSignal);
ledcWrite(in2Ch, 0);
#else
ledcWrite(in1Ch, 255);
ledcWrite(in2Ch, 255 - motorSignal);
#endif
} else { // (motorSpeed < 0) reverse
#if FAST_DECAY
ledcWrite(in1Ch, 0);
ledcWrite(in2Ch, motorSignal);
#else
ledcWrite(in1Ch, 255 - motorSignal);
ledcWrite(in2Ch, 255);
#endif
}
#else // not ESP32
if (motorSpeed == 0) { // stop
analogWrite(pinIn1, 0);
analogWrite(pinIn2, 0);
} else if (motorSpeed > 0) { // forward
#if FAST_DECAY
analogWrite(pinIn1, motorSignal);
analogWrite(pinIn2, 0);
#else
analogWrite(pinIn1, 255);
analogWrite(pinIn2, 255 - motorSignal);
#endif
} else { // (motorSpeed < 0) reverse
#if FAST_DECAY
analogWrite(pinIn1, 0);
analogWrite(pinIn2, motorSignal);
#else
analogWrite(pinIn1, 255 - motorSignal);
analogWrite(pinIn2, 255);
#endif
}
#endif
}
DRV8833::DRV8833(Participant* participant,
unsigned char pinAIn1,
unsigned char pinAIn2,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby,
bool reverseA,
bool reverseB)
: Thing(participant) {
this->pinStandby = pinStandby;
if (pinStandby != 255)
pinMode(pinStandby, OUTPUT);
this->motorA = new DRV8833Motor(participant, pinAIn1, pinAIn2, reverseA);
this->motorA->name = "Motor A";
this->motorB = new DRV8833Motor(participant, pinBIn1, pinBIn2, reverseB);
this->motorB->name = "Motor B";
}
} // namespace Arduino
} // namespace RoboidControl

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Arduino/Things/DRV8833.h
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#pragma once
#include "Thing.h"
#include "Things/DifferentialDrive.h"
namespace RoboidControl {
namespace Arduino {
/// @brief Support for a DRV8833 motor controller
class DRV8833Motor : public Thing {
public:
/// @brief Motor turning direction
enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };
/// @brief Setup the DC motor
/// @param pinIn1 the pin number for the in1 signal
/// @param pinIn2 the pin number for the in2 signal
/// @param direction the forward turning direction of the motor
DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse = false);
void SetMaxRPM(unsigned int rpm);
virtual void SetAngularVelocity(Spherical velocity) override;
bool reverse = false;
protected:
unsigned char pinIn1 = 255;
unsigned char pinIn2 = 255;
unsigned int maxRpm = 200;
};
class DRV8833 : public Thing {
public:
/// @brief Setup a DRV8833 motor controller
/// @param pinAIn1 The pin number connected to the AIn1 port
/// @param pinAIn2 The pin number connected to the AIn2 port
/// @param pinBIn1 The pin number connected to the BIn1 port
/// @param pinBIn2 The pin number connceted to the BIn2 port
/// @param pinStandby The pin number connected to the standby port, 255
/// indicated that the port is not connected
/// @param reverseA The forward turning direction of motor A
/// @param reverseB The forward turning direction of motor B
DRV8833(Participant* participant,
unsigned char pinAIn1,
unsigned char pinAIn2,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby = 255,
bool reverseA = false,
bool reverseB = false);
DRV8833Motor* motorA = nullptr;
DRV8833Motor* motorB = nullptr;
protected:
unsigned char pinStandby = 255;
};
} // namespace Arduino
} // namespace RoboidControl

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Arduino/Things/DigitalInput.cpp
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#include "DigitalInput.h"
#include <Arduino.h>
namespace RoboidControl {
namespace Arduino {
DigitalInput::DigitalInput(Participant* participant, unsigned char pin)
: TouchSensor(participant) {
this->pin = pin;
pinMode(pin, INPUT);
}
void DigitalInput::Update(unsigned long currentTimeMs, bool recursive) {
this->touchedSomething = digitalRead(pin) == LOW;
// std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
// this->touchedSomething << "\n";
Thing::Update(currentTimeMs, recursive);
}
} // namespace Arduino
} // namespace RoboidControl

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Arduino/Things/DigitalInput.h
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#pragma once
#include "Things/TouchSensor.h"
namespace RoboidControl {
namespace Arduino {
/// @brief A digital input represents the stat of a digital GPIO pin
class DigitalInput : public TouchSensor {
public:
/// @brief Create a new digital input
/// @param participant The participant to use
/// @param pin The digital pin
DigitalInput(Participant* participant, unsigned char pin);
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(unsigned long currentTimeMs,
bool recursive = false) override;
protected:
/// @brief The pin used for digital input
unsigned char pin = 0;
};
} // namespace Arduino
} // namespace RoboidControl

68
Arduino/Things/UltrasonicSensor.cpp
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#include "UltrasonicSensor.h"
#include <Arduino.h>
namespace RoboidControl {
namespace Arduino {
UltrasonicSensor::UltrasonicSensor(Participant* participant,
unsigned char pinTrigger,
unsigned char pinEcho)
: TouchSensor(participant) {
this->pinTrigger = pinTrigger;
this->pinEcho = pinEcho;
pinMode(pinTrigger, OUTPUT); // configure the trigger pin to output mode
pinMode(pinEcho, INPUT); // configure the echo pin to input mode
}
float UltrasonicSensor::GetDistance() {
// Start the ultrasonic 'ping'
digitalWrite(pinTrigger, LOW);
delayMicroseconds(5);
digitalWrite(pinTrigger, HIGH);
delayMicroseconds(10);
digitalWrite(pinTrigger, LOW);
// Measure the duration of the pulse on the echo pin
float duration_us =
pulseIn(pinEcho, HIGH, 100000); // the result is in microseconds
// Calculate the distance:
// * Duration should be divided by 2, because the ping goes to the object
// and back again. The distance to the object is therefore half the duration
// of the pulse: duration_us /= 2;
// * Then we need to convert from microseconds to seconds: duration_sec =
// duration_us / 1000000;
// * Now we calculate the distance based on the speed of sound (340 m/s):
// distance = duration_sec * 340;
// * The result calculation is therefore:
this->distance = duration_us / 2 / 1000000 * 340;
// Filter faulty measurements. The sensor can often give values > 30 m which
// are not correct
// if (distance > 30)
// distance = 0;
this->touchedSomething |= (this->distance <= this->touchDistance);
// std::cout << "Ultrasonic " << this->distance << " " <<
// this->touchedSomething << "\n";
return distance;
}
void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
this->touchedSomething = false;
GetDistance();
Thing::Update(currentTimeMs, recursive);
}
// void UltrasonicSensor::ProcessBinary(char* bytes) {
// this->touchedSomething = (bytes[0] == 1);
// if (this->touchedSomething)
// std::cout << "Touching something!\n";
// }
} // namespace Arduino
} // namespace RoboidControl

45
Arduino/Things/UltrasonicSensor.h
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#pragma once
#include "Things/TouchSensor.h"
namespace RoboidControl {
namespace Arduino {
/// @brief An HC-SR04 ultrasonic distance sensor
class UltrasonicSensor : public TouchSensor {
public:
/// @brief Setup an ultrasonic sensor
/// @param participant The participant to use
/// @param pinTrigger The pin number of the trigger signal
/// @param pinEcho The pin number of the echo signal
UltrasonicSensor(Participant* participant,
unsigned char pinTrigger,
unsigned char pinEcho);
// parameters
/// @brief The distance at which the object is considered to be touched
float touchDistance = 0.2f;
// state
/// @brief The last read distance
float distance = 0;
/// @brief erform an ultrasonic 'ping' to determine the distance to the
/// nearest object
/// @return the measured distance in meters to the nearest object
float GetDistance();
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
virtual void Update(unsigned long currentTimeMs,
bool recursive = false) override;
protected:
/// @brief The pin number of the trigger signal
unsigned char pinTrigger = 0;
/// @brief The pin number of the echo signal
unsigned char pinEcho = 0;
};
} // namespace Arduino
} // namespace RoboidControl

95
CMakeLists.txt
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@ -1,58 +1,59 @@
cmake_minimum_required(VERSION 3.13) # CMake version check
if(ESP_PLATFORM)
idf_component_register(
SRC_DIRS "."
INCLUDE_DIRS "."
)
else()
project(RoboidControl)
add_subdirectory(LinearAlgebra)
add_subdirectory(Examples)
set(CMAKE_CXX_STANDARD 17) # Enable c++11 standard
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
add_compile_definitions(GTEST)
include(FetchContent)
FetchContent_Declare(
googletest
DOWNLOAD_EXTRACT_TIMESTAMP ON
URL https://github.com/google/googletest/archive/refs/heads/main.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)
include_directories(
set(sourcedirs
.
LinearAlgebra
)
file(GLOB srcs
*.cpp
Things/*.cpp
Messages/*.cpp
Arduino/*.cpp
Posix/*.cpp
Windows/*.cpp
)
add_library(RoboidControl STATIC ${srcs})
enable_testing()
file(GLOB_RECURSE test_srcs test/*_test.cc)
add_executable(
RoboidControlTest
${test_srcs}
)
target_link_libraries(
RoboidControlTest
gtest_main
RoboidControl
set(includedirs
.
LinearAlgebra
)
include(GoogleTest)
gtest_discover_tests(RoboidControlTest)
idf_component_register(
SRC_DIRS ${sourcedirs}
INCLUDE_DIRS ${includedirs}
REQUIRES arduino
)
endif()
project(RoboidControl)
add_subdirectory(LinearAlgebra)
add_subdirectory(test)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
add_compile_definitions(GTEST)
include(FetchContent)
FetchContent_Declare(
googletest
URL https://github.com/google/googletest/archive/refs/heads/main.zip
)
# For Windows: Prevent overriding the parent project's compiler/linker settings
set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(googletest)
include_directories(
.
LinearAlgebra
)
add_library(RoboidControl STATIC
"Roboid.cpp"
"Perception.cpp"
"TrackedObject.cpp"
"Propulsion.cpp"
"Motor.cpp"
"DifferentialDrive.cpp"
"DistanceSensor.cpp"
"Sensor.cpp"
"Switch.cpp"
"Thing.cpp"
"Quadcopter.cpp"
)
enable_testing()
include(GoogleTest)

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ControlledMotor.cpp Normal file
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#include "ControlledMotor.h"
ControlledMotor::ControlledMotor() { this->type = Thing::ControlledMotorType; }
ControlledMotor::ControlledMotor(Motor *motor, Encoder *encoder)
: ControlledMotor() {
this->motor = motor;
this->encoder = encoder;
// this->rotationDirection = Direction::Forward;
}
#include <Arduino.h>
void ControlledMotor::SetTargetSpeed(float speed) {
this->currentTargetSpeed = speed;
// this->rotationDirection =
// (targetSpeed < 0) ? Direction::Reverse : Direction::Forward;
// this->direction = (targetSpeed < 0) ? Motor::Direction::CounterClockwise
// : Motor::Direction::Clockwise;
}
void ControlledMotor::Update(unsigned long currentTimeMs) {
this->actualSpeed = encoder->GetRevolutionsPerSecond(currentTimeMs);
if (this->currentTargetSpeed < 0)
this->actualSpeed = -this->actualSpeed;
float deltaTime = currentTimeMs - this->lastUpdateTime;
float error = this->currentTargetSpeed - this->actualSpeed;
float errorChange = (error - lastError) * deltaTime;
float delta = error * pidP + errorChange * pidD;
Serial.print(" actual Speed ");
Serial.print(actualSpeed);
Serial.print(" target Speed ");
Serial.print(this->currentTargetSpeed);
Serial.print(" motor target speed ");
Serial.print(motor->currentTargetSpeed);
Serial.print(" + ");
Serial.print(error * pidP);
Serial.print(" + ");
Serial.print(errorChange * pidD);
Serial.print(" = ");
Serial.println(motor->currentTargetSpeed + delta);
motor->SetTargetSpeed(motor->currentTargetSpeed +
delta); // or something like that
this->lastUpdateTime = currentTimeMs;
}
float ControlledMotor::GetActualSpeed() { return actualSpeed; }
bool ControlledMotor::Drive(float distance) {
if (!driving) {
targetDistance = distance;
startDistance = encoder->GetDistance();
driving = true;
}
float totalDistance = encoder->GetDistance() - startDistance;
bool completed = totalDistance > targetDistance;
return completed;
}

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ControlledMotor.h Normal file
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#pragma once
#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.
class ControlledMotor : public Motor {
public:
ControlledMotor();
ControlledMotor(Motor *motor, Encoder *encoder);
inline static bool CheckType(Thing *thing) {
return (thing->type & (int)Thing::Type::ControlledMotor) != 0;
}
float velocity;
float pidP = 0.1F;
float pidD = 0.0F;
float pidI = 0.0F;
void Update(unsigned long currentTimeMs) override;
/// @brief Set the target speed for the motor controller
/// @param speed the target in revolutions per second.
virtual void SetTargetSpeed(float speed) override;
/// @brief Get the actual speed from the encoder
/// @return The speed in revolutions per second
virtual float GetActualSpeed() override;
bool Drive(float distance);
Motor *motor;
Encoder *encoder;
protected:
float lastUpdateTime = 0;
float lastError = 0;
// float targetSpeed;
float actualSpeed;
float netDistance = 0;
float startDistance = 0;
// enum Direction { Forward = 1, Reverse = -1 };
// Direction rotationDirection;
bool driving = false;
float targetDistance = 0;
float lastEncoderPosition = 0;
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

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DifferentialDrive.cpp Normal file
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#include "DifferentialDrive.h"
#include "LinearAlgebra/Angle.h"
#include "LinearAlgebra/FloatSingle.h"
#include <math.h>
DifferentialDrive::DifferentialDrive() {};
DifferentialDrive::DifferentialDrive(Motor* leftMotor, Motor* rightMotor) {
this->motorCount = 2;
this->motors = new Motor*[2];
this->motors[0] = leftMotor;
this->motors[1] = rightMotor;
float distance = this->wheelSeparation / 2;
leftMotor->direction = Motor::Direction::CounterClockwise;
leftMotor->position.horizontal = -90;
leftMotor->position.distance = distance;
rightMotor->direction = Motor::Direction::Clockwise;
rightMotor->position.horizontal = 90;
rightMotor->position.distance = distance;
}
void DifferentialDrive::SetDimensions(float wheelDiameter,
float wheelSeparation) {
this->wheelDiameter = wheelDiameter;
this->wheelSeparation = wheelSeparation;
this->rpsToMs = wheelDiameter * Passer::LinearAlgebra::pi;
float distance = this->wheelSeparation / 2;
this->motors[0]->position.distance = distance;
this->motors[1]->position.distance = distance;
}
void DifferentialDrive::SetMotorTargetSpeeds(float leftSpeed,
float rightSpeed) {
for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
Motor* motor = motors[motorIx];
if (motor == nullptr)
continue;
float xPosition = motors[motorIx]->position.horizontal.ToFloat();
if (xPosition < 0)
motor->SetTargetSpeed(leftSpeed);
else if (xPosition > 0)
motor->SetTargetSpeed(rightSpeed);
};
}
void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
float leftSpeed =
Float::Clamp(forward + yaw, -1, 1); // revolutions per second
float rightSpeed =
Float::Clamp(forward - yaw, -1, 1); // revolutions per second
float leftMotorSpeed = leftSpeed / rpsToMs; // meters per second
float rightMotorSpeed = rightSpeed / rpsToMs; // meters per second
SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
}
void DifferentialDrive::SetTwistSpeed(Vector2 linear, float yaw) {
SetTwistSpeed(linear.y, yaw);
}
void DifferentialDrive::SetTwistSpeed(Vector3 linear,
float yaw,
float pitch,
float roll) {
SetTwistSpeed(linear.Forward(), yaw);
}
void DifferentialDrive::SetVelocity(Polar velocity) {
SetTwistSpeed(velocity.distance, velocity.angle.ToFloat());
}
Polar DifferentialDrive::GetVelocity() {
Motor* leftMotor = motors[0];
Motor* rightMotor = motors[1];
float leftSpeed = leftMotor->GetActualSpeed(); // in revolutions per second
float rightSpeed = rightMotor->GetActualSpeed(); // in revolutions per second
leftSpeed = leftSpeed * rpsToMs; // in meters per second
rightSpeed = rightSpeed * rpsToMs; // in meters per second
float speed = (leftSpeed + rightSpeed) / 2;
float direction = speed >= 0 ? 0.0F : 180.0F;
float magnitude = fabsf(speed);
Polar velocity = Polar(magnitude, direction); // Polar(direction, magnitude);
return velocity;
}
float DifferentialDrive::GetAngularVelocity() {
Motor* leftMotor = motors[0];
Motor* rightMotor = motors[1];
float leftSpeed = leftMotor->GetActualSpeed(); // in revolutions per second
float rightSpeed = rightMotor->GetActualSpeed(); // in revolutions per second
leftSpeed = leftSpeed * rpsToMs; // in meters per second
rightSpeed = rightSpeed * rpsToMs; // in meters per second
float angularSpeed = (leftSpeed - rightSpeed) / 2;
float angularDistance = wheelSeparation / 2 * Passer::LinearAlgebra::pi;
float rotationsPerSecond = angularSpeed / angularDistance;
float degreesPerSecond = Angle::Normalize(360 * rotationsPerSecond).ToFloat();
float angularVelocity = degreesPerSecond;
return angularVelocity;
}

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#pragma once
#include "Propulsion.h"
namespace Passer {
namespace RoboidControl {
/// @brief A two-wheeled Propulsion method
///
/// The wheels are put at either side of the roboid with the following behaviour
/// * When both wheels spin forward, the Roboid moves forward
/// * When both wheels spin backward, the Roboid moves backward
/// * When both wheels are spinning in opposite directions, the Roboid rotates
/// wihout moving forward or backward
/// * When just one wheel is spinning, the Roboid turnes while moving forward or
/// backward.
class DifferentialDrive : public Propulsion {
public:
/// @brief Default constructor
DifferentialDrive();
/// @brief Setup of the DifferentialDrive with the Placement of the motors
/// @param leftMotorPlacement Placement of the left Motor
/// @param rightMotorPlacement Placement of the right Motor
/// In this setup, the left motor Direction will be CounterClockWise when
/// driving forward, while the right motor will turn Clockwise.
/// @note When not using controlled motors, the placement of the motors is
/// irrelevant.
// DifferentialDrive(Placement leftMotorPlacement,
// Placement rightMotorPlacement);
DifferentialDrive(Motor *leftMotor, Motor *rightMotor);
void SetDimensions(float wheelDiameter, float wheelSeparation);
/// @brief Set the target speeds of the motors directly
/// @param leftSpeed The target speed of the left Motor
/// @param rightSpeed The target speed of the right Motor
void SetMotorTargetSpeeds(float leftSpeed, float rightSpeed);
/// @brief Controls the motors through forward and rotation speeds
/// @param forward The target forward speed of the Roboid
/// @param yaw The target rotation speed of the Roboid
virtual void SetTwistSpeed(float forward, float yaw) override;
/// @brief Controls the motors through forward and rotation speeds
/// @param linear The target linear speed of the Roboid
/// @param yaw The target rotation speed of the Roboid
/// @note As a DifferentialDrive cannot move sideward, this function has the
/// same effect as using the void SetTwistSpeed(float forward, float yaw)
/// function.
virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
/// @brief Controls the motors through forward and rotation speeds
/// @param linear The target linear speed
/// @param yaw The target rotation speed around the vertical axis
/// @param pitch Pitch is not supported and is ignored
/// @param roll Roll is not supported and is ignores
/// @note As a DifferentialDrive cannot move sideward or vertical, this
/// function has the same effect as using the void SetTwistSpeed(float
/// forward, float yaw) function.
virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
float pitch = 0.0F, float roll = 0.0F);
virtual void SetVelocity(Polar velocity);
/// @brief Calculate the linear velocity of the roboid based on the wheel
/// velocities
/// @return The velocity of the roboid in local space
/// @details The actual values may not be accurate, depending on the available
/// information
/// @remark This will be more expanded/detailed in a future version of Roboid
/// Control
virtual Polar GetVelocity() override;
/// @brief Calculate the angular velocity of the roboid based on the wheel
/// velocities
/// @return The angular speed of the roboid in local space
/// @details The actual value may not be accurate, depending on the available
/// information
/// @remark This will be more expanded/detailed in a future version of Roboid
/// Control
virtual float GetAngularVelocity() override;
protected:
float wheelDiameter = 1.0F; // in meters
float wheelSeparation = 1.0F; // in meters;
float rpsToMs = 1.0F; // convert revolutions per second to meters per second
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

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DistanceSensor.cpp Normal file
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#include "DistanceSensor.h"
#include <math.h>
DistanceSensor::DistanceSensor() {
this->type = Thing::DistanceSensorType;
this->distance = INFINITY;
this->triggerDistance = 1.0F;
}
DistanceSensor::DistanceSensor(float triggerDistance) : DistanceSensor() {
this->triggerDistance = triggerDistance;
}
float DistanceSensor::GetDistance() {
if (distance < minRange || distance > maxRange)
return -1; // invalid distance
return distance;
};
bool DistanceSensor::ObjectNearby() {
if (distance < minRange || distance > maxRange)
return false;
bool isOn = distance <= triggerDistance;
return isOn;
}

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DistanceSensor.h Normal file
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#pragma once
#include "Sensor.h"
namespace Passer {
namespace RoboidControl {
/// @brief A Sensor which can measure the distance to the nearest object
class DistanceSensor : public Sensor {
public:
/// @brief Default constructor
DistanceSensor();
/// @brief Creates a DistanceSensor with the given trigger distance
/// @param triggerDistance The distance at which the sensors indicates that a
/// object is close by
DistanceSensor(float triggerDistance);
/// @brief Determine the distance to the nearest object
/// @return the measured distance in meters to the nearest object
virtual float GetDistance();
/// @brief The minimum range at which the sensor gives reliable measurements
float minRange = 0.01F;
/// @brief The maximum range at which the sensor gives reliable measurements
float maxRange = 10.0F;
/// @brief The distance at which ObjectNearby triggers
float triggerDistance = 1;
/// @brief Indicate that an object is nearby
/// @return True when an object is nearby
bool ObjectNearby();
protected:
/// @brief Distance to the closest object
float distance = 0;
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

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DoxyGen/DoxygenLayout.xml
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/*
#include "Encoder.h"
IncrementalEncoder::IncrementalEncoder(unsigned char pulsesPerRevolution,
unsigned char distancePerRotation) {
this->pulsesPerRevolution = pulsesPerRevolution;
this->distancePerRevolution = distancePerRotation;
}
int IncrementalEncoder::GetPulseCount() { return 0; }
float IncrementalEncoder::GetDistance() { return 0; }
float IncrementalEncoder::GetPulsesPerSecond(float currentTimeMs) { return 0; }
float IncrementalEncoder::GetRevolutionsPerSecond(float currentTimeMs) {
return 0;
}
float IncrementalEncoder::GetSpeed(float currentTimeMs) { return 0; }
*/

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#pragma once
#include "IncrementalEncoder.h"
namespace Passer {
namespace RoboidControl {
// Deprecated, use explicit IncrementalEncoder in the future
using Encoder = IncrementalEncoder;
/*
/// @brief An Encoder measures the rotations of an axle using a rotary
/// sensor Some encoders are able to detect direction, while others can not.
class IncrementalEncoder {
public:
/// @brief Creates a sensor which measures distance from pulses
/// @param pulsesPerRevolution The number of pulse edges which make a
/// full rotation
/// @param distancePerRevolution The distance a wheel travels per full
/// rotation
IncrementalEncoder(unsigned char pulsesPerRevolution = 1,
unsigned char distancePerRevolution = 1);
/// @brief Get the total number of pulses since the previous call
/// @return The number of pulses, is zero or greater
virtual int GetPulseCount();
/// @brief Get the pulse speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The average pulses per second in the last period.
virtual float GetPulsesPerSecond(float currentTimeMs);
/// @brief Get the distance traveled since the previous call
/// @return The distance in meters.
virtual float GetDistance();
/// @brief Get the rotation speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The speed in rotations per second
virtual float GetRevolutionsPerSecond(float currentTimeMs);
/// @brief Get the speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The speed in meters per second.
/// @note this value is dependent on the accurate setting of the
/// pulsesPerRevolution and distancePerRevolution parameters;
virtual float GetSpeed(float currentTimeMs);
/// @brief The numer of pulses corresponding to a full rotation of the axle
unsigned char pulsesPerRevolution = 1;
/// @brief The number of revolutions which makes the wheel move forward 1
/// meter
unsigned char distancePerRevolution = 1;
};
*/
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

50
Examples/BB2B.cpp
View File

@ -1,50 +0,0 @@
#include "Thing.h"
#include "Things/DifferentialDrive.h"
#include "Things/TouchSensor.h"
#if defined(ARDUINO)
#include "Arduino.h"
#else
#include <chrono>
#include <thread>
using namespace std::this_thread;
using namespace std::chrono;
#endif
using namespace RoboidControl;
int main() {
// The robot's propulsion is a differential drive
DifferentialDrive* bb2b = new DifferentialDrive();
// Is has a touch sensor at the front left of the roboid
TouchSensor* touchLeft = new TouchSensor(bb2b);
// and other one on the right
TouchSensor* touchRight = new TouchSensor(bb2b);
// Do forever:
while (true) {
// The left wheel turns forward when nothing is touched on the right side
// and turn backward when the roboid hits something on the right
float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
// The right wheel does the same, but instead is controlled by
// touches on the left side
float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
// When both sides are touching something, both wheels will turn backward
// and the roboid will move backwards
bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
// Update the roboid state
bb2b->Update(true);
// and sleep for 100ms
#if defined(ARDUINO)
delay(100);
#else
sleep_for(milliseconds(100));
#endif
}
return 0;
}

25
Examples/CMakeLists.txt
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@ -1,25 +0,0 @@
# examples/CMakeLists.txt
# Specify the minimum CMake version
cmake_minimum_required(VERSION 3.10)
# Specify the path to the main project directory
set(MAIN_PROJECT_DIR "${CMAKE_SOURCE_DIR}/..")
# Set the project name
project(Examples)
include_directories(..)
# Add the executable for the main project
#add_executable(MainExecutable ${SOURCES})
# Find the main project library (assuming it's defined in the root CMakeLists.txt)
#find_package(RoboidControl REQUIRED) # Replace MyLibrary with your actual library name
# Add example executables
add_executable(BB2B BB2B.cpp)
target_link_libraries(
BB2B
RoboidControl
LinearAlgebra
)

19
IncrementalEncoder.cpp Normal file
View File

@ -0,0 +1,19 @@
#include "Encoder.h"
IncrementalEncoder::IncrementalEncoder(unsigned char pulsesPerRevolution,
unsigned char distancePerRotation) {
this->pulsesPerRevolution = pulsesPerRevolution;
this->distancePerRevolution = distancePerRotation;
}
int IncrementalEncoder::GetPulseCount() { return 0; }
float IncrementalEncoder::GetDistance() { return 0; }
float IncrementalEncoder::GetPulsesPerSecond(float currentTimeMs) { return 0; }
float IncrementalEncoder::GetRevolutionsPerSecond(float currentTimeMs) {
return 0;
}
float IncrementalEncoder::GetSpeed(float currentTimeMs) { return 0; }

51
IncrementalEncoder.h Normal file
View File

@ -0,0 +1,51 @@
#pragma once
namespace Passer {
namespace RoboidControl {
/// @brief An Encoder measures the rotations of an axle using a rotary
/// sensor Some encoders are able to detect direction, while others can not.
class IncrementalEncoder {
public:
/// @brief Creates a sensor which measures distance from pulses
/// @param pulsesPerRevolution The number of pulse edges which make a
/// full rotation
/// @param distancePerRevolution The distance a wheel travels per full
/// rotation
IncrementalEncoder(unsigned char pulsesPerRevolution = 1,
unsigned char distancePerRevolution = 1);
/// @brief Get the total number of pulses since the previous call
/// @return The number of pulses, is zero or greater
virtual int GetPulseCount();
/// @brief Get the pulse speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The average pulses per second in the last period.
virtual float GetPulsesPerSecond(float currentTimeMs);
/// @brief Get the distance traveled since the previous call
/// @return The distance in meters.
virtual float GetDistance();
/// @brief Get the rotation speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The speed in rotations per second
virtual float GetRevolutionsPerSecond(float currentTimeMs);
/// @brief Get the speed since the previous call
/// @param currentTimeMs The clock time in milliseconds
/// @return The speed in meters per second.
/// @note this value is dependent on the accurate setting of the
/// pulsesPerRevolution and distancePerRevolution parameters;
virtual float GetSpeed(float currentTimeMs);
/// @brief The numer of pulses corresponding to a full rotation of the axle
unsigned char pulsesPerRevolution = 1;
/// @brief The number of revolutions which makes the wheel move forward 1
/// meter
unsigned char distancePerRevolution = 1;
};
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;

373
LICENSE Normal file
View File

@ -0,0 +1,373 @@
Mozilla Public License Version 2.0
==================================
1. Definitions
--------------
1.1. "Contributor"
means each individual or legal entity that creates, contributes to
the creation of, or owns Covered Software.
1.2. "Contributor Version"
means the combination of the Contributions of others (if any) used
by a Contributor and that particular Contributor's Contribution.
1.3. "Contribution"
means Covered Software of a particular Contributor.
1.4. "Covered Software"
means Source Code Form to which the initial Contributor has attached
the notice in Exhibit A, the Executable Form of such Source Code
Form, and Modifications of such Source Code Form, in each case
including portions thereof.
1.5. "Incompatible With Secondary Licenses"
means
(a) that the initial Contributor has attached the notice described
in Exhibit B to the Covered Software; or
(b) that the Covered Software was made available under the terms of
version 1.1 or earlier of the License, but not also under the
terms of a Secondary License.
1.6. "Executable Form"
means any form of the work other than Source Code Form.
1.7. "Larger Work"
means a work that combines Covered Software with other material, in
a separate file or files, that is not Covered Software.
1.8. "License"
means this document.
1.9. "Licensable"
means having the right to grant, to the maximum extent possible,
whether at the time of the initial grant or subsequently, any and
all of the rights conveyed by this License.
1.10. "Modifications"
means any of the following:
(a) any file in Source Code Form that results from an addition to,
deletion from, or modification of the contents of Covered
Software; or
(b) any new file in Source Code Form that contains any Covered
Software.
1.11. "Patent Claims" of a Contributor
means any patent claim(s), including without limitation, method,
process, and apparatus claims, in any patent Licensable by such
Contributor that would be infringed, but for the grant of the
License, by the making, using, selling, offering for sale, having
made, import, or transfer of either its Contributions or its
Contributor Version.
1.12. "Secondary License"
means either the GNU General Public License, Version 2.0, the GNU
Lesser General Public License, Version 2.1, the GNU Affero General
Public License, Version 3.0, or any later versions of those
licenses.
1.13. "Source Code Form"
means the form of the work preferred for making modifications.
1.14. "You" (or "Your")
means an individual or a legal entity exercising rights under this
License. For legal entities, "You" includes any entity that
controls, is controlled by, or is under common control with You. For
purposes of this definition, "control" means (a) the power, direct
or indirect, to cause the direction or management of such entity,
whether by contract or otherwise, or (b) ownership of more than
fifty percent (50%) of the outstanding shares or beneficial
ownership of such entity.
2. License Grants and Conditions
--------------------------------
2.1. Grants
Each Contributor hereby grants You a world-wide, royalty-free,
non-exclusive license:
(a) under intellectual property rights (other than patent or trademark)
Licensable by such Contributor to use, reproduce, make available,
modify, display, perform, distribute, and otherwise exploit its
Contributions, either on an unmodified basis, with Modifications, or
as part of a Larger Work; and
(b) under Patent Claims of such Contributor to make, use, sell, offer
for sale, have made, import, and otherwise transfer either its
Contributions or its Contributor Version.
2.2. Effective Date
The licenses granted in Section 2.1 with respect to any Contribution
become effective for each Contribution on the date the Contributor first
distributes such Contribution.
2.3. Limitations on Grant Scope
The licenses granted in this Section 2 are the only rights granted under
this License. No additional rights or licenses will be implied from the
distribution or licensing of Covered Software under this License.
Notwithstanding Section 2.1(b) above, no patent license is granted by a
Contributor:
(a) for any code that a Contributor has removed from Covered Software;
or
(b) for infringements caused by: (i) Your and any other third party's
modifications of Covered Software, or (ii) the combination of its
Contributions with other software (except as part of its Contributor
Version); or
(c) under Patent Claims infringed by Covered Software in the absence of
its Contributions.
This License does not grant any rights in the trademarks, service marks,
or logos of any Contributor (except as may be necessary to comply with
the notice requirements in Section 3.4).
2.4. Subsequent Licenses
No Contributor makes additional grants as a result of Your choice to
distribute the Covered Software under a subsequent version of this
License (see Section 10.2) or under the terms of a Secondary License (if
permitted under the terms of Section 3.3).
2.5. Representation
Each Contributor represents that the Contributor believes its
Contributions are its original creation(s) or it has sufficient rights
to grant the rights to its Contributions conveyed by this License.
2.6. Fair Use
This License is not intended to limit any rights You have under
applicable copyright doctrines of fair use, fair dealing, or other
equivalents.
2.7. Conditions
Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
in Section 2.1.
3. Responsibilities
-------------------
3.1. Distribution of Source Form
All distribution of Covered Software in Source Code Form, including any
Modifications that You create or to which You contribute, must be under
the terms of this License. You must inform recipients that the Source
Code Form of the Covered Software is governed by the terms of this
License, and how they can obtain a copy of this License. You may not
attempt to alter or restrict the recipients' rights in the Source Code
Form.
3.2. Distribution of Executable Form
If You distribute Covered Software in Executable Form then:
(a) such Covered Software must also be made available in Source Code
Form, as described in Section 3.1, and You must inform recipients of
the Executable Form how they can obtain a copy of such Source Code
Form by reasonable means in a timely manner, at a charge no more
than the cost of distribution to the recipient; and
(b) You may distribute such Executable Form under the terms of this
License, or sublicense it under different terms, provided that the
license for the Executable Form does not attempt to limit or alter
the recipients' rights in the Source Code Form under this License.
3.3. Distribution of a Larger Work
You may create and distribute a Larger Work under terms of Your choice,
provided that You also comply with the requirements of this License for
the Covered Software. If the Larger Work is a combination of Covered
Software with a work governed by one or more Secondary Licenses, and the
Covered Software is not Incompatible With Secondary Licenses, this
License permits You to additionally distribute such Covered Software
under the terms of such Secondary License(s), so that the recipient of
the Larger Work may, at their option, further distribute the Covered
Software under the terms of either this License or such Secondary
License(s).
3.4. Notices
You may not remove or alter the substance of any license notices
(including copyright notices, patent notices, disclaimers of warranty,
or limitations of liability) contained within the Source Code Form of
the Covered Software, except that You may alter any license notices to
the extent required to remedy known factual inaccuracies.
3.5. Application of Additional Terms
You may choose to offer, and to charge a fee for, warranty, support,
indemnity or liability obligations to one or more recipients of Covered
Software. However, You may do so only on Your own behalf, and not on
behalf of any Contributor. You must make it absolutely clear that any
such warranty, support, indemnity, or liability obligation is offered by
You alone, and You hereby agree to indemnify every Contributor for any
liability incurred by such Contributor as a result of warranty, support,
indemnity or liability terms You offer. You may include additional
disclaimers of warranty and limitations of liability specific to any
jurisdiction.
4. Inability to Comply Due to Statute or Regulation
---------------------------------------------------
If it is impossible for You to comply with any of the terms of this
License with respect to some or all of the Covered Software due to
statute, judicial order, or regulation then You must: (a) comply with
the terms of this License to the maximum extent possible; and (b)
describe the limitations and the code they affect. Such description must
be placed in a text file included with all distributions of the Covered
Software under this License. Except to the extent prohibited by statute
or regulation, such description must be sufficiently detailed for a
recipient of ordinary skill to be able to understand it.
5. Termination
--------------
5.1. The rights granted under this License will terminate automatically
if You fail to comply with any of its terms. However, if You become
compliant, then the rights granted under this License from a particular
Contributor are reinstated (a) provisionally, unless and until such
Contributor explicitly and finally terminates Your grants, and (b) on an
ongoing basis, if such Contributor fails to notify You of the
non-compliance by some reasonable means prior to 60 days after You have
come back into compliance. Moreover, Your grants from a particular
Contributor are reinstated on an ongoing basis if such Contributor
notifies You of the non-compliance by some reasonable means, this is the
first time You have received notice of non-compliance with this License
from such Contributor, and You become compliant prior to 30 days after
Your receipt of the notice.
5.2. If You initiate litigation against any entity by asserting a patent
infringement claim (excluding declaratory judgment actions,
counter-claims, and cross-claims) alleging that a Contributor Version
directly or indirectly infringes any patent, then the rights granted to
You by any and all Contributors for the Covered Software under Section
2.1 of this License shall terminate.
5.3. In the event of termination under Sections 5.1 or 5.2 above, all
end user license agreements (excluding distributors and resellers) which
have been validly granted by You or Your distributors under this License
prior to termination shall survive termination.
************************************************************************
* *
* 6. Disclaimer of Warranty *
* ------------------------- *
* *
* Covered Software is provided under this License on an "as is" *
* basis, without warranty of any kind, either expressed, implied, or *
* statutory, including, without limitation, warranties that the *
* Covered Software is free of defects, merchantable, fit for a *
* particular purpose or non-infringing. The entire risk as to the *
* quality and performance of the Covered Software is with You. *
* Should any Covered Software prove defective in any respect, You *
* (not any Contributor) assume the cost of any necessary servicing, *
* repair, or correction. This disclaimer of warranty constitutes an *
* essential part of this License. No use of any Covered Software is *
* authorized under this License except under this disclaimer. *
* *
************************************************************************
************************************************************************
* *
* 7. Limitation of Liability *
* -------------------------- *
* *
* Under no circumstances and under no legal theory, whether tort *
* (including negligence), contract, or otherwise, shall any *
* Contributor, or anyone who distributes Covered Software as *
* permitted above, be liable to You for any direct, indirect, *
* special, incidental, or consequential damages of any character *
* including, without limitation, damages for lost profits, loss of *
* goodwill, work stoppage, computer failure or malfunction, or any *
* and all other commercial damages or losses, even if such party *
* shall have been informed of the possibility of such damages. This *
* limitation of liability shall not apply to liability for death or *
* personal injury resulting from such party's negligence to the *
* extent applicable law prohibits such limitation. Some *
* jurisdictions do not allow the exclusion or limitation of *
* incidental or consequential damages, so this exclusion and *
* limitation may not apply to You. *
* *
************************************************************************
8. Litigation
-------------
Any litigation relating to this License may be brought only in the
courts of a jurisdiction where the defendant maintains its principal
place of business and such litigation shall be governed by laws of that
jurisdiction, without reference to its conflict-of-law provisions.
Nothing in this Section shall prevent a party's ability to bring
cross-claims or counter-claims.
9. Miscellaneous
----------------
This License represents the complete agreement concerning the subject
matter hereof. If any provision of this License is held to be
unenforceable, such provision shall be reformed only to the extent
necessary to make it enforceable. Any law or regulation which provides
that the language of a contract shall be construed against the drafter
shall not be used to construe this License against a Contributor.
10. Versions of the License
---------------------------
10.1. New Versions
Mozilla Foundation is the license steward. Except as provided in Section
10.3, no one other than the license steward has the right to modify or
publish new versions of this License. Each version will be given a
distinguishing version number.
10.2. Effect of New Versions
You may distribute the Covered Software under the terms of the version
of the License under which You originally received the Covered Software,
or under the terms of any subsequent version published by the license
steward.
10.3. Modified Versions
If you create software not governed by this License, and you want to
create a new license for such software, you may create and use a
modified version of this License if you rename the license and remove
any references to the name of the license steward (except to note that
such modified license differs from this License).
10.4. Distributing Source Code Form that is Incompatible With Secondary
Licenses
If You choose to distribute Source Code Form that is Incompatible With
Secondary Licenses under the terms of this version of the License, the
notice described in Exhibit B of this License must be attached.
Exhibit A - Source Code Form License Notice
-------------------------------------------
This Source Code Form is subject to the terms of the Mozilla Public
License, v. 2.0. If a copy of the MPL was not distributed with this
file, You can obtain one at http://mozilla.org/MPL/2.0/.
If it is not possible or desirable to put the notice in a particular
file, then You may include the notice in a location (such as a LICENSE
file in a relevant directory) where a recipient would be likely to look
for such a notice.
You may add additional accurate notices of copyright ownership.
Exhibit B - "Incompatible With Secondary Licenses" Notice
---------------------------------------------------------
This Source Code Form is "Incompatible With Secondary Licenses", as
defined by the Mozilla Public License, v. 2.0.

504
LinearAlgebra/Angle.cpp
View File

@ -6,331 +6,42 @@
#include <math.h>
#include "FloatSingle.h"
namespace LinearAlgebra {
const float Rad2Deg = 57.29578F;
const float Deg2Rad = 0.0174532924F;
/*
float Angle::Normalize(float angle) {
if (!isfinite(angle))
return angle;
//===== AngleSingle, AngleOf<float>
template <>
AngleOf<float> AngleOf<float>::Degrees(float degrees) {
if (isfinite(degrees)) {
while (degrees < -180)
degrees += 360;
while (degrees >= 180)
degrees -= 360;
}
return AngleOf<float>(degrees);
}
template <>
AngleOf<float> AngleOf<float>::Radians(float radians) {
if (isfinite(radians)) {
while (radians <= -pi)
radians += 2 * pi;
while (radians > pi)
radians -= 2 * pi;
}
return Binary(radians * Rad2Deg);
}
template <>
float AngleOf<float>::InDegrees() const {
return this->value;
}
template <>
float AngleOf<float>::InRadians() const {
return this->value * Deg2Rad;
}
//===== Angle16, AngleOf<signed short>
template <>
AngleOf<signed short> AngleOf<signed short>::Degrees(float degrees) {
// map float [-180..180) to integer [-32768..32767]
signed short value = (signed short)roundf(degrees / 360.0F * 65536.0F);
return Binary(value);
}
template <>
AngleOf<signed short> AngleOf<signed short>::Radians(float radians) {
if (!isfinite(radians))
return AngleOf<signed short>::zero;
// map float [-PI..PI) to integer [-32768..32767]
signed short value = (signed short)roundf(radians / pi * 32768.0F);
return Binary(value);
}
template <>
float AngleOf<signed short>::InDegrees() const {
float degrees = this->value / 65536.0f * 360.0f;
return degrees;
}
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) {
// 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) {
if (!isfinite(radians))
return AngleOf<signed char>::zero;
// map float [-pi..pi) to integer [-128..127)
signed char value = (signed char)roundf(radians / pi * 128.0f);
return Binary(value);
}
template <>
float AngleOf<signed char>::InDegrees() const {
float degrees = this->value / 256.0f * 360.0f;
return degrees;
}
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(T rawValue) : value(rawValue) {}
template <typename T>
const AngleOf<T> AngleOf<T>::zero = AngleOf<T>();
template <typename T>
AngleOf<T> AngleOf<T>::Binary(T rawValue) {
AngleOf<T> angle = AngleOf<T>();
angle.SetBinary(rawValue);
while (angle <= -180)
angle += 360;
while (angle > 180)
angle -= 360;
return angle;
}
template <typename T>
T AngleOf<T>::GetBinary() const {
return this->value;
}
template <typename T>
void AngleOf<T>::SetBinary(T rawValue) {
this->value = rawValue;
}
template <typename T>
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 {
return this->value > angle.value;
}
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 {
return this->value < angle.value;
}
template <typename T>
bool AngleOf<T>::operator<=(AngleOf<T> angle) const {
return this->value <= angle.value;
}
template <typename T>
signed int AngleOf<T>::Sign(AngleOf<T> angle) {
if (angle.value < 0)
return -1;
if (angle.value > 0)
return 1;
return 0;
}
template <typename T>
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 {
AngleOf<T> angle = Binary(-this->value);
return angle;
}
template <>
AngleOf<float> AngleOf<float>::operator-(const AngleOf<float>& angle) const {
AngleOf<float> r = Binary(this->value - angle.value);
r = Normalize(r);
return r;
}
template <typename T>
AngleOf<T> AngleOf<T>::operator-(const AngleOf<T>& angle) const {
AngleOf<T> r = Binary(this->value - angle.value);
float Angle::Clamp(float angle, float min, float max) {
float normalizedAngle = Normalize(angle);
float r = Float::Clamp(normalizedAngle, min, max);
return r;
}
template <>
AngleOf<float> AngleOf<float>::operator+(const AngleOf<float>& angle) const {
AngleOf<float> r = Binary(this->value + angle.value);
r = Normalize(r);
return r;
}
template <typename T>
AngleOf<T> AngleOf<T>::operator+(const AngleOf<T>& angle) const {
AngleOf<T> r = Binary(this->value + angle.value);
float Angle::Difference(float a, float b) {
float r = Normalize(b - a);
return r;
}
template <>
AngleOf<float> AngleOf<float>::operator+=(const AngleOf<float>& angle) {
this->value += angle.value;
this->Normalize();
return *this;
}
template <typename T>
AngleOf<T> AngleOf<T>::operator+=(const AngleOf<T>& angle) {
this->value += angle.value;
return *this;
}
// This defintion is not matching the declaration in the header file somehow
// template <typename T>
// AngleOf<T> operator*(const AngleOf<T> &angle, float factor) {
// return AngleOf::Degrees((float)angle.InDegrees() * factor);
// }
// This defintion is not matching the declaration in the header file somehow
// template <typename T>
// AngleOf<T> operator*(float factor, const AngleOf<T> &angle) {
// return AngleOf::Degrees((float)factor * angle.InDegrees());
// }
template <typename T>
void AngleOf<T>::Normalize() {
float angleValue = this->InDegrees();
if (!isfinite(angleValue))
return;
while (angleValue <= -180)
angleValue += 360;
while (angleValue > 180)
angleValue -= 360;
*this = AngleOf::Degrees(angleValue);
}
template <typename T>
AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
float angleValue = angle.InDegrees();
if (!isfinite(angleValue))
return angle;
while (angleValue <= -180)
angleValue += 360;
while (angleValue > 180)
angleValue -= 360;
return AngleOf::Degrees(angleValue);
}
template <typename T>
AngleOf<T> AngleOf<T>::Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max) {
float r = Float::Clamp(angle.InDegrees(), min.InDegrees(), max.InDegrees());
return AngleOf<T>::Degrees(r);
}
template <typename T>
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;
float dDegrees = Abs(d).InDegrees();
d = AngleOf<T>::Degrees(Float::Clamp(dDegrees, 0, maxDegrees));
if (Sign(d) < 0)
d = -d;
float Angle::MoveTowards(float fromAngle, float toAngle, float maxAngle) {
float d = toAngle - fromAngle;
float sign = signbit(d) ? -1 : 1;
d = sign * Float::Clamp(fabs(d), 0, maxAngle);
return fromAngle + d;
}
template <typename T>
float AngleOf<T>::Cos(AngleOf<T> angle) {
return cosf(angle.InRadians());
}
template <typename T>
float AngleOf<T>::Sin(AngleOf<T> angle) {
return sinf(angle.InRadians());
}
template <typename T>
float AngleOf<T>::Tan(AngleOf<T> angle) {
return tanf(angle.InRadians());
}
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) {
return AngleOf<T>::Radians(asinf(f));
}
template <typename T>
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) {
return AngleOf<T>::Radians(atan2f(y, x));
}
// template <>
// float AngleOf<float>::CosineRuleSide(float a, float b, AngleOf<float> gamma)
// {
// float a2 = a * a;
// float b2 = b * b;
// float d =
// a2 + b2 -
// 2 * a * b * Cos(gamma); // cosf(gamma *
// Passer::LinearAlgebra::Deg2Rad);
// // Catch edge cases where float inacuracies lead tot nans
// if (d < 0)
// return 0.0f;
// float c = sqrtf(d);
// return c;
// }
template <typename T>
float AngleOf<T>::CosineRuleSide(float a, float b, AngleOf<T> gamma) {
float Angle::CosineRuleSide(float a, float b, float gamma) {
float a2 = a * a;
float b2 = b * b;
float d =
a2 + b2 -
2 * a * b * Cos(gamma); // cosf(gamma * Passer::LinearAlgebra::Deg2Rad);
float d = a2 + b2 - 2 * a * b * cos(gamma * Angle::Deg2Rad);
// Catch edge cases where float inacuracies lead tot nans
if (d < 0)
return 0;
@ -339,56 +50,161 @@ float AngleOf<T>::CosineRuleSide(float a, float b, AngleOf<T> gamma) {
return c;
}
// template <>
// AngleOf<float> AngleOf<float>::CosineRuleAngle(float a, float b, float c) {
// float a2 = a * a;
// float b2 = b * b;
// float c2 = c * c;
// float d = (a2 + b2 - c2) / (2 * a * b);
// // Catch edge cases where float inacuracies lead tot nans
// if (d >= 1)
// return 0.0f;
// if (d <= -1)
// return 180.0f;
// float gamma = acosf(d) * Rad2Deg;
// return gamma;
// }
template <typename T>
AngleOf<T> AngleOf<T>::CosineRuleAngle(float a, float b, float c) {
float Angle::CosineRuleAngle(float a, float b, float c) {
float a2 = a * a;
float b2 = b * b;
float c2 = c * c;
float d = (a2 + b2 - c2) / (2 * a * b);
// Catch edge cases where float inacuracies lead tot nans
if (d >= 1)
return AngleOf<T>();
return 0;
if (d <= -1)
return AngleOf<T>::Degrees(180);
return 180;
// float gamma = acosf(d) * Rad2Deg;
AngleOf<T> gamma = Acos(d);
float gamma = acos(d) * Angle::Rad2Deg;
return gamma;
}
float Angle::SineRuleAngle(float a, float beta, float b) {
float alpha = asin(a * sin(beta * Angle::Deg2Rad) / b);
return alpha;
}
*/
//----------------------
template <>
AngleOf<float>::AngleOf(int angle) : value((float)angle) {}
template <>
AngleOf<float>::AngleOf(float angle) : value(angle) {}
// template <>
// AngleOf<float> AngleOf<float>::SineRuleAngle(float a,
// AngleOf<float> beta,
// float b) {
// float deg2rad = Deg2Rad;
// float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
// return alpha;
// AngleOf<float>::operator float() const {
// return value;
// }
template <>
float AngleOf<float>::ToFloat() const {
return value;
}
// template <>
// AngleOf<float> AngleOf<float>::pi = 3.1415927410125732421875F;
// template <>
// AngleOf<float> AngleOf<float>::Rad2Deg = 360.0f / (pi * 2);
// template <>
// AngleOf<float> AngleOf<float>::Deg2Rad = (pi * 2) / 360.0f;
template <>
bool AngleOf<float>::operator==(AngleOf<float> a) {
return this->ToFloat() == a.ToFloat();
}
template <>
AngleOf<float> AngleOf<float>::operator-() const {
AngleOf<float> angle = AngleOf(-this->value);
return angle;
}
template <>
AngleOf<float> AngleOf<float>::operator-(const AngleOf<float>& a) const {
AngleOf<float> angle = AngleOf();
angle.value = this->value - a.value;
return angle;
}
template <>
AngleOf<float> AngleOf<float>::operator+(const AngleOf<float>& a) const {
AngleOf<float> angle = AngleOf();
angle.value = this->value + a.value;
return angle;
}
template <typename T>
AngleOf<T> AngleOf<T>::SineRuleAngle(float a, AngleOf<T> beta, float b) {
// float deg2rad = Deg2Rad;
// float alpha = asinf(a * sinf(beta.InDegrees() * deg2rad) / b);
AngleOf<T> alpha = Asin(a * Sin(beta) / b);
AngleOf<T> AngleOf<T>::operator+=(const AngleOf<T>& a) {
this->value += a.value;
return *this;
}
template <typename T>
AngleOf<T> AngleOf<T>::Normalize(AngleOf<T> angle) {
float angleValue = angle.ToFloat();
if (!isfinite(angleValue))
return angle;
while (angleValue <= -180)
angleValue += 360;
while (angleValue > 180)
angleValue -= 360;
return AngleOf(angleValue);
}
template <>
AngleOf<float> AngleOf<float>::Clamp(AngleOf<float> angle,
AngleOf<float> min,
AngleOf<float> max) {
float normalizedAngle = Normalize(angle).ToFloat();
float r = Float::Clamp(normalizedAngle, min.ToFloat(), max.ToFloat());
return r;
}
// template <typename T>
// Angle2<T> Angle2<T>::Difference(Angle2<T> a, Angle2<T> b) {
// Angle2<T> r = Normalize(b - a);
// return r;
// }
template <>
AngleOf<float> AngleOf<float>::MoveTowards(AngleOf<float> fromAngle,
AngleOf<float> toAngle,
AngleOf<float> maxAngle) {
float d = toAngle.ToFloat() - fromAngle.ToFloat();
int sign = signbit(d) ? -1 : 1;
d = sign * Float::Clamp(fabsf(d), 0, maxAngle.ToFloat());
return fromAngle.ToFloat() + d;
}
template <>
AngleOf<float> AngleOf<float>::CosineRuleSide(float a,
float b,
AngleOf<float> gamma) {
float a2 = a * a;
float b2 = b * b;
float d = a2 + b2 -
2 * a * b * cosf(gamma.ToFloat() * Passer::LinearAlgebra::Deg2Rad);
// Catch edge cases where float inacuracies lead tot nans
if (d < 0)
return 0.0f;
float c = sqrtf(d);
return c;
}
template <>
AngleOf<float> AngleOf<float>::CosineRuleAngle(float a, float b, float c) {
float a2 = a * a;
float b2 = b * b;
float c2 = c * c;
float d = (a2 + b2 - c2) / (2 * a * b);
// Catch edge cases where float inacuracies lead tot nans
if (d >= 1)
return 0.0f;
if (d <= -1)
return 180.0f;
float gamma = acosf(d) * Rad2Deg;
return gamma;
}
template <>
AngleOf<float> AngleOf<float>::SineRuleAngle(float a,
AngleOf<float> beta,
float b) {
float deg2rad = Deg2Rad;
float alpha = asinf(a * sinf(beta.ToFloat() * deg2rad) / b);
return alpha;
}
template class AngleOf<float>;
template class AngleOf<signed char>;
template class AngleOf<signed short>;
} // namespace LinearAlgebra

211
LinearAlgebra/Angle.h
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@ -5,6 +5,7 @@
#ifndef ANGLE_H
#define ANGLE_H
namespace Passer {
namespace LinearAlgebra {
static float pi = 3.1415927410125732421875F;
@ -12,216 +13,58 @@ static float pi = 3.1415927410125732421875F;
static float Rad2Deg = 360.0f / (pi * 2);
static float Deg2Rad = (pi * 2) / 360.0f;
/// @brief An angle in various representations.
/// @tparam T The internal type used for the representation of the angle.
/// 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 {
public:
/// @brief Create a new angle with a zero value
AngleOf<T>();
AngleOf() {};
AngleOf(int f);
AngleOf(float f);
// operator float() const;
/// @brief An zero value angle
const static AngleOf<T> zero;
// const static AngleOf<T> deg90;
// const static AngleOf<T> deg180;
float ToFloat() const;
/// @brief Creates an angle in degrees
/// @param degrees the angle in degrees
/// @return The angle value
static AngleOf<T> Degrees(float degrees);
/// @brief Creates an angle in radians
/// @param radians the angle in radians
/// @return The angle value
static AngleOf<T> Radians(float radians);
inline T GetBinary() const { return this->value; }
/// @brief Creates an angle from a raw value
/// @param rawValue the raw value to use for the angle
/// @return The the angle
static AngleOf<T> Binary(T rawValue);
static AngleOf<T> pi;
/// @brief Get the angle value in degrees
/// @return The angle value in degrees
float InDegrees() const;
/// @brief Get the angle value in radians
/// @return The angle value in radians
float InRadians() const;
bool operator==(AngleOf<T> a);
/// @brief Get the raw value for the angle
/// @return The raw value
T GetBinary() const;
/// @brief Set the raw value of the angle
/// @param rawValue The raw value
void SetBinary(T rawValue);
/// @brief Tests whether this angle is equal to the given angle
/// @param angle The angle to compare to
/// @return True when the angles are equal, False otherwise
/// @note The equality is determine within the limits of precision of the raw
/// type T
bool operator==(const AngleOf<T> angle) const;
/// @brief Tests if this angle is greater than the given angle
/// @param angle The given angle
/// @return True when this angle is greater than the given angle, False
/// otherwise
bool operator>(AngleOf<T> angle) const;
/// @brief Tests if this angle is greater than or equal to the given angle
/// @param angle The given angle
/// @return True when this angle is greater than or equal to the given angle.
/// False otherwise.
bool operator>=(AngleOf<T> angle) const;
/// @brief Tests if this angle is less than the given angle
/// @param angle The given angle
/// @return True when this angle is less than the given angle. False
/// otherwise.
bool operator<(AngleOf<T> angle) const;
/// @brief Tests if this angle is less than or equal to the given angle
/// @param angle The given angle
/// @return True when this angle is less than or equal to the given angle.
/// False otherwise.
bool operator<=(AngleOf<T> angle) const;
/// @brief Returns the sign of the angle
/// @param angle The angle
/// @return -1 when the angle is negative, 1 when it is positive and 0
/// otherwise.
static signed int Sign(AngleOf<T> angle);
/// @brief Returns the magnitude of the angle
/// @param angle The angle
/// @return The positive magitude of the angle.
/// Negative values are negated to get a positive result
static AngleOf<T> Abs(AngleOf<T> angle);
/// @brief Negate the angle
/// @return The negated angle
AngleOf<T> operator-() const;
/// @brief Substract another angle from this angle
/// @param angle The angle to subtract from this angle
/// @return The result of the subtraction
AngleOf<T> operator-(const AngleOf<T>& angle) const;
/// @brief Add another angle from this angle
/// @param angle The angle to add to this angle
/// @return The result of the addition
AngleOf<T> operator+(const AngleOf<T>& angle) const;
/// @brief Add another angle to this angle
/// @param angle The angle to add to this angle
/// @return The result of the addition
AngleOf<T> operator+=(const AngleOf<T>& angle);
AngleOf<T> operator-(const AngleOf<T>& a) const;
AngleOf<T> operator+(const AngleOf<T>& a) const;
AngleOf<T> operator+=(const AngleOf<T>& a);
/// @brief Mutliplies the angle
/// @param angle The angle to multiply
/// @param factor The factor by which the angle is multiplied
/// @return The multiplied angle
friend AngleOf<T> operator*(const AngleOf<T>& angle, float factor) {
return AngleOf::Degrees((float)angle.InDegrees() * factor);
friend AngleOf<T> operator*(const AngleOf<T>& a, float f) {
return AngleOf((float)a.ToFloat() * f);
}
/// @brief Multiplies the angle
/// @param factor The factor by which the angle is multiplies
/// @param angle The angle to multiply
/// @return The multiplied angle
friend AngleOf<T> operator*(float factor, const AngleOf<T>& angle) {
return AngleOf::Degrees((float)factor * angle.InDegrees());
friend AngleOf<T> operator*(float f, const AngleOf<T>& a) {
return AngleOf((float)f * a.ToFloat());
}
/// @brief Normalizes the angle to (-180..180] or (-PI..PI]
/// Should not be needed but available in case it is.
void Normalize();
/// @brief Normalizes the angle to (-180..180] or (-PI..PI]
/// @param angle The angle to normalize
/// @return The normalized angle;
static AngleOf<T> Normalize(AngleOf<T> angle);
/// @brief Clamps the angle value between the two given angles
/// @param angle The angle to clamp
/// @param min The minimum angle
/// @param max The maximum angle
/// @return The clamped value
/// @remark When the min value is greater than the max value, angle is
/// returned unclamped.
static AngleOf<T> Clamp(AngleOf<T> angle, AngleOf<T> min, AngleOf<T> max);
// static AngleOf<T> Difference(AngleOf<T> a, AngleOf<T> b) {
// AngleOf<T> r = Normalize(b.InDegrees() - a.InDegrees());
// return r;
// };
/// @brief Rotates an angle towards another angle with a max distance
/// @param fromAngle The angle to start from
/// @param toAngle The angle to rotate towards
/// @param maxAngle The maximum angle to rotate
/// @return The rotated angle
static AngleOf<T> Normalize(AngleOf<T> a);
static AngleOf<T> Clamp(AngleOf<T> a, AngleOf<T> min, AngleOf<T> max);
static AngleOf<T> Difference(AngleOf<T> a, AngleOf<T> b) {
AngleOf<T> r = Normalize(b.ToFloat() - a.ToFloat());
return r;
};
static AngleOf<T> MoveTowards(AngleOf<T> fromAngle,
AngleOf<T> toAngle,
float maxAngle);
AngleOf<T> maxAngle);
/// @brief Calculates the cosine of an angle
/// @param angle The given angle
/// @return The cosine of the angle
static float Cos(AngleOf<T> angle);
/// @brief Calculates the sine of an angle
/// @param angle The given angle
/// @return The sine of the angle
static float Sin(AngleOf<T> angle);
/// @brief Calculates the tangent of an angle
/// @param angle The given angle
/// @return The tangent of the angle
static float Tan(AngleOf<T> angle);
/// @brief Calculates the arc cosine angle
/// @param f The value
/// @return The arc cosine for the given value
static AngleOf<T> Acos(float f);
/// @brief Calculates the arc sine angle
/// @param f The value
/// @return The arc sine for the given value
static AngleOf<T> Asin(float f);
/// @brief Calculates the arc tangent angle
/// @param f The value
/// @return The arc tangent for the given value
static AngleOf<T> Atan(float f);
/// @brief Calculates the tangent for the given values
/// @param y The vertical value
/// @param x The horizontal value
/// @return The tanget for the given values
/// Uses the y and x signs to compute the quadrant
static AngleOf<T> Atan2(float y, float x);
/// @brief Computes the length of a side using the rule of cosines
/// @param a The length of side A
/// @param b The length of side B
/// @param gamma The angle of the corner opposing side C
/// @return The length of side C
static float CosineRuleSide(float a, float b, AngleOf<T> gamma);
/// @brief Computes the angle of a corner using the rule of cosines
/// @param a The length of side A
/// @param b The length of side B
/// @param c The length of side C
/// @return The angle of the corner opposing side C
static AngleOf<T> CosineRuleSide(float a, float b, AngleOf<T> gamma);
static AngleOf<T> CosineRuleAngle(float a, float b, float c);
/// @brief Computes the angle of a corner using the rule of sines
/// @param a The length of side A
/// @param beta the angle of the corner opposing side B
/// @param c The length of side C
/// @return The angle of the corner opposing side A
static AngleOf<T> SineRuleAngle(float a, AngleOf<T> beta, float c);
private:
T value;
AngleOf<T>(T rawValue);
};
using AngleSingle = AngleOf<float>;
using Angle = 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

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LinearAlgebra/Angle16.cpp Normal file
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@ -0,0 +1,96 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include <math.h>
#include <stdlib.h>
#include "Angle.h"
template <>
AngleOf<signed short>::AngleOf(int angle) {
signed long long_angle = (signed short)angle * 65536;
this->value = (signed short)(long_angle / 360);
}
template <>
AngleOf<signed short>::AngleOf(float angle) {
if (!isfinite(angle)) {
value = 0;
return;
}
// map float [-180..180) to integer [-32768..32767]
this->value = (signed short)(angle / 360.0F * 65536.0F);
}
// template <>
// AngleOf<signed short>::operator float() const {
// float f = ((this->value * 180) / 32768.0F);
// return f;
// }
template <>
float AngleOf<signed short>::ToFloat() const {
float f = ((this->value * 180) / 32768.0F);
return f;
}
template <>
AngleOf<signed short> AngleOf<signed short>::operator-() const {
AngleOf<signed short> angle = AngleOf();
angle.value = -this->value;
return angle;
}
template <>
AngleOf<signed short> AngleOf<signed short>::operator-(
const AngleOf<signed short>& a) const {
AngleOf<signed short> angle = AngleOf();
angle.value = this->value - a.value;
return angle;
}
template <>
AngleOf<signed short> AngleOf<signed short>::operator+(
const AngleOf<signed short>& a) const {
AngleOf<signed short> angle = AngleOf();
angle.value = this->value + a.value;
return angle;
}
// Not correct!!! just for syntactical compilation ATM
template <>
AngleOf<signed short> AngleOf<signed short>::CosineRuleSide(
float a,
float b,
AngleOf<signed short> gamma) {
float a2 = a * a;
float b2 = b * b;
float d = a2 + b2 -
2 * a * b * cosf(gamma.ToFloat() * Passer::LinearAlgebra::Deg2Rad);
// Catch edge cases where float inacuracies lead tot nans
if (d < 0)
return 0.0f;
float c = sqrtf(d);
return c;
}
// Not correct!!! just for syntactical compilation ATM
template <>
AngleOf<signed short> AngleOf<signed short>::CosineRuleAngle(float a,
float b,
float c) {
float a2 = a * a;
float b2 = b * b;
float c2 = c * c;
float d = (a2 + b2 - c2) / (2 * a * b);
// Catch edge cases where float inacuracies lead tot nans
if (d >= 1)
return 0.0f;
if (d <= -1)
return 180.0f;
float gamma = acosf(d) * Passer::LinearAlgebra::Rad2Deg;
return gamma;
}

41
LinearAlgebra/Angle16.h Normal file
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@ -0,0 +1,41 @@
// #include "AngleUsing.h"
/*
#include <math.h>
#include <stdlib.h>
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
typedef AngleOf<signed short> Angle16;
// template <>
// inline static Angle16 Angle16::Degrees(short angle) {
// long long_angle = angle * 65535;
// long_angle = div(long_angle, (long)360);
// return Angle16(long_angle); //(long_angle / 360);
// }
// template <>
// inline static Angle16 Angle16::Degrees(float angle) {
// return (angle / 360.0F * 65536.0F);
// }
// template <> Angle16::AngleOf(float angle) {
// if (!isfinite(angle)) {
// value = 0;
// return;
// }
// // map float [-180..180) to integer [-32768..32767]
// this->value = (signed short)((angle / 360.0F) * 65536.0F);
// }
// template <> float Angle16::ToFloat() const {
// float f = ((this->value * 180) / 32768.0F);
// return f;
// }
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
*/

30
LinearAlgebra/Angle32.h Normal file
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@ -0,0 +1,30 @@
// #include "AngleUsing.h"
#include <math.h>
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
typedef AngleOf<signed long> Angle32;
// template <>
// Angle32::AngleOf(float angle) {
// if (!isfinite(angle)) {
// value = 0;
// return;
// }
// // map float [-180..180) to integer [-2147483648..2147483647]
// this->value = (signed long)((angle / 360.0F) * 4294967295.0F);
// }
// template <>
// float Angle32::ToFloat() const {
// float f = ((this->value * 180) / 2147483648.0F);
// return f;
// }
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;

59
LinearAlgebra/Angle8.cpp Normal file
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@ -0,0 +1,59 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include <math.h>
#include "Angle.h"
template <>
AngleOf<signed char>::AngleOf(int angle) {
signed short short_angle = (signed char)angle * 256;
this->value = (signed char)(short_angle / 360);
}
template <>
AngleOf<signed char>::AngleOf(float angle) {
if (!isfinite(angle)) {
value = 0;
return;
}
// map float [-180..180) to integer [-128..127]
float f = angle / 360.0F;
this->value = (signed char)(f * 256.0F);
}
// template <>
// AngleOf<signed char>::operator float() const {
// float f = (this->value * 180) / 128.0F;
// return f;
// }
template <>
float AngleOf<signed char>::ToFloat() const {
float f = (this->value * 180) / 128.0F;
return f;
}
template <>
AngleOf<signed char> AngleOf<signed char>::operator-() const {
AngleOf<signed char> angle = AngleOf();
angle.value = -this->value;
return angle;
}
template <>
AngleOf<signed char> AngleOf<signed char>::operator-(
const AngleOf<signed char>& a) const {
AngleOf<signed char> angle = AngleOf();
angle.value = this->value - a.value;
return angle;
}
template <>
AngleOf<signed char> AngleOf<signed char>::operator+(
const AngleOf<signed char>& a) const {
AngleOf<signed char> angle = AngleOf();
angle.value = this->value + a.value;
return angle;
}

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LinearAlgebra/Angle8.h Normal file
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// #include "AngleUsing.h"
#include <math.h>
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
typedef AngleOf<signed char> Angle8;
// template <>
// inline static Angle8 Angle8::Degrees(float angle) {
// return (angle / 360.0F * 256.0F);
// }
// template <> Angle8::AngleOf(float angle) {
// if (!isfinite(angle)) {
// value = 0;
// return;
// }
// // map float [-180..180) to integer [-128..127]
// float f = angle / 360.0F;
// this->value = (signed char)(f * 256.0F);
// }
// template <> float Angle8::ToFloat() const {
// float f = (this->value * 180) / 128.0F;
// return f;
// }
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;

48
LinearAlgebra/AngleAxis.cpp Normal file
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@ -0,0 +1,48 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include "AngleAxis.h"
template <typename T>
AngleAxis<T>::AngleAxis() {
this->angle = AngleOf<T>();
this->axis = Direction<T>();
}
template <typename T>
AngleAxis<T>::AngleAxis(AngleOf<T> angle, Direction<T> axis) {
this->angle = angle;
this->axis = axis;
}
template <typename T>
AngleAxis<T>::AngleAxis(float angle, Vector3 axis) {
this->angle = AngleOf<T>(angle);
this->axis = Direction<T>(axis);
}
template <typename T>
AngleAxis<T>::AngleAxis(Quaternion q) {
float angle;
Vector3 axis;
q.ToAngleAxis(&angle, &axis);
this->angle = AngleOf<T>(angle);
this->axis = Direction<T>(axis);
}
template <typename T>
Quaternion AngleAxis<T>::ToQuaternion() {
Vector3 axisVector = this->axis.ToVector3();
float angleFloat = this->angle.ToFloat();
Quaternion q = Quaternion::AngleAxis(angleFloat, axisVector);
return q;
}
template <typename T>
Direction<T> AngleAxis<T>::GetSwing() {
return this->axis;
}
template class AngleAxis<float>;
template class AngleAxis<signed short>;

35
LinearAlgebra/AngleAxis.h Normal file
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@ -0,0 +1,35 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#ifndef ANGLEAXIS_H
#define ANGLEAXIS_H
#include "Angle.h"
#include "Direction.h"
#include "Quaternion.h"
namespace Passer {
namespace LinearAlgebra {
template <typename T>
class AngleAxis {
public:
AngleOf<T> angle;
Direction<T> axis;
AngleAxis();
AngleAxis(AngleOf<T> angle, Direction<T> axis);
AngleAxis(Quaternion q);
AngleAxis(float angle, Vector3 axis);
Quaternion ToQuaternion();
Direction<T> GetSwing();
};
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

52
LinearAlgebra/AngleUsing.h Normal file
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@ -0,0 +1,52 @@
/*
#ifndef DISCRETEANGLE_H
#define DISCRETEANGLE_H
#include "Angle.h"
#include "Range.h"
namespace Passer {
namespace LinearAlgebra {
// A fixed angle between (-180..180]
template <typename T>
class AngleUsing {
public:
AngleUsing(T sourceValue) { this->value = sourceValue; }
AngleUsing(float f);
float ToFloat() const;
inline T GetValue() const { return this->value; }
AngleUsing<T> operator+(const AngleUsing<T> a) {
AngleUsing<T> r = AngleUsing((float)this->value + a.value);
return r;
}
inline AngleUsing<T> operator+=(const AngleUsing<T> a) {
return this->value + a.value;
}
inline AngleUsing<T> operator-(const AngleUsing<T> a) {
return this->value - a.value;
}
inline AngleUsing<T> operator-() {
this->value = -this->value;
return *this;
}
inline bool operator==(const AngleUsing<T> a) {
return this->value == a.value;
}
// protected:
T value;
};
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif
*/

40
LinearAlgebra/Axis.cpp Normal file
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@ -0,0 +1,40 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include "Axis.h"
#include "Quaternion.h"
#include "Vector3.h"
#include <math.h>
Axis::Axis() {
horizontalAngle = 0.0f;
verticalAngle = 0.0f;
}
Axis::Axis(Angle horizontal, Angle vertical) {
this->horizontalAngle = horizontal;
this->verticalAngle = vertical;
};
Axis::Axis(Vector3 v) {
this->horizontalAngle =
atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
}
const Axis Axis::forward = Axis(0.0f, 0.0f);
const Axis Axis::back = Axis(180.0f, 0.0f);
const Axis Axis::up = Axis(0.0f, 90.0f);
const Axis Axis::down = Axis(0.0f, -90.0f);
const Axis Axis::left = Axis(-90.0f, 0.0f);
const Axis Axis::right = Axis(90.0f, 0.0f);
Vector3 Axis::ToVector3() {
Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
this->horizontalAngle.ToFloat(), 0) *
Vector3::forward;
return v;
}

38
LinearAlgebra/Axis.h Normal file
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@ -0,0 +1,38 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#ifndef AXIS_H
#define AXIS_H
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
struct Vector3;
class Axis {
public:
Angle horizontalAngle;
Angle verticalAngle;
Axis();
Axis(Angle horizontal, Angle vertical);
Axis(Vector3 v);
const static Axis forward;
const static Axis back;
const static Axis up;
const static Axis down;
const static Axis left;
const static Axis right;
Vector3 ToVector3();
};
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

51
LinearAlgebra/CMakeLists.txt
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@ -7,14 +7,14 @@ if(ESP_PLATFORM)
else()
project(LinearAlgebra)
set(CMAKE_CXX_STANDARD 17) # Enable c++11 standard
set(CMAKE_CXX_STANDARD 11) # Enable c++11 standard
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
add_compile_definitions(GTEST)
include(FetchContent)
FetchContent_Declare(
googletest
DOWNLOAD_EXTRACT_TIMESTAMP ON
DOWNLOAD_EXTRACT_TIMESTAMP
URL https://github.com/google/googletest/archive/refs/heads/main.zip
)
@ -23,28 +23,37 @@ else()
FetchContent_MakeAvailable(googletest)
include_directories(.)
file(GLOB srcs
*.cpp
)
add_library(LinearAlgebra STATIC ${srcs}
# "FloatSingle.cpp"
# "Angle.cpp"
# "Vector2.cpp"
# "Vector3.cpp"
# "Quaternion.cpp"
# "Polar.cpp"
# "Spherical.cpp"
# "Matrix.cpp"
# "SwingTwist.cpp"
# "Direction.cpp"
add_library(LinearAlgebra STATIC
"FloatSingle.cpp"
"Angle.cpp"
"Angle8.cpp"
"Angle16.cpp"
"Vector2.cpp"
"Vector3.cpp"
"Quaternion.cpp"
"Polar.cpp"
"Spherical.cpp"
"Spherical16.cpp"
"Matrix.cpp"
"Axis.cpp"
"AngleAxis.cpp"
"Direction.cpp"
)
enable_testing()
file(GLOB_RECURSE test_srcs test/*_test.cc)
add_executable(
LinearAlgebraTest
${test_srcs}
"test/Angle_test.cc"
"test/FloatSingle_test.cc"
"test/Vector2_test.cc"
"test/Vector3_test.cc"
"test/Quaternion_test.cc"
"test/Matrix_test.cc"
"test/Polar_test.cc"
"test/Spherical_test.cc"
"test/Spherical16_test.cc"
"test/DiscreteAngle_test.cc"
)
target_link_libraries(
LinearAlgebraTest
@ -54,9 +63,9 @@ else()
if(MSVC)
target_compile_options(LinearAlgebraTest PRIVATE /W4 /WX)
# else()
# target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
endif()
else()
target_compile_options(LinearAlgebraTest PRIVATE -Wall -Wextra -Wpedantic -Werror)
endif()
include(GoogleTest)

110
LinearAlgebra/Direction.cpp
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@ -10,93 +10,45 @@
#include <math.h>
template <typename T>
DirectionOf<T>::DirectionOf() {
this->horizontal = AngleOf<T>();
this->vertical = AngleOf<T>();
Direction<T>::Direction() {
this->horizontalAngle = AngleOf<T>(0.0f);
this->verticalAngle = AngleOf<T>(0.0f);
}
template <typename T>
DirectionOf<T>::DirectionOf(AngleOf<T> horizontal, AngleOf<T> vertical) {
this->horizontal = horizontal;
this->vertical = vertical;
Normalize();
Direction<T>::Direction(AngleOf<T> horizontal, AngleOf<T> vertical) {
this->horizontalAngle = horizontal;
this->verticalAngle = vertical;
};
template <typename T>
const DirectionOf<T> DirectionOf<T>::forward =
DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::back =
DirectionOf<T>(AngleOf<T>::Degrees(180), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::up =
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(90));
template <typename T>
const DirectionOf<T> DirectionOf<T>::down =
DirectionOf<T>(AngleOf<T>(), AngleOf<T>::Degrees(-90));
template <typename T>
const DirectionOf<T> DirectionOf<T>::left =
DirectionOf<T>(AngleOf<T>::Degrees(-90), AngleOf<T>());
template <typename T>
const DirectionOf<T> DirectionOf<T>::right =
DirectionOf<T>(AngleOf<T>::Degrees(90), AngleOf<T>());
Direction<T>::Direction(Vector3 v) {
this->horizontalAngle =
atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
this->verticalAngle = 90 - acosf(v.Up()) * Passer::LinearAlgebra::Rad2Deg;
}
template <typename T>
Vector3 DirectionOf<T>::ToVector3() const {
Quaternion q = Quaternion::Euler(-this->vertical.InDegrees(),
this->horizontal.InDegrees(), 0);
Vector3 v = q * Vector3::forward;
const Direction<T> Direction<T>::forward = Direction<T>(0.0f, 0.0f);
template <typename T>
const Direction<T> Direction<T>::back = Direction<T>(180.0f, 0.0f);
template <typename T>
const Direction<T> Direction<T>::up = Direction<T>(0.0f, 90.0f);
template <typename T>
const Direction<T> Direction<T>::down = Direction<T>(0.0f, -90.0f);
template <typename T>
const Direction<T> Direction<T>::left = Direction<T>(-90.0f, 0.0f);
template <typename T>
const Direction<T> Direction<T>::right = Direction<T>(90.0f, 0.0f);
template <typename T>
Vector3 Direction<T>::ToVector3() {
Vector3 v = Quaternion::Euler(-(this->verticalAngle.ToFloat()),
this->horizontalAngle.ToFloat(), 0) *
Vector3::forward;
return v;
}
template <typename T>
DirectionOf<T> 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()));
d.vertical =
AngleOf<T>::Degrees(-90) -
AngleOf<T>::Acos(
vector.Up()); // AngleOf<T>::Radians(-(0.5f * pi) - acosf(v.Up()));
d.Normalize();
return d;
}
template <typename T>
DirectionOf<T> 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) {
return DirectionOf<T>(AngleOf<T>::Radians(horizontal),
AngleOf<T>::Radians(vertical));
}
template <typename T>
bool 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> r = DirectionOf<T>(this->horizontal + AngleOf<T>::Degrees(180),
-this->vertical);
return r;
}
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);
this->vertical = AngleOf<T>::Degrees(180) - this->vertical;
}
}
template class DirectionOf<float>;
template class DirectionOf<signed short>;
template class Direction<float>;
template class Direction<signed short>;
template class Direction<signed char>;

97
LinearAlgebra/Direction.h
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@ -7,98 +7,33 @@
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
struct Vector3;
/// @brief A direction using angles in various representations
/// @tparam T The implementation type used for the representation of the angles
/// A direction is represented using two angles:
/// * The horizontal angle ranging from -180 (inclusive) to 180 (exclusive)
/// degrees which is a rotation in the horizontal plane
/// * A vertical angle ranging from -90 (inclusive) to 90 (exclusive) degrees
/// which is the rotation in the up/down direction applied after the horizontal
/// rotation has been applied.
/// The angles are automatically normalized to stay within the abovenmentioned
/// ranges.
template <typename T>
class DirectionOf {
class Direction {
public:
/// @brief horizontal angle, range= (-180..180]
AngleOf<T> horizontal;
/// @brief vertical angle, range in degrees = (-90..90]
AngleOf<T> vertical;
AngleOf<T> horizontalAngle;
AngleOf<T> verticalAngle;
/// @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);
Direction();
Direction(AngleOf<T> horizontal, AngleOf<T> vertical);
Direction(Vector3 v);
/// @brief Convert the direction into a carthesian vector
/// @return The carthesian vector corresponding to this direction.
Vector3 ToVector3() const;
/// @brief Convert a carthesian vector into a direction
/// @param v The carthesian vector
/// @return The direction.
/// @note Information about the length of the carthesian vector is not
/// included in this transformation.
static DirectionOf<T> FromVector3(Vector3 vector);
const static Direction forward;
const static Direction back;
const static Direction up;
const static Direction down;
const static Direction left;
const static Direction right;
/// @brief Create a direction using angle values in degrees
/// @param horizontal The horizontal angle in degrees
/// @param vertical The vertical angle in degrees
/// @return The direction
static DirectionOf<T> Degrees(float horizontal, float vertical);
/// @brief Create a direction using angle values in radians
/// @param horizontal The horizontal angle in radians
/// @param vertical The vertical angle in radians
/// @return The direction
static DirectionOf<T> Radians(float horizontal, float vertical);
/// @brief A forward direction with zero for both angles
const static DirectionOf forward;
/// @brief A backward direction with horizontal angle -180 and zero vertical
/// angle
const static DirectionOf back;
/// @brief A upward direction with zero horizontal angle and vertical angle 90
const static DirectionOf up;
/// @brief A downward direction with zero horizontal angle and vertical angle
/// -90
const static DirectionOf down;
/// @brief A left-pointing direction with horizontal angle -90 and zero
/// vertical angle
const static DirectionOf left;
/// @brief A right-pointing direction with horizontal angle 90 and zero
/// vertical angle
const static DirectionOf right;
/// @brief Test whether this direction is equal to another direction
/// @param direction The direction to compare to
/// @return True when the direction angles are equal, false otherwise.
bool operator==(const DirectionOf<T> direction) const;
/// @brief Negate/reverse the direction
/// @return The reversed direction.
DirectionOf<T> operator-() const;
protected:
/// @brief Normalize this vector to the specified ranges
void Normalize();
Vector3 ToVector3();
};
using DirectionSingle = DirectionOf<float>;
using Direction16 = DirectionOf<signed short>;
#if defined(ARDUINO)
using Direction = Direction16;
#else
using Direction = DirectionSingle;
#endif
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

568
LinearAlgebra/DoxyGen/DoxyWarnLogfile.txt
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@ -1,154 +1,420 @@
warning: source 'images' is not a readable file or directory... skipping.
d:/PlatformIO/linear-algebra/Quaternion.cpp:100: warning: no uniquely matching class member found for
Quaternion Quaternion::operator*(const Quaternion &r2) const
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_for_dummies.md:566: warning: multiple use of section label 'OrderedCalls' while adding section, (first occurrence: D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md, line 1674)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:411: warning: multiple use of section label 'DefaultValue' while adding section, (first occurrence: D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md, line 2088)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-message.h:62: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:158: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-output-test_.cc:47: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest-typed-test_test.cc:43: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-matchers.h:256: warning: found documented #define GOOGLEMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_ but ignoring it because ENABLE_PREPROCESSING is NO.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class testing::internal::FindFirstPrinter< T, E, Printers... >!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class FindFirstPrinter< T, E, Printers... >!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class testing::internal::FindFirstPrinter< T, E, Printers... >!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h:288: warning: Detected potential recursive class relation between class testing::internal::FindFirstPrinter and base class FindFirstPrinter< T, E, Printers... >!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-cardinalities.cc:129: warning: documented symbol 'void testing::Cardinality::DescribeActualCallCountTo' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:248: warning: documented symbol 'bool testing::internal::MatchMatrix::NextGraph' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:262: warning: documented symbol 'void testing::internal::MatchMatrix::Randomize' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:271: warning: no uniquely matching class member found for
std::string testing::internal::MatchMatrix::DebugString() const
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:284: warning: documented symbol 'void testing::internal::UnorderedElementsAreMatcherImplBase::DescribeToImpl' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:325: warning: documented symbol 'void testing::internal::UnorderedElementsAreMatcherImplBase::DescribeNegationToImpl' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:371: warning: documented symbol 'bool testing::internal::UnorderedElementsAreMatcherImplBase::VerifyMatchMatrix' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-matchers.cc:421: warning: documented symbol 'bool testing::internal::UnorderedElementsAreMatcherImplBase::FindPairing' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:82: warning: documented symbol 'testing::internal::ExpectationBase::ExpectationBase' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:98: warning: documented symbol 'testing::internal::ExpectationBase::~ExpectationBase' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:102: warning: documented symbol 'void testing::internal::ExpectationBase::SpecifyCardinality' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:108: warning: documented symbol 'void testing::internal::ExpectationBase::RetireAllPreRequisites' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:135: warning: documented symbol 'bool testing::internal::ExpectationBase::AllPrerequisitesAreSatisfied' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:155: warning: documented symbol 'void testing::internal::ExpectationBase::FindUnsatisfiedPrerequisites' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:186: warning: documented symbol 'void testing::internal::ExpectationBase::DescribeCallCountTo' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:209: warning: documented symbol 'void testing::internal::ExpectationBase::CheckActionCountIfNotDone' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:261: warning: documented symbol 'void testing::internal::ExpectationBase::UntypedTimes' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:308: warning: documented symbol 'testing::internal::UntypedFunctionMockerBase::UntypedFunctionMockerBase' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:311: warning: documented symbol 'testing::internal::UntypedFunctionMockerBase::~UntypedFunctionMockerBase' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:317: warning: documented symbol 'void testing::internal::UntypedFunctionMockerBase::RegisterOwner' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:329: warning: documented symbol 'void testing::internal::UntypedFunctionMockerBase::SetOwnerAndName' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:341: warning: documented symbol 'const void * testing::internal::UntypedFunctionMockerBase::MockObject' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:358: warning: documented symbol 'const char * testing::internal::UntypedFunctionMockerBase::Name' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:376: warning: documented symbol 'UntypedActionResultHolderBase * testing::internal::UntypedFunctionMockerBase::UntypedInvokeWith' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:505: warning: documented symbol 'Expectation testing::internal::UntypedFunctionMockerBase::GetHandleOf' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:525: warning: documented symbol 'bool testing::internal::UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:685: warning: documented symbol 'void Mock::AllowUninterestingCalls' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:692: warning: documented symbol 'void Mock::WarnUninterestingCalls' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:699: warning: documented symbol 'void Mock::FailUninterestingCalls' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:706: warning: documented symbol 'void Mock::UnregisterCallReaction' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:714: warning: documented symbol 'internal::CallReaction Mock::GetReactionOnUninterestingCalls' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:726: warning: documented symbol 'void Mock::AllowLeak' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:735: warning: documented symbol 'bool Mock::VerifyAndClearExpectations' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:744: warning: documented symbol 'bool Mock::VerifyAndClear' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:754: warning: documented symbol 'bool Mock::VerifyAndClearExpectationsLocked' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:779: warning: documented symbol 'bool Mock::IsNaggy' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:783: warning: documented symbol 'bool Mock::IsNice' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:787: warning: documented symbol 'bool Mock::IsStrict' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:793: warning: no uniquely matching class member found for
void Mock::Register(const void *mock_obj, internal::UntypedFunctionMockerBase *mocker)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:803: warning: documented symbol 'void Mock::RegisterUseByOnCallOrExpectCall' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:824: warning: documented symbol 'void Mock::UnregisterLocked' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:842: warning: documented symbol 'void Mock::ClearDefaultActionsLocked' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:864: warning: documented symbol 'testing::Expectation::Expectation' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:866: warning: documented symbol 'testing::Expectation::Expectation' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:870: warning: documented symbol 'testing::Expectation::~Expectation' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:873: warning: documented symbol 'void testing::Sequence::AddExpectation' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:884: warning: documented symbol 'testing::InSequence::InSequence' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/src/gmock-spec-builders.cc:895: warning: documented symbol 'testing::InSequence::~InSequence' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:111: warning: no matching file member found for
std::string testing::PrintToString(const T &value)
Possible candidates:
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 117 of file d:/PlatformIO/linear-algebra/Angle.h
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 124 of file d:/PlatformIO/linear-algebra/Angle.h
'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 118 of file d:/PlatformIO/linear-algebra/Polar.h
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 121 of file d:/PlatformIO/linear-algebra/Polar.h
'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h
'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 111 of file d:/PlatformIO/linear-algebra/Spherical.h
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 114 of file d:/PlatformIO/linear-algebra/Spherical.h
'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 46 of file d:/PlatformIO/linear-algebra/SwingTwist.h
'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 54 of file d:/PlatformIO/linear-algebra/SwingTwist.h
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 141 of file d:/PlatformIO/linear-algebra/Vector2.h
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 144 of file d:/PlatformIO/linear-algebra/Vector2.h
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 149 of file d:/PlatformIO/linear-algebra/Vector3.h
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 152 of file d:/PlatformIO/linear-algebra/Vector3.h
d:/PlatformIO/linear-algebra/Quaternion.cpp:108: warning: no uniquely matching class member found for
Vector3 Quaternion::operator*(const Vector3 &p) const
'::std::string PrintToString(const T &value)' at line 1037 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-printers.h
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-internal.h:160: warning: no matching file member found for
testing::internal::GTEST_DISABLE_MSC_WARNINGS_PUSH_
Possible candidates:
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(const AngleOf< T > &angle, float factor)' at line 117 of file d:/PlatformIO/linear-algebra/Angle.h
'friend AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator*(float factor, const AngleOf< T > &angle)' at line 124 of file d:/PlatformIO/linear-algebra/Angle.h
'Vector3 Passer::LinearAlgebra::MatrixOf< T >::operator*(const Vector3 v) const' at line 64 of file d:/PlatformIO/linear-algebra/Matrix.h
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(const PolarOf &v, float f)' at line 118 of file d:/PlatformIO/linear-algebra/Polar.h
'friend PolarOf Passer::LinearAlgebra::PolarOf< T >::operator*(float f, const PolarOf &v)' at line 121 of file d:/PlatformIO/linear-algebra/Polar.h
'Vector3 Passer::LinearAlgebra::Quaternion::operator*(const Vector3 &vector) const' at line 98 of file d:/PlatformIO/linear-algebra/Quaternion.h
'Quaternion Passer::LinearAlgebra::Quaternion::operator*(const Quaternion &rotation) const' at line 106 of file d:/PlatformIO/linear-algebra/Quaternion.h
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(const SphericalOf< T > &v, float f)' at line 111 of file d:/PlatformIO/linear-algebra/Spherical.h
'friend SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator*(float f, const SphericalOf< T > &v)' at line 114 of file d:/PlatformIO/linear-algebra/Spherical.h
'SphericalOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SphericalOf< T > &vector) const' at line 46 of file d:/PlatformIO/linear-algebra/SwingTwist.h
'SwingTwistOf< T > Passer::LinearAlgebra::SwingTwistOf< T >::operator*(const SwingTwistOf< T > &rotation) const' at line 54 of file d:/PlatformIO/linear-algebra/SwingTwist.h
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(const Vector2 &v, float f)' at line 141 of file d:/PlatformIO/linear-algebra/Vector2.h
'friend Vector2 Passer::LinearAlgebra::Vector2::operator*(float f, const Vector2 &v)' at line 144 of file d:/PlatformIO/linear-algebra/Vector2.h
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(const Vector3 &v, float f)' at line 149 of file d:/PlatformIO/linear-algebra/Vector3.h
'friend Vector3 Passer::LinearAlgebra::Vector3::operator*(float f, const Vector3 &v)' at line 152 of file d:/PlatformIO/linear-algebra/Vector3.h
d:/PlatformIO/linear-algebra/Quaternion.cpp:152: warning: no uniquely matching class member found for
Quaternion Quaternion::LookRotation(const Vector3 &forward, const Vector3 &up)
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 48 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-cardinalities.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 GMOCK_MAYBE_5046_) namespace testing' at line 283 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-matchers.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 84 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googlemock/include/gmock/gmock-spec-builders.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 GTEST_MAYBE_5046_) namespace testing' at line 59 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-matchers.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 38 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-spi.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 42 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest-test-part.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) GTEST_DECLARE_bool_(also_run_disabled_tests)' at line 72 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/gtest.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) class GTEST_API_ DeathTest' at line 60 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-death-test-internal.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) namespace testing' at line 47 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/include/gtest/internal/gtest-filepath.h
'GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \) GTEST_DECLARE_bool_(death_test_use_fork)' at line 64 of file D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-internal-inl.h
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-assertion-result.cc:59: warning: documented symbol 'AssertionResult testing::AssertionResult::operator!' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:373: warning: documented symbol 'testing::internal::DeathTest::DeathTest' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:383: warning: no matching class member found for
bool testing::internal::DeathTest::Create(const char *statement, Matcher< const std::string & > matcher, const char *file, int line, DeathTest **test)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:390: warning: documented symbol 'const char * testing::internal::DeathTest::LastMessage' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:394: warning: documented symbol 'void testing::internal::DeathTest::set_last_death_test_message' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-death-test.cc:398: warning: documented symbol 'std::string testing::internal::DeathTest::last_death_test_message_' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:94: warning: documented symbol 'FilePath testing::internal::FilePath::GetCurrentDir' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:121: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveExtension' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:133: warning: documented symbol 'const char * testing::internal::FilePath::FindLastPathSeparator' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:152: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveDirectoryName' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:163: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveFileName' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:180: warning: documented symbol 'FilePath testing::internal::FilePath::MakeFileName' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:196: warning: documented symbol 'FilePath testing::internal::FilePath::ConcatPaths' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:206: warning: documented symbol 'bool testing::internal::FilePath::FileOrDirectoryExists' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:220: warning: documented symbol 'bool testing::internal::FilePath::DirectoryExists' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:250: warning: documented symbol 'bool testing::internal::FilePath::IsRootDirectory' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:259: warning: documented symbol 'bool testing::internal::FilePath::IsAbsolutePath' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:280: warning: documented symbol 'FilePath testing::internal::FilePath::GenerateUniqueFileName' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:294: warning: documented symbol 'bool testing::internal::FilePath::IsDirectory' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:302: warning: documented symbol 'bool testing::internal::FilePath::CreateDirectoriesRecursively' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:319: warning: documented symbol 'bool testing::internal::FilePath::CreateFolder' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:343: warning: documented symbol 'FilePath testing::internal::FilePath::RemoveTrailingPathSeparator' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-filepath.cc:352: warning: no uniquely matching class member found for
void testing::internal::FilePath::Normalize()
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:45: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:49: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:55: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:59: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:64: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:70: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:76: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:82: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:86: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-matchers.cc:92: warning: documented symbol 'testing::Matcher< typename >::Matcher' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-port.cc:301: warning: no matching class member found for
void testing::internal::AutoHandle::Reset(HANDLE handle)
Possible candidates:
'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward, const Vector3 &upwards)' at line 132 of file d:/PlatformIO/linear-algebra/Quaternion.h
'static Quaternion Passer::LinearAlgebra::Quaternion::LookRotation(const Vector3 &forward)' at line 143 of file d:/PlatformIO/linear-algebra/Quaternion.h
d:/PlatformIO/linear-algebra/Quaternion.cpp:330: warning: no uniquely matching class member found for
Quaternion Quaternion::Euler(Vector3 euler)
Possible candidates:
'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(float x, float y, float z)' at line 215 of file d:/PlatformIO/linear-algebra/Quaternion.h
'static Quaternion Passer::LinearAlgebra::Quaternion::Euler(Vector3 eulerAngles)' at line 222 of file d:/PlatformIO/linear-algebra/Quaternion.h
d:/PlatformIO/linear-algebra/Quaternion.cpp:362: warning: no uniquely matching class member found for
Quaternion Quaternion::EulerXYZ(Vector3 euler)
Possible candidates:
'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(float x, float y, float z)' at line 232 of file d:/PlatformIO/linear-algebra/Quaternion.h
'static Quaternion Passer::LinearAlgebra::Quaternion::EulerXYZ(Vector3 eulerAngles)' at line 239 of file d:/PlatformIO/linear-algebra/Quaternion.h
d:/PlatformIO/linear-algebra/Spherical.cpp:137: warning: no uniquely matching class member found for
template < T >
SphericalOf< T > SphericalOf::operator-(const SphericalOf< T > &s2) const
Possible candidates:
'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-() const' at line 99 of file d:/PlatformIO/linear-algebra/Angle.h
'AngleOf< T > Passer::LinearAlgebra::AngleOf< T >::operator-(const AngleOf< T > &angle) const' at line 103 of file d:/PlatformIO/linear-algebra/Angle.h
'DirectionOf< T > Passer::LinearAlgebra::DirectionOf< T >::operator-() const' at line 84 of file d:/PlatformIO/linear-algebra/Direction.h
'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-() const' at line 100 of file d:/PlatformIO/linear-algebra/Polar.h
'PolarOf Passer::LinearAlgebra::PolarOf< T >::operator-(const PolarOf &v) const' at line 105 of file d:/PlatformIO/linear-algebra/Polar.h
'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-() const' at line 93 of file d:/PlatformIO/linear-algebra/Spherical.h
'SphericalOf< T > Passer::LinearAlgebra::SphericalOf< T >::operator-(const SphericalOf< T > &v) const' at line 98 of file d:/PlatformIO/linear-algebra/Spherical.h
'Vector2 Passer::LinearAlgebra::Vector2::operator-()' at line 116 of file d:/PlatformIO/linear-algebra/Vector2.h
'Vector2 Passer::LinearAlgebra::Vector2::operator-(const Vector2 &v) const' at line 121 of file d:/PlatformIO/linear-algebra/Vector2.h
'Vector3 Passer::LinearAlgebra::Vector3::operator-() const' at line 124 of file d:/PlatformIO/linear-algebra/Vector3.h
'Vector3 Passer::LinearAlgebra::Vector3::operator-(const Vector3 &v) const' at line 129 of file d:/PlatformIO/linear-algebra/Vector3.h
d:/PlatformIO/linear-algebra/Vector2.cpp:20: warning: no uniquely matching class member found for
Vector2::Vector2(float _x, float _y)
Possible candidates:
'Passer::LinearAlgebra::Vector2::Vector2()' at line 43 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 47 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 51 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 54 of file d:/PlatformIO/linear-algebra/Vector2.h
d:/PlatformIO/linear-algebra/Vector2.cpp:32: warning: no uniquely matching class member found for
Vector2::Vector2(PolarSingle p)
Possible candidates:
'Passer::LinearAlgebra::Vector2::Vector2()' at line 43 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(float right, float forward)' at line 47 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(Vector3 v)' at line 51 of file d:/PlatformIO/linear-algebra/Vector2.h
'Passer::LinearAlgebra::Vector2::Vector2(PolarOf< float > v)' at line 54 of file d:/PlatformIO/linear-algebra/Vector2.h
d:/PlatformIO/linear-algebra/Vector3.cpp:33: warning: no uniquely matching class member found for
Vector3::Vector3(SphericalOf< float > s)
Possible candidates:
'Passer::LinearAlgebra::Vector3::Vector3()' at line 47 of file d:/PlatformIO/linear-algebra/Vector3.h
'Passer::LinearAlgebra::Vector3::Vector3(float right, float up, float forward)' at line 52 of file d:/PlatformIO/linear-algebra/Vector3.h
'Passer::LinearAlgebra::Vector3::Vector3(Vector2 v)' at line 55 of file d:/PlatformIO/linear-algebra/Vector3.h
'Passer::LinearAlgebra::Vector3::Vector3(SphericalOf< float > v)' at line 59 of file d:/PlatformIO/linear-algebra/Vector3.h
d:/PlatformIO/linear-algebra/Direction.h:43: warning: argument 'v' of command @param is not found in the argument list of Passer::LinearAlgebra::DirectionOf< T >::FromVector3(Vector3 vector)
d:/PlatformIO/linear-algebra/Direction.h:43: warning: The following parameter of Passer::LinearAlgebra::DirectionOf::FromVector3(Vector3 vector) is not documented:
parameter 'vector'
d:/PlatformIO/linear-algebra/Matrix.h:12: warning: Member MatrixOf(unsigned int rows, unsigned int cols) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:13: warning: Member MatrixOf(unsigned int rows, unsigned int cols, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:17: warning: Member MatrixOf(Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:59: warning: Member Multiply(const MatrixOf< T > *m, MatrixOf< T > *r) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:64: warning: Member operator*(const Vector3 v) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:66: warning: Member Get(unsigned int rowIx, unsigned int colIx) const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:71: warning: Member Set(unsigned int rowIx, unsigned int colIx, T value) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:77: warning: Member Set(const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:84: warning: Member SetRow(unsigned int rowIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:91: warning: Member SetCol(unsigned int colIx, const T *source) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:98: warning: Member CopyFrom(const MatrixOf< T > *m) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:108: warning: Member RowCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:109: warning: Member ColCount() const (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:57: warning: Member Multiply(const MatrixOf< T > *m1, const MatrixOf< T > *m2, MatrixOf< T > *r) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Matrix.h:63: warning: Member Multiply(const MatrixOf< T > *m, Vector3 v) (function) of class Passer::LinearAlgebra::MatrixOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:106: warning: Member operator-=(const PolarOf &v) (function) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:111: warning: Member operator+=(const PolarOf &v) (function) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:124: warning: Member operator*=(float f) (function) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:136: warning: Member operator/=(float f) (function) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:121: warning: Member operator*(float f, const PolarOf &v) (friend) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:133: warning: Member operator/(float f, const PolarOf &v) (friend) of class Passer::LinearAlgebra::PolarOf is not documented.
d:/PlatformIO/linear-algebra/Polar.h:59: warning: argument 's' of command @param is not found in the argument list of Passer::LinearAlgebra::PolarOf< T >::FromSpherical(SphericalOf< T > v)
d:/PlatformIO/linear-algebra/Polar.h:59: warning: The following parameter of Passer::LinearAlgebra::PolarOf::FromSpherical(SphericalOf< T > v) is not documented:
parameter 'v'
d:/PlatformIO/linear-algebra/Spherical.h:29: warning: Member SphericalOf(float distance, AngleOf< T > horizontal, AngleOf< T > vertical) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:29: warning: Member SphericalOf(float distance, DirectionOf< T > direction) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:99: warning: Member operator-=(const SphericalOf< T > &v) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:104: warning: Member operator+=(const SphericalOf< T > &v) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:117: warning: Member operator*=(float f) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:129: warning: Member operator/=(float f) (function) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:54: warning: Member Rad (variable) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:114: warning: Member operator*(float f, const SphericalOf< T > &v) (friend) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/Spherical.h:126: warning: Member operator/(float f, const SphericalOf< T > &v) (friend) of class Passer::LinearAlgebra::SphericalOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:22: warning: Member SwingTwistOf(DirectionOf< T > swing, AngleOf< T > twist) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:22: warning: Member SwingTwistOf(AngleOf< T > horizontal, AngleOf< T > vertical, AngleOf< T > twist) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:31: warning: Member ToQuaternion() const (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:34: warning: Member ToAngleAxis() const (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:39: warning: Member operator==(const SwingTwistOf< T > d) const (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:55: warning: Member operator*=(const SwingTwistOf< T > &rotation) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:69: warning: Member Normalize() (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:28: warning: Member Degrees(float horizontal, float vertical=0, float twist=0) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:32: warning: Member FromQuaternion(Quaternion q) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:35: warning: Member FromAngleAxis(SphericalOf< T > aa) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:57: warning: Member Inverse(SwingTwistOf< T > rotation) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:67: warning: Member Angle(const SwingTwistOf< T > &r1, const SwingTwistOf< T > &r2) (function) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:21: warning: Member swing (variable) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:22: warning: Member twist (variable) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/SwingTwist.h:37: warning: Member identity (variable) of class Passer::LinearAlgebra::SwingTwistOf is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:122: warning: Member operator-=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:127: warning: Member operator+=(const Vector2 &v) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:148: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:159: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:144: warning: Member operator*(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector2.h:156: warning: Member operator/(float f, const Vector2 &v) (friend) of struct Passer::LinearAlgebra::Vector2 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:82: warning: Member Forward() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:83: warning: Member Up() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:84: warning: Member Right() const (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:130: warning: Member operator-=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:135: warning: Member operator+=(const Vector3 &v) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:156: warning: Member operator*=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:168: warning: Member operator/=(float f) (function) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:152: warning: Member operator*(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
d:/PlatformIO/linear-algebra/Vector3.h:164: warning: Member operator/(float f, const Vector3 &v) (friend) of struct Passer::LinearAlgebra::Vector3 is not documented.
'void testing::internal::AutoHandle::Reset()'
'void testing::internal::AutoHandle::Reset(Handle handle)'
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:44: warning: documented symbol 'std::string testing::TestPartResult::ExtractSummary' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:66: warning: no uniquely matching class member found for
void testing::TestPartResultArray::Append(const TestPartResult &result)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:71: warning: no matching class member found for
const TestPartResult & testing::TestPartResultArray::GetTestPartResult(int index) const
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:81: warning: no uniquely matching class member found for
int testing::TestPartResultArray::size() const
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:87: warning: documented symbol 'testing::internal::HasNewFatalFailureHelper::HasNewFatalFailureHelper' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:94: warning: documented symbol 'testing::internal::HasNewFatalFailureHelper::~HasNewFatalFailureHelper' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-test-part.cc:99: warning: no uniquely matching class member found for
void testing::internal::HasNewFatalFailureHelper::ReportTestPartResult(const TestPartResult &result)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest-typed-test.cc:58: warning: documented symbol 'const char * testing::internal::TypedTestSuitePState::VerifyRegisteredTestNames' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:858: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:868: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:875: warning: no uniquely matching class member found for
void testing::ScopedFakeTestPartResultReporter::Init()
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:888: warning: documented symbol 'testing::ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:899: warning: no uniquely matching class member found for
void testing::ScopedFakeTestPartResultReporter::ReportTestPartResult(const TestPartResult &result)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:965: warning: documented symbol 'testing::internal::SingleFailureChecker::SingleFailureChecker' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:974: warning: documented symbol 'testing::internal::SingleFailureChecker::~SingleFailureChecker' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/src/gtest.cc:2602: warning: documented symbol 'testing::internal::GoogleTestFailureException::GoogleTestFailureException' was not declared or defined.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:52: warning: explicit link request to 'testing::AssertionResult' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:229: warning: explicit link request to 'Bar()' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:283: warning: explicit link request to 'testing::Environment' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:283: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:376: warning: explicit link request to 'testing::PrintToString(x)' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:786: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:813: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:850: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:953: warning: explicit link request to 'testing::Environment' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:970: warning: explicit link request to 'testing::AddGlobalTestEnvironment()' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1243: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1364: warning: explicit link request to 'testing::Types' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1397: warning: explicit link request to 'including' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1496: warning: explicit link request to 'including' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1538: warning: explicit link request to 'testing::RegisterTest' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1764: warning: explicit link request to 'testing::InitGoogleTest()' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1813: warning: found </em> at different nesting level (5) than expected (2)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1822: warning: found </tt> tag while expecting </em>
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1823: warning: found </tt> tag while expecting </em>
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1824: warning: found </tt> tag while expecting </em>
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1986: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1986: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1987: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1987: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1988: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1988: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1989: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1989: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1990: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1990: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1991: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1991: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1992: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1992: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1994: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1994: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1996: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1996: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1997: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1997: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1998: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1998: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1999: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:1999: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:2000: warning: Unsupported xml/html tag <font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:2000: warning: Unsupported xml/html tag </font> found
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/advanced.md:2380: warning: end of comment block while expecting command </em>
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/faq.md:658: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cheat_sheet.md:6: warning: found subsection command (id: 'MockClass') outside of section context!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:9: warning: explicit link request to 'testing::Foo' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:186: warning: found subsection command (id: 'MockingNonVirtualMethods') outside of section context!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:1540: warning: explicit link request to 'Set()' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:1950: warning: explicit link request to 'testing::ActionInterface' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:2045: warning: explicit link request to 'testing::InSequence' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:2098: warning: explicit link request to 'testing::DefaultValue' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:2223: warning: explicit link request to 'testing::Invoke' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:2309: warning: explicit link request to 'testing::InvokeWithoutArgs' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_cook_book.md:4107: warning: explicit link request to 'testing::ActionInterface' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/gmock_for_dummies.md:524: warning: found subsection command (id: 'MultiExpectations') outside of section context!
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/primer.md:213: warning: explicit link request to 'testing::Test' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/primer.md:457: warning: explicit link request to 'testing::InitGoogleTest()' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/actions.md:5: warning: explicit link request to 'testing' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/assertions.md:529: warning: explicit link request to 'testing::GTEST_FLAG(death_test_style)' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/matchers.md:20: warning: explicit link request to 'testing' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/matchers.md:145: warning: explicit link request to 'std::tuple' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:92: warning: explicit link request to 'EXPECT_CALL.With' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:122: warning: explicit link request to 'EXPECT_CALL.Times' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:129: warning: explicit link request to 'testing' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:151: warning: explicit link request to 'EXPECT_CALL.InSequence' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/mocking.md:181: warning: explicit link request to 'EXPECT_CALL.After' could not be resolved
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D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1403: warning: explicit link request to 'testing::StaticAssertTypeEq' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1412: warning: explicit link request to 'testing::PrintToString(x)' could not be resolved
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/docs/reference/testing.md:1422: warning: explicit link request to 'testing::PrintToStringParamName' could not be resolved
D:/C/VectorAlgebra/include/Vector2.h:233: warning: Member ToFactor(Vector2 a, Vector2 b) (function) of struct Vector2 is not documented.
D:/C/VectorAlgebra/include/Vector2.h:205: warning: argument 'axis' of command @param is not found in the argument list of Vector2::SignedAngle(Vector2 from, Vector2 to)
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:119: warning: Member testCatchesCxxExceptionsInFixtureConstructor(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:133: warning: Member testCatchesCxxExceptionsInFixtureDestructor(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:143: warning: Member testCatchesCxxExceptionsInSetUpTestCase(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:166: warning: Member testCatchesCxxExceptionsInTearDownTestCase(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:171: warning: Member testCatchesCxxExceptionsInSetUp(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:189: warning: Member testCatchesCxxExceptionsInTearDown(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:200: warning: Member testCatchesCxxExceptionsInTestBody(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:214: warning: Member testCatchesNonStdCxxExceptions(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:219: warning: Member testUnhandledCxxExceptionsAbortTheProgram(self) (function) of class googletest-catch-exceptions-test::CatchCxxExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:85: warning: Member TestSehExceptions(self, test_output) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:103: warning: Member testCatchesSehExceptionsWithCxxExceptionsEnabled(self) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-catch-exceptions-test.py:106: warning: Member testCatchesSehExceptionsWithCxxExceptionsDisabled(self) (function) of class googletest-catch-exceptions-test::CatchSehExceptionsTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:122: warning: Member testGoogletestFlag(self) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:187: warning: Member testEventListener(self) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:214: warning: Member assertXmlResultCount(self, result, count, xml) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-failfast-unittest.py:220: warning: Member assertXmlStatusCount(self, status, count, xml) (function) of class googletest-failfast-unittest::GTestFailFastUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-filter-unittest.py:517: warning: Member testNegativeFilters(self) (function) of class googletest-filter-unittest::GTestFilterUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:134: warning: Member setUp(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:142: warning: Member tearDown(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:145: warning: Member DeleteFilesAndDir(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:159: warning: Member testOutfile1(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:162: warning: Member testOutfile2(self) (function) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-json-outfiles-test.py:138: warning: Member output_dir_ (variable) of class googletest-json-outfiles-test::GTestJsonOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:170: warning: Member setUp(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:173: warning: Member testShufflePreservesNumberOfTests(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:179: warning: Member testShuffleChangesTestOrder(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:187: warning: Member testShuffleChangesTestCaseOrder(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:200: warning: Member testShuffleDoesNotRepeatTest(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:214: warning: Member testShuffleDoesNotCreateNewTest(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:224: warning: Member testShuffleIncludesAllTests(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:234: warning: Member testShuffleLeavesDeathTestsAtFront(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:253: warning: Member testShuffleDoesNotInterleaveTestCases(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:259: warning: Member testShuffleRestoresOrderAfterEachIteration(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:291: warning: Member testShuffleGeneratesNewOrderInEachIteration(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/googletest-shuffle-test.py:303: warning: Member testShuffleShardedTestsPreservesPartition(self) (function) of class googletest-shuffle-test::GTestShuffleUnitTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:140: warning: Member testPrintsHelpWithFullFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:143: warning: Member testPrintsHelpWithShortFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:146: warning: Member testPrintsHelpWithQuestionFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:149: warning: Member testPrintsHelpWithWindowsStyleQuestionFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:152: warning: Member testPrintsHelpWithUnrecognizedGoogleTestFlag(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_help_test.py:155: warning: Member testPrintsHelpWithIncorrectFlagStyle(self) (function) of class gtest_help_test::GTestHelpTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:75: warning: Member setUp(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:83: warning: Member tearDown(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:86: warning: Member DeleteFilesAndDir(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:100: warning: Member testOutfile1(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:103: warning: Member testOutfile2(self) (function) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_outfiles_test.py:79: warning: Member output_dir_ (variable) of class gtest_xml_outfiles_test::GTestXMLOutFilesTest is not documented.
D:/C/VectorAlgebra/out/build/x64-Debug/_deps/googletest-src/googletest/test/gtest_xml_test_utils.py:103: warning: Member identifying_attribute (variable) of class gtest_xml_test_utils::GTestXMLTestCase is not documented.

454
LinearAlgebra/DoxyGen/Doxyfile
View File

@ -1,4 +1,4 @@
# Doxyfile 1.9.8
# Doxyfile 1.9.2
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project.
@ -12,16 +12,6 @@
# For lists, items can also be appended using:
# TAG += value [value, ...]
# Values that contain spaces should be placed between quotes (\" \").
#
# Note:
#
# Use doxygen to compare the used configuration file with the template
# configuration file:
# doxygen -x [configFile]
# Use doxygen to compare the used configuration file with the template
# configuration file without replacing the environment variables or CMake type
# replacement variables:
# doxygen -x_noenv [configFile]
#---------------------------------------------------------------------------
# Project related configuration options
@ -42,7 +32,7 @@ DOXYFILE_ENCODING = UTF-8
# title of most generated pages and in a few other places.
# The default value is: My Project.
PROJECT_NAME = LinearAlgebra
PROJECT_NAME = VectorAlgebra
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
# could be handy for archiving the generated documentation or if some version
@ -68,30 +58,18 @@ PROJECT_LOGO = //intranet/home/Afbeeldingen/PasserVR/Logos/Logo3NameRi
# entered, it will be relative to the location where doxygen was started. If
# left blank the current directory will be used.
OUTPUT_DIRECTORY = //intranet/web/passer_life/apis/LinearAlgebra
OUTPUT_DIRECTORY = //serrarens.nl/web/apis/VectorAlgebra
# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096
# sub-directories (in 2 levels) under the output directory of each output format
# and will distribute the generated files over these directories. Enabling this
# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
# directories (in 2 levels) under the output directory of each output format and
# will distribute the generated files over these directories. Enabling this
# option can be useful when feeding doxygen a huge amount of source files, where
# putting all generated files in the same directory would otherwise causes
# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to
# control the number of sub-directories.
# performance problems for the file system.
# The default value is: NO.
CREATE_SUBDIRS = NO
# Controls the number of sub-directories that will be created when
# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every
# level increment doubles the number of directories, resulting in 4096
# directories at level 8 which is the default and also the maximum value. The
# sub-directories are organized in 2 levels, the first level always has a fixed
# number of 16 directories.
# Minimum value: 0, maximum value: 8, default value: 8.
# This tag requires that the tag CREATE_SUBDIRS is set to YES.
CREATE_SUBDIRS_LEVEL = 8
# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
# characters to appear in the names of generated files. If set to NO, non-ASCII
# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
@ -103,14 +81,14 @@ ALLOW_UNICODE_NAMES = NO
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
# documentation generated by doxygen is written. Doxygen will use this
# information to generate all constant output in the proper language.
# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian,
# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English
# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek,
# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with
# English messages), Korean, Korean-en (Korean with English messages), Latvian,
# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese,
# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish,
# Swedish, Turkish, Ukrainian and Vietnamese.
# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
# Ukrainian and Vietnamese.
# The default value is: English.
OUTPUT_LANGUAGE = English
@ -363,17 +341,6 @@ MARKDOWN_SUPPORT = YES
TOC_INCLUDE_HEADINGS = 0
# The MARKDOWN_ID_STYLE tag can be used to specify the algorithm used to
# generate identifiers for the Markdown headings. Note: Every identifier is
# unique.
# Possible values are: DOXYGEN use a fixed 'autotoc_md' string followed by a
# sequence number starting at 0 and GITHUB use the lower case version of title
# with any whitespace replaced by '-' and punctuation characters removed.
# The default value is: DOXYGEN.
# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
MARKDOWN_ID_STYLE = DOXYGEN
# When enabled doxygen tries to link words that correspond to documented
# classes, or namespaces to their corresponding documentation. Such a link can
# be prevented in individual cases by putting a % sign in front of the word or
@ -485,7 +452,7 @@ TYPEDEF_HIDES_STRUCT = NO
LOOKUP_CACHE_SIZE = 0
# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use
# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use
# during processing. When set to 0 doxygen will based this on the number of
# cores available in the system. You can set it explicitly to a value larger
# than 0 to get more control over the balance between CPU load and processing
@ -498,14 +465,6 @@ LOOKUP_CACHE_SIZE = 0
NUM_PROC_THREADS = 1
# If the TIMESTAMP tag is set different from NO then each generated page will
# contain the date or date and time when the page was generated. Setting this to
# NO can help when comparing the output of multiple runs.
# Possible values are: YES, NO, DATETIME and DATE.
# The default value is: NO.
TIMESTAMP = NO
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
@ -587,8 +546,7 @@ HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy. If set
# to NO, these classes will be included in the various overviews. This option
# will also hide undocumented C++ concepts if enabled. This option has no effect
# if EXTRACT_ALL is enabled.
# has no effect if EXTRACT_ALL is enabled.
# The default value is: NO.
HIDE_UNDOC_CLASSES = YES
@ -619,15 +577,14 @@ INTERNAL_DOCS = NO
# filesystem is case sensitive (i.e. it supports files in the same directory
# whose names only differ in casing), the option must be set to YES to properly
# deal with such files in case they appear in the input. For filesystems that
# are not case sensitive the option should be set to NO to properly deal with
# are not case sensitive the option should be be set to NO to properly deal with
# output files written for symbols that only differ in casing, such as for two
# classes, one named CLASS and the other named Class, and to also support
# references to files without having to specify the exact matching casing. On
# Windows (including Cygwin) and MacOS, users should typically set this option
# to NO, whereas on Linux or other Unix flavors it should typically be set to
# YES.
# Possible values are: SYSTEM, NO and YES.
# The default value is: SYSTEM.
# The default value is: system dependent.
CASE_SENSE_NAMES = NO
@ -879,26 +836,11 @@ WARN_IF_INCOMPLETE_DOC = YES
WARN_NO_PARAMDOC = NO
# If WARN_IF_UNDOC_ENUM_VAL option is set to YES, doxygen will warn about
# undocumented enumeration values. If set to NO, doxygen will accept
# undocumented enumeration values. If EXTRACT_ALL is set to YES then this flag
# will automatically be disabled.
# The default value is: NO.
WARN_IF_UNDOC_ENUM_VAL = NO
# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
# at the end of the doxygen process doxygen will return with a non-zero status.
# If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS_PRINT then doxygen behaves
# like FAIL_ON_WARNINGS but in case no WARN_LOGFILE is defined doxygen will not
# write the warning messages in between other messages but write them at the end
# of a run, in case a WARN_LOGFILE is defined the warning messages will be
# besides being in the defined file also be shown at the end of a run, unless
# the WARN_LOGFILE is defined as - i.e. standard output (stdout) in that case
# the behavior will remain as with the setting FAIL_ON_WARNINGS.
# Possible values are: NO, YES, FAIL_ON_WARNINGS and FAIL_ON_WARNINGS_PRINT.
# Possible values are: NO, YES and FAIL_ON_WARNINGS.
# The default value is: NO.
WARN_AS_ERROR = NO
@ -909,27 +851,13 @@ WARN_AS_ERROR = NO
# and the warning text. Optionally the format may contain $version, which will
# be replaced by the version of the file (if it could be obtained via
# FILE_VERSION_FILTER)
# See also: WARN_LINE_FORMAT
# The default value is: $file:$line: $text.
WARN_FORMAT = "$file:$line: $text"
# In the $text part of the WARN_FORMAT command it is possible that a reference
# to a more specific place is given. To make it easier to jump to this place
# (outside of doxygen) the user can define a custom "cut" / "paste" string.
# Example:
# WARN_LINE_FORMAT = "'vi $file +$line'"
# See also: WARN_FORMAT
# The default value is: at line $line of file $file.
WARN_LINE_FORMAT = "at line $line of file $file"
# The WARN_LOGFILE tag can be used to specify a file to which warning and error
# messages should be written. If left blank the output is written to standard
# error (stderr). In case the file specified cannot be opened for writing the
# warning and error messages are written to standard error. When as file - is
# specified the warning and error messages are written to standard output
# (stdout).
# error (stderr).
WARN_LOGFILE = DoxyWarnLogfile.txt
@ -943,7 +871,8 @@ WARN_LOGFILE = DoxyWarnLogfile.txt
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.
INPUT = .. \
INPUT = ../include \
../src \
../README.md
# This tag can be used to specify the character encoding of the source files
@ -951,21 +880,10 @@ INPUT = .. \
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
# documentation (see:
# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
# See also: INPUT_FILE_ENCODING
# The default value is: UTF-8.
INPUT_ENCODING = UTF-8
# This tag can be used to specify the character encoding of the source files
# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify
# character encoding on a per file pattern basis. Doxygen will compare the file
# name with each pattern and apply the encoding instead of the default
# INPUT_ENCODING) if there is a match. The character encodings are a list of the
# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding
# "INPUT_ENCODING" for further information on supported encodings.
INPUT_FILE_ENCODING =
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
# *.h) to filter out the source-files in the directories.
@ -977,12 +895,12 @@ INPUT_FILE_ENCODING =
# Note the list of default checked file patterns might differ from the list of
# default file extension mappings.
#
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cxxm,
# *.cpp, *.cppm, *.c++, *.c++m, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl,
# *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp, *.h++, *.ixx, *.l, *.cs, *.d, *.php,
# *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be
# provided as doxygen C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08,
# *.f18, *.f, *.for, *.vhd, *.vhdl, *.ucf, *.qsf and *.ice.
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
# *.vhdl, *.ucf, *.qsf and *.ice.
FILE_PATTERNS = *.c \
*.cc \
@ -1060,14 +978,16 @@ EXCLUDE_SYMLINKS = NO
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories for example use the pattern */test/*
EXCLUDE_PATTERNS = gtest* \
googletest*
EXCLUDE_PATTERNS =
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# ANamespace::AClass, ANamespace::*Test
# AClass::ANamespace, ANamespace::*Test
#
# Note that the wildcards are matched against the file with absolute path, so to
# exclude all test directories use the pattern */test/*
EXCLUDE_SYMBOLS =
@ -1113,11 +1033,6 @@ IMAGE_PATH = images \
# code is scanned, but not when the output code is generated. If lines are added
# or removed, the anchors will not be placed correctly.
#
# Note that doxygen will use the data processed and written to standard output
# for further processing, therefore nothing else, like debug statements or used
# commands (so in case of a Windows batch file always use @echo OFF), should be
# written to standard output.
#
# Note that for custom extensions or not directly supported extensions you also
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# properly processed by doxygen.
@ -1159,15 +1074,6 @@ FILTER_SOURCE_PATTERNS =
USE_MDFILE_AS_MAINPAGE =
# The Fortran standard specifies that for fixed formatted Fortran code all
# characters from position 72 are to be considered as comment. A common
# extension is to allow longer lines before the automatic comment starts. The
# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can
# be processed before the automatic comment starts.
# Minimum value: 7, maximum value: 10000, default value: 72.
FORTRAN_COMMENT_AFTER = 72
#---------------------------------------------------------------------------
# Configuration options related to source browsing
#---------------------------------------------------------------------------
@ -1305,11 +1211,10 @@ CLANG_DATABASE_PATH =
ALPHABETICAL_INDEX = YES
# The IGNORE_PREFIX tag can be used to specify a prefix (or a list of prefixes)
# that should be ignored while generating the index headers. The IGNORE_PREFIX
# tag works for classes, function and member names. The entity will be placed in
# the alphabetical list under the first letter of the entity name that remains
# after removing the prefix.
# In case all classes in a project start with a common prefix, all classes will
# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
# can be used to specify a prefix (or a list of prefixes) that should be ignored
# while generating the index headers.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
IGNORE_PREFIX =
@ -1388,12 +1293,7 @@ HTML_STYLESHEET =
# Doxygen will copy the style sheet files to the output directory.
# Note: The order of the extra style sheet files is of importance (e.g. the last
# style sheet in the list overrules the setting of the previous ones in the
# list).
# Note: Since the styling of scrollbars can currently not be overruled in
# Webkit/Chromium, the styling will be left out of the default doxygen.css if
# one or more extra stylesheets have been specified. So if scrollbar
# customization is desired it has to be added explicitly. For an example see the
# documentation.
# list). For an example see the documentation.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_EXTRA_STYLESHEET = custom_doxygen.css
@ -1408,19 +1308,6 @@ HTML_EXTRA_STYLESHEET = custom_doxygen.css
HTML_EXTRA_FILES =
# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output
# should be rendered with a dark or light theme.
# Possible values are: LIGHT always generate light mode output, DARK always
# generate dark mode output, AUTO_LIGHT automatically set the mode according to
# the user preference, use light mode if no preference is set (the default),
# AUTO_DARK automatically set the mode according to the user preference, use
# dark mode if no preference is set and TOGGLE allow to user to switch between
# light and dark mode via a button.
# The default value is: AUTO_LIGHT.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_COLORSTYLE = LIGHT
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the style sheet and background images according to
# this color. Hue is specified as an angle on a color-wheel, see
@ -1451,6 +1338,15 @@ HTML_COLORSTYLE_SAT = 0
HTML_COLORSTYLE_GAMMA = 103
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
# page will contain the date and time when the page was generated. Setting this
# to YES can help to show when doxygen was last run and thus if the
# documentation is up to date.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_TIMESTAMP = NO
# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
# documentation will contain a main index with vertical navigation menus that
# are dynamically created via JavaScript. If disabled, the navigation index will
@ -1470,13 +1366,6 @@ HTML_DYNAMIC_MENUS = YES
HTML_DYNAMIC_SECTIONS = NO
# If the HTML_CODE_FOLDING tag is set to YES then classes and functions can be
# dynamically folded and expanded in the generated HTML source code.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_CODE_FOLDING = YES
# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
# shown in the various tree structured indices initially; the user can expand
# and collapse entries dynamically later on. Doxygen will expand the tree to
@ -1513,13 +1402,6 @@ GENERATE_DOCSET = NO
DOCSET_FEEDNAME = "Doxygen generated docs"
# This tag determines the URL of the docset feed. A documentation feed provides
# an umbrella under which multiple documentation sets from a single provider
# (such as a company or product suite) can be grouped.
# This tag requires that the tag GENERATE_DOCSET is set to YES.
DOCSET_FEEDURL =
# This tag specifies a string that should uniquely identify the documentation
# set bundle. This should be a reverse domain-name style string, e.g.
# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
@ -1607,16 +1489,6 @@ BINARY_TOC = NO
TOC_EXPAND = NO
# The SITEMAP_URL tag is used to specify the full URL of the place where the
# generated documentation will be placed on the server by the user during the
# deployment of the documentation. The generated sitemap is called sitemap.xml
# and placed on the directory specified by HTML_OUTPUT. In case no SITEMAP_URL
# is specified no sitemap is generated. For information about the sitemap
# protocol see https://www.sitemaps.org
# This tag requires that the tag GENERATE_HTML is set to YES.
SITEMAP_URL =
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
@ -1734,7 +1606,7 @@ GENERATE_TREEVIEW = NO
# area (value NO) or if it should extend to the full height of the window (value
# YES). Setting this to YES gives a layout similar to
# https://docs.readthedocs.io with more room for contents, but less room for the
# project logo, title, and description. If either GENERATE_TREEVIEW or
# project logo, title, and description. If either GENERATOR_TREEVIEW or
# DISABLE_INDEX is set to NO, this option has no effect.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
@ -1765,13 +1637,6 @@ TREEVIEW_WIDTH = 250
EXT_LINKS_IN_WINDOW = NO
# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
# addresses.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
OBFUSCATE_EMAILS = YES
# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
@ -1792,6 +1657,17 @@ HTML_FORMULA_FORMAT = png
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
# generated for formulas are transparent PNGs. Transparent PNGs are not
# supported properly for IE 6.0, but are supported on all modern browsers.
#
# Note that when changing this option you need to delete any form_*.png files in
# the HTML output directory before the changes have effect.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
FORMULA_TRANSPARENT = YES
# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
# to create new LaTeX commands to be used in formulas as building blocks. See
# the section "Including formulas" for details.
@ -2105,16 +1981,9 @@ PDF_HYPERLINKS = YES
USE_PDFLATEX = YES
# The LATEX_BATCHMODE tag signals the behavior of LaTeX in case of an error.
# Possible values are: NO same as ERROR_STOP, YES same as BATCH, BATCH In batch
# mode nothing is printed on the terminal, errors are scrolled as if <return> is
# hit at every error; missing files that TeX tries to input or request from
# keyboard input (\read on a not open input stream) cause the job to abort,
# NON_STOP In nonstop mode the diagnostic message will appear on the terminal,
# but there is no possibility of user interaction just like in batch mode,
# SCROLL In scroll mode, TeX will stop only for missing files to input or if
# keyboard input is necessary and ERROR_STOP In errorstop mode, TeX will stop at
# each error, asking for user intervention.
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
# command to the generated LaTeX files. This will instruct LaTeX to keep running
# if errors occur, instead of asking the user for help.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@ -2135,6 +2004,14 @@ LATEX_HIDE_INDICES = NO
LATEX_BIB_STYLE = plain
# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
# page will contain the date and time when the page was generated. Setting this
# to NO can help when comparing the output of multiple runs.
# The default value is: NO.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_TIMESTAMP = NO
# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
# path from which the emoji images will be read. If a relative path is entered,
# it will be relative to the LATEX_OUTPUT directory. If left blank the
@ -2300,7 +2177,7 @@ DOCBOOK_OUTPUT = docbook
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
# AutoGen Definitions (see https://autogen.sourceforge.net/) file that captures
# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
# the structure of the code including all documentation. Note that this feature
# is still experimental and incomplete at the moment.
# The default value is: NO.
@ -2311,28 +2188,6 @@ GENERATE_AUTOGEN_DEF = NO
# Configuration options related to Sqlite3 output
#---------------------------------------------------------------------------
# If the GENERATE_SQLITE3 tag is set to YES doxygen will generate a Sqlite3
# database with symbols found by doxygen stored in tables.
# The default value is: NO.
GENERATE_SQLITE3 = NO
# The SQLITE3_OUTPUT tag is used to specify where the Sqlite3 database will be
# put. If a relative path is entered the value of OUTPUT_DIRECTORY will be put
# in front of it.
# The default directory is: sqlite3.
# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
SQLITE3_OUTPUT = sqlite3
# The SQLITE3_OVERWRITE_DB tag is set to YES, the existing doxygen_sqlite3.db
# database file will be recreated with each doxygen run. If set to NO, doxygen
# will warn if an a database file is already found and not modify it.
# The default value is: YES.
# This tag requires that the tag GENERATE_SQLITE3 is set to YES.
SQLITE3_RECREATE_DB = YES
#---------------------------------------------------------------------------
# Configuration options related to the Perl module output
#---------------------------------------------------------------------------
@ -2407,8 +2262,7 @@ SEARCH_INCLUDES = YES
# The INCLUDE_PATH tag can be used to specify one or more directories that
# contain include files that are not input files but should be processed by the
# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of
# RECURSIVE has no effect here.
# preprocessor.
# This tag requires that the tag SEARCH_INCLUDES is set to YES.
INCLUDE_PATH =
@ -2475,15 +2329,15 @@ TAGFILES =
GENERATE_TAGFILE =
# If the ALLEXTERNALS tag is set to YES, all external classes and namespaces
# will be listed in the class and namespace index. If set to NO, only the
# inherited external classes will be listed.
# If the ALLEXTERNALS tag is set to YES, all external class will be listed in
# the class index. If set to NO, only the inherited external classes will be
# listed.
# The default value is: NO.
ALLEXTERNALS = NO
# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed
# in the topic index. If set to NO, only the current project's groups will be
# in the modules index. If set to NO, only the current project's groups will be
# listed.
# The default value is: YES.
@ -2497,9 +2351,25 @@ EXTERNAL_GROUPS = YES
EXTERNAL_PAGES = YES
#---------------------------------------------------------------------------
# Configuration options related to diagram generator tools
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
# NO turns the diagrams off. Note that this option also works with HAVE_DOT
# disabled, but it is recommended to install and use dot, since it yields more
# powerful graphs.
# The default value is: YES.
CLASS_DIAGRAMS = YES
# You can include diagrams made with dia in doxygen documentation. Doxygen will
# then run dia to produce the diagram and insert it in the documentation. The
# DIA_PATH tag allows you to specify the directory where the dia binary resides.
# If left empty dia is assumed to be found in the default search path.
DIA_PATH =
# If set to YES the inheritance and collaboration graphs will hide inheritance
# and usage relations if the target is undocumented or is not a class.
# The default value is: YES.
@ -2508,7 +2378,7 @@ HIDE_UNDOC_RELATIONS = YES
# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
# available from the path. This tool is part of Graphviz (see:
# https://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
# Bell Labs. The other options in this section have no effect if this option is
# set to NO
# The default value is: NO.
@ -2525,73 +2395,49 @@ HAVE_DOT = NO
DOT_NUM_THREADS = 0
# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of
# subgraphs. When you want a differently looking font in the dot files that
# doxygen generates you can specify fontname, fontcolor and fontsize attributes.
# For details please see <a href=https://graphviz.org/doc/info/attrs.html>Node,
# Edge and Graph Attributes specification</a> You need to make sure dot is able
# to find the font, which can be done by putting it in a standard location or by
# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
# directory containing the font. Default graphviz fontsize is 14.
# The default value is: fontname=Helvetica,fontsize=10.
# When you want a differently looking font in the dot files that doxygen
# generates you can specify the font name using DOT_FONTNAME. You need to make
# sure dot is able to find the font, which can be done by putting it in a
# standard location or by setting the DOTFONTPATH environment variable or by
# setting DOT_FONTPATH to the directory containing the font.
# The default value is: Helvetica.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10"
DOT_FONTNAME = Helvetica
# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can
# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. <a
# href=https://graphviz.org/doc/info/arrows.html>Complete documentation about
# arrows shapes.</a>
# The default value is: labelfontname=Helvetica,labelfontsize=10.
# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
# dot graphs.
# Minimum value: 4, maximum value: 24, default value: 10.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10"
DOT_FONTSIZE = 10
# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes
# around nodes set 'shape=plain' or 'shape=plaintext' <a
# href=https://www.graphviz.org/doc/info/shapes.html>Shapes specification</a>
# The default value is: shape=box,height=0.2,width=0.4.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4"
# You can set the path where dot can find font specified with fontname in
# DOT_COMMON_ATTR and others dot attributes.
# By default doxygen will tell dot to use the default font as specified with
# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
# the path where dot can find it using this tag.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_FONTPATH =
# If the CLASS_GRAPH tag is set to YES or GRAPH or BUILTIN then doxygen will
# generate a graph for each documented class showing the direct and indirect
# inheritance relations. In case the CLASS_GRAPH tag is set to YES or GRAPH and
# HAVE_DOT is enabled as well, then dot will be used to draw the graph. In case
# the CLASS_GRAPH tag is set to YES and HAVE_DOT is disabled or if the
# CLASS_GRAPH tag is set to BUILTIN, then the built-in generator will be used.
# If the CLASS_GRAPH tag is set to TEXT the direct and indirect inheritance
# relations will be shown as texts / links.
# Possible values are: NO, YES, TEXT, GRAPH and BUILTIN.
# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
# each documented class showing the direct and indirect inheritance relations.
# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
CLASS_GRAPH = YES
# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
# graph for each documented class showing the direct and indirect implementation
# dependencies (inheritance, containment, and class references variables) of the
# class with other documented classes. Explicit enabling a collaboration graph,
# when COLLABORATION_GRAPH is set to NO, can be accomplished by means of the
# command \collaborationgraph. Disabling a collaboration graph can be
# accomplished by means of the command \hidecollaborationgraph.
# class with other documented classes.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
COLLABORATION_GRAPH = YES
# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
# groups, showing the direct groups dependencies. Explicit enabling a group
# dependency graph, when GROUP_GRAPHS is set to NO, can be accomplished by means
# of the command \groupgraph. Disabling a directory graph can be accomplished by
# means of the command \hidegroupgraph. See also the chapter Grouping in the
# manual.
# groups, showing the direct groups dependencies.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
@ -2651,9 +2497,7 @@ TEMPLATE_RELATIONS = NO
# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
# YES then doxygen will generate a graph for each documented file showing the
# direct and indirect include dependencies of the file with other documented
# files. Explicit enabling an include graph, when INCLUDE_GRAPH is is set to NO,
# can be accomplished by means of the command \includegraph. Disabling an
# include graph can be accomplished by means of the command \hideincludegraph.
# files.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
@ -2662,10 +2506,7 @@ INCLUDE_GRAPH = YES
# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
# set to YES then doxygen will generate a graph for each documented file showing
# the direct and indirect include dependencies of the file with other documented
# files. Explicit enabling an included by graph, when INCLUDED_BY_GRAPH is set
# to NO, can be accomplished by means of the command \includedbygraph. Disabling
# an included by graph can be accomplished by means of the command
# \hideincludedbygraph.
# files.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
@ -2705,26 +2546,16 @@ GRAPHICAL_HIERARCHY = YES
# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
# dependencies a directory has on other directories in a graphical way. The
# dependency relations are determined by the #include relations between the
# files in the directories. Explicit enabling a directory graph, when
# DIRECTORY_GRAPH is set to NO, can be accomplished by means of the command
# \directorygraph. Disabling a directory graph can be accomplished by means of
# the command \hidedirectorygraph.
# files in the directories.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
DIRECTORY_GRAPH = YES
# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
# of child directories generated in directory dependency graphs by dot.
# Minimum value: 1, maximum value: 25, default value: 1.
# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
DIR_GRAPH_MAX_DEPTH = 1
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
# generated by dot. For an explanation of the image formats see the section
# output formats in the documentation of the dot tool (Graphviz (see:
# https://www.graphviz.org/)).
# http://www.graphviz.org/)).
# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
# to make the SVG files visible in IE 9+ (other browsers do not have this
# requirement).
@ -2761,12 +2592,11 @@ DOT_PATH =
DOTFILE_DIRS =
# You can include diagrams made with dia in doxygen documentation. Doxygen will
# then run dia to produce the diagram and insert it in the documentation. The
# DIA_PATH tag allows you to specify the directory where the dia binary resides.
# If left empty dia is assumed to be found in the default search path.
# The MSCFILE_DIRS tag can be used to specify one or more directories that
# contain msc files that are included in the documentation (see the \mscfile
# command).
DIA_PATH =
MSCFILE_DIRS =
# The DIAFILE_DIRS tag can be used to specify one or more directories that
# contain dia files that are included in the documentation (see the \diafile
@ -2775,10 +2605,10 @@ DIA_PATH =
DIAFILE_DIRS =
# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
# path where java can find the plantuml.jar file or to the filename of jar file
# to be used. If left blank, it is assumed PlantUML is not used or called during
# a preprocessing step. Doxygen will generate a warning when it encounters a
# \startuml command in this case and will not generate output for the diagram.
# path where java can find the plantuml.jar file. If left blank, it is assumed
# PlantUML is not used or called during a preprocessing step. Doxygen will
# generate a warning when it encounters a \startuml command in this case and
# will not generate output for the diagram.
PLANTUML_JAR_PATH =
@ -2816,6 +2646,18 @@ DOT_GRAPH_MAX_NODES = 50
MAX_DOT_GRAPH_DEPTH = 0
# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
# background. This is disabled by default, because dot on Windows does not seem
# to support this out of the box.
#
# Warning: Depending on the platform used, enabling this option may lead to
# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
# read).
# The default value is: NO.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_TRANSPARENT = NO
# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output
# files in one run (i.e. multiple -o and -T options on the command line). This
# makes dot run faster, but since only newer versions of dot (>1.8.10) support
@ -2828,8 +2670,6 @@ DOT_MULTI_TARGETS = NO
# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
# explaining the meaning of the various boxes and arrows in the dot generated
# graphs.
# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
# graphical representation for inheritance and collaboration diagrams is used.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
@ -2843,19 +2683,3 @@ GENERATE_LEGEND = YES
# The default value is: YES.
DOT_CLEANUP = YES
# You can define message sequence charts within doxygen comments using the \msc
# command. If the MSCGEN_TOOL tag is left empty (the default), then doxygen will
# use a built-in version of mscgen tool to produce the charts. Alternatively,
# the MSCGEN_TOOL tag can also specify the name an external tool. For instance,
# specifying prog as the value, doxygen will call the tool as prog -T
# <outfile_format> -o <outputfile> <inputfile>. The external tool should support
# output file formats "png", "eps", "svg", and "ismap".
MSCGEN_TOOL =
# The MSCFILE_DIRS tag can be used to specify one or more directories that
# contain msc files that are included in the documentation (see the \mscfile
# command).
MSCFILE_DIRS =

12
LinearAlgebra/FloatSingle.cpp
View File

@ -2,18 +2,16 @@
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include "FloatSingle.h"
#include <math.h>
#include "FloatSingle.h"
const float Float::epsilon = 1e-05f;
const float Float::sqrEpsilon = 1e-10f;
float Float::Clamp(float f, float min, float max) {
if (max < min)
if (f < min)
return min;
if (f > max)
return max;
return f;
if (f < min)
return min;
if (f > max)
return max;
return f;
}

9
LinearAlgebra/FloatSingle.h
View File

@ -5,18 +5,19 @@
#ifndef FLOAT_H
#define FLOAT_H
namespace Passer {
namespace LinearAlgebra {
class Float {
public:
public:
static const float epsilon;
static const float sqrEpsilon;
static float Clamp(float f, float min, float max);
};
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

2
LinearAlgebra/Matrix.cpp
View File

@ -48,7 +48,7 @@ Vector3 MatrixOf<float>::Multiply(const MatrixOf<float> *m, Vector3 v) {
}
template <typename T> Vector3 MatrixOf<T>::operator*(const Vector3 v) const {
float *vData = new float[3]{v.Right(), v.Up(), v.Forward()};
float *vData = new float[3]{v.x, v.y, v.z};
MatrixOf<float> v_m = MatrixOf<float>(3, 1, vData);
float *rData = new float[3]{};
MatrixOf<float> r_m = MatrixOf<float>(3, 1, rData);

38
LinearAlgebra/Matrix.h
View File

@ -3,18 +3,18 @@
#include "Vector3.h"
namespace Passer {
namespace LinearAlgebra {
/// @brief Single precision float matrix
template <typename T>
class MatrixOf {
public:
template <typename T> class MatrixOf {
public:
MatrixOf(unsigned int rows, unsigned int cols);
MatrixOf(unsigned int rows, unsigned int cols, const T* source)
MatrixOf(unsigned int rows, unsigned int cols, const T *source)
: MatrixOf(rows, cols) {
Set(source);
}
MatrixOf(Vector3 v); // creates a 3,1 matrix
MatrixOf(Vector3 v); // creates a 3,1 matrix
~MatrixOf() {
if (this->data == nullptr)
@ -25,7 +25,7 @@ class MatrixOf {
/// @brief Transpose with result in matrix m
/// @param r The matrix in which the transposed matrix is stored
void Transpose(MatrixOf<T>* r) const {
void Transpose(MatrixOf<T> *r) const {
// Check dimensions first
// We dont care about the rows and cols (we overwrite them)
// but the data size should be equal to avoid problems
@ -54,14 +54,13 @@ class MatrixOf {
}
}
static void Multiply(const MatrixOf<T>* m1,
const MatrixOf<T>* m2,
MatrixOf<T>* r);
void Multiply(const MatrixOf<T>* m, MatrixOf<T>* r) const {
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);
}
static Vector3 Multiply(const MatrixOf<T>* m, Vector3 v);
static Vector3 Multiply(const MatrixOf<T> *m, Vector3 v);
Vector3 operator*(const Vector3 v) const;
T Get(unsigned int rowIx, unsigned int colIx) const {
@ -75,28 +74,28 @@ class MatrixOf {
}
// This function does not check on source size!
void Set(const T* source) {
void Set(const T *source) {
unsigned int matrixSize = this->cols * this->rows;
for (unsigned int dataIx = 0; dataIx < matrixSize; dataIx++)
this->data[dataIx] = source[dataIx];
}
// This function does not check on source size!
void SetRow(unsigned int rowIx, const T* source) {
void SetRow(unsigned int rowIx, const T *source) {
unsigned int dataIx = rowIx * this->cols;
for (unsigned int sourceIx = 0; sourceIx < this->cols; dataIx++, sourceIx++)
this->data[dataIx] = source[sourceIx];
}
// This function does not check on source size!
void SetCol(unsigned int colIx, const T* source) {
void SetCol(unsigned int colIx, const T *source) {
unsigned int dataIx = colIx;
for (unsigned int sourceIx = 0; sourceIx < this->cols;
dataIx += this->cols, sourceIx++)
this->data[dataIx] = source[sourceIx];
}
void CopyFrom(const MatrixOf<T>* m) {
void CopyFrom(const MatrixOf<T> *m) {
unsigned int thisMatrixSize = this->cols * this->rows;
unsigned int mMatrixSize = m->cols * m->rows;
if (mMatrixSize != thisMatrixSize)
@ -109,13 +108,14 @@ class MatrixOf {
unsigned int RowCount() const { return rows; }
unsigned int ColCount() const { return cols; }
private:
private:
unsigned int rows;
unsigned int cols;
T* data;
T *data;
};
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

214
LinearAlgebra/Polar.cpp
View File

@ -1,73 +1,59 @@
#include <math.h>
#include "Polar.h"
#include "Vector2.h"
template <typename T>
PolarOf<T>::PolarOf() {
this->distance = 0.0f;
this->angle = AngleOf<T>();
this->angle = 0.0f;
}
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;
this->angle = AngleOf<T>::Normalize(angle - AngleOf<T>::Degrees(180));
this->angle = AngleOf<T>::Normalize(angle.ToFloat() - 180.0f);
} else {
this->distance = distance;
if (this->distance == 0.0f)
// angle is always 0 if distance is 0
this->angle = AngleOf<T>();
this->angle = 0.0f;
else
this->angle = AngleOf<T>::Normalize(angle);
}
}
template <typename T>
PolarOf<T> PolarOf<T>::Degrees(float distance, float degrees) {
AngleOf<T> angle = AngleOf<T>::Degrees(degrees);
PolarOf<T> r = PolarOf<T>(distance, angle);
return r;
}
template <typename T>
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) {
float distance = v.magnitude();
AngleOf<T> angle =
AngleOf<T>::Degrees(Vector2::SignedAngle(Vector2::forward, v));
AngleOf<T> angle = Vector2::SignedAngle(Vector2::forward, v);
PolarOf<T> p = PolarOf(distance, angle);
return p;
}
template <typename T>
PolarOf<T> PolarOf<T>::FromSpherical(SphericalOf<T> v) {
float distance =
v.distance * cosf(v.direction.vertical.InDegrees() * Deg2Rad);
AngleOf<T> angle = v.direction.horizontal;
v.distance * cosf(v.vertical.ToFloat() * Passer::LinearAlgebra::Deg2Rad);
AngleOf<T> angle = v.horizontal;
PolarOf<T> p = PolarOf(distance, angle);
return p;
}
template <typename T>
const PolarOf<T> PolarOf<T>::zero = PolarOf(0.0f, AngleOf<T>());
const PolarOf<T> PolarOf<T>::zero = PolarOf(0.0f, 0.0f);
template <typename T>
const PolarOf<T> PolarOf<T>::forward = PolarOf(1.0f, AngleOf<T>());
const PolarOf<T> PolarOf<T>::forward = PolarOf(1.0f, 0.0f);
template <typename T>
const PolarOf<T> PolarOf<T>::back = PolarOf(1.0, AngleOf<T>::Degrees(180));
const PolarOf<T> PolarOf<T>::back = PolarOf(1.0, 180.0f);
template <typename T>
const PolarOf<T> PolarOf<T>::right = PolarOf(1.0, AngleOf<T>::Degrees(90));
const PolarOf<T> PolarOf<T>::right = PolarOf(1.0, 90.0f);
template <typename T>
const PolarOf<T> PolarOf<T>::left = PolarOf(1.0, AngleOf<T>::Degrees(-90));
const PolarOf<T> PolarOf<T>::left = PolarOf(1.0, -90.0f);
template <typename T>
bool PolarOf<T>::operator==(const PolarOf& v) const {
return (this->distance == v.distance &&
this->angle.InDegrees() == v.angle.InDegrees());
this->angle.ToFloat() == v.angle.ToFloat());
}
template <typename T>
@ -83,8 +69,7 @@ PolarOf<T> PolarOf<T>::normalized() const {
template <typename T>
PolarOf<T> PolarOf<T>::operator-() const {
PolarOf<T> v =
PolarOf(this->distance, this->angle + AngleOf<T>::Degrees(180));
PolarOf<T> v = PolarOf(this->distance, this->angle + AngleOf<T>(180));
return v;
}
@ -97,24 +82,8 @@ template <typename T>
PolarOf<T> PolarOf<T>::operator-=(const PolarOf& v) {
*this = *this - v;
return *this;
// angle = AngleOf<T>::Normalize(newAngle);
// distance = newDistance;
}
// Polar::Polar(Vector2 v) {
// float signY = (v.y >= 0) - (v.y < 0);
// angle = atan2(v.y, signY * sqrt(v.y * v.y + v.x * v.x)) * Angle::Rad2Deg;
// distance = v.magnitude();
// }
// const Polar Polar::zero = Polar(0, 0);
// float Polar::Distance(const Polar &v1, const Polar &v2) {
// float d =
// Angle::CosineRuleSide(v1.distance, v2.distance, v2.angle - v1.angle);
// return d;
// }
template <typename T>
PolarOf<T> PolarOf<T>::operator+(const PolarOf& v) const {
if (v.distance == 0)
@ -122,7 +91,8 @@ PolarOf<T> PolarOf<T>::operator+(const PolarOf& v) const {
if (this->distance == 0.0f)
return v;
float deltaAngle = AngleOf<T>::Normalize(v.angle - this->angle).InDegrees();
float deltaAngle =
Angle::Normalize(v.angle.ToFloat() - this->angle.ToFloat()).ToFloat();
float rotation =
deltaAngle < 0.0f ? 180.0f + deltaAngle : 180.0f - deltaAngle;
@ -131,17 +101,16 @@ PolarOf<T> PolarOf<T>::operator+(const PolarOf& v) const {
return PolarOf(this->distance + v.distance, this->angle);
}
float newDistance = AngleOf<T>::CosineRuleSide(v.distance, this->distance,
AngleOf<T>::Degrees(rotation));
float newDistance =
Angle::CosineRuleSide(v.distance, this->distance, rotation).ToFloat();
float angle =
AngleSingle::CosineRuleAngle(newDistance, this->distance, v.distance)
.InDegrees();
Angle::CosineRuleAngle(newDistance, this->distance, v.distance).ToFloat();
float newAngle = deltaAngle < 0.0f ? this->angle.InDegrees() - angle
: this->angle.InDegrees() + angle;
AngleOf<T> newAngleA = AngleOf<T>::Normalize(AngleOf<T>::Degrees(newAngle));
PolarOf vector = PolarOf(newDistance, newAngleA);
float newAngle = deltaAngle < 0.0f ? this->angle.ToFloat() - angle
: this->angle.ToFloat() + angle;
newAngle = Angle::Normalize(newAngle).ToFloat();
PolarOf vector = PolarOf(newDistance, newAngle);
return vector;
}
template <typename T>
@ -163,8 +132,9 @@ PolarOf<T> PolarOf<T>::operator/=(float f) {
template <typename T>
float PolarOf<T>::Distance(const PolarOf& v1, const PolarOf& v2) {
float d =
AngleOf<T>::CosineRuleSide(v1.distance, v2.distance, v2.angle - v1.angle);
float d = Angle::CosineRuleSide(v1.distance, v2.distance,
v2.angle.ToFloat() - v1.angle.ToFloat())
.ToFloat();
return d;
}
@ -176,4 +146,136 @@ PolarOf<T> PolarOf<T>::Rotate(const PolarOf& v, AngleOf<T> angle) {
}
template class PolarOf<float>;
template class PolarOf<signed short>;
template class PolarOf<signed short>;
//=====================================
/*
Polar::Polar() {
this->distance = 0.0f;
this->angle = 0.0f;
}
Polar::Polar(float distance, Angle angle) {
// distance should always be 0 or greater
if (distance < 0.0f) {
this->distance = -distance;
this->angle = Angle::Normalize(angle.ToFloat() - 180.0f);
} else {
this->distance = distance;
if (this->distance == 0.0f)
// angle is always 0 if distance is 0
this->angle = 0.0f;
else
this->angle = Angle::Normalize(angle);
}
}
Polar::Polar(Vector2 v) {
this->distance = v.magnitude();
this->angle = Vector2::SignedAngle(Vector2::forward, v);
}
Polar::Polar(Spherical v) {
this->distance = v.distance * cosf(v.verticalAngle.ToFloat() *
Passer::LinearAlgebra::Deg2Rad);
this->angle = v.horizontalAngle;
}
const Polar Polar::zero = Polar(0.0f, 0.0f);
const Polar Polar::forward = Polar(1.0f, 0.0f);
const Polar Polar::back = Polar(1.0, 180.0f);
const Polar Polar::right = Polar(1.0, 90.0f);
const Polar Polar::left = Polar(1.0, -90.0f);
bool Polar::operator==(const Polar& v) const {
return (this->distance == v.distance &&
this->angle.ToFloat() == v.angle.ToFloat());
}
Polar Polar::Normalize(const Polar& v) {
Polar r = Polar(1, v.angle);
return r;
}
Polar Polar::normalized() const {
Polar r = Polar(1, this->angle);
return r;
}
Polar Polar::operator-() const {
Polar v = Polar(this->distance, this->angle.ToFloat() + 180.0f);
return v;
}
Polar Polar::operator-(const Polar& v) const {
Polar r = -v;
return *this + r;
}
Polar Polar::operator-=(const Polar& v) {
*this = *this - v;
return *this;
}
Polar Polar::operator+(const Polar& v) const {
if (v.distance == 0)
return Polar(this->distance, this->angle);
if (this->distance == 0.0f)
return v;
float deltaAngle =
Angle::Normalize(v.angle.ToFloat() - this->angle.ToFloat()).ToFloat();
float rotation =
deltaAngle < 0.0f ? 180.0f + deltaAngle : 180.0f - deltaAngle;
if (rotation == 180.0f && v.distance > 0.0f) {
// angle is too small, take this angle and add the distances
return Polar(this->distance + v.distance, this->angle);
}
float newDistance =
Angle::CosineRuleSide(v.distance, this->distance, rotation).ToFloat();
float angle =
Angle::CosineRuleAngle(newDistance, this->distance,
v.distance).ToFloat();
float newAngle = deltaAngle < 0.0f ? this->angle.ToFloat() - angle
: this->angle.ToFloat() + angle;
newAngle = Angle::Normalize(newAngle).ToFloat();
Polar vector = Polar(newDistance, newAngle);
return vector;
}
Polar Polar::operator+=(const Polar& v) {
*this = *this + v;
return *this;
}
// Polar Passer::LinearAlgebra::operator*(const Polar &v, float f) {
// return Polar(v.distance * f, v.angle);
// }
// Polar Passer::LinearAlgebra::operator*(float f, const Polar &v) {
// return Polar(v.distance * f, v.angle);
// }
Polar Polar::operator*=(float f) {
this->distance *= f;
return *this;
}
// Polar Passer::LinearAlgebra::operator/(const Polar& v, float f) {
// return Polar(v.distance / f, v.angle);
// }
// Polar Passer::LinearAlgebra::operator/(float f, const Polar& v) {
// return Polar(v.distance / f, v.angle);
// }
Polar Polar::operator/=(float f) {
this->distance /= f;
return *this;
}
float Polar::Distance(const Polar& v1, const Polar& v2) {
float d = Angle::CosineRuleSide(v1.distance, v2.distance,
v2.angle.ToFloat() - v1.angle.ToFloat())
.ToFloat();
return d;
}
Polar Polar::Rotate(const Polar& v, Angle angle) {
Angle a = Angle::Normalize(v.angle.ToFloat() + angle.ToFloat());
Polar r = Polar(v.distance, a);
return r;
}
*/

146
LinearAlgebra/Polar.h
View File

@ -7,14 +7,13 @@
#include "Angle.h"
namespace Passer {
namespace LinearAlgebra {
struct Vector2;
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 {
public:
@ -34,24 +33,6 @@ class PolarOf {
/// @note The distance is automatically converted to a positive value.
/// @note The angle is automatically normalized to -180 .. 180
PolarOf(float distance, AngleOf<T> angle);
/// @brief Create polar vector without using AngleOf type. All given angles
/// are in degrees
/// @param distance The distance in meters
/// @param degrees The angle in degrees
/// @return The polar vector
static PolarOf<T> Degrees(float distance, float degrees);
/// @brief Short-hand Deg alias for the Degrees function
constexpr static auto Deg = Degrees;
/// @brief Create polar vector without using AngleOf type. All given angles
/// are in radians.
/// @param distance The distance in meters
/// @param radians The angle in radians
/// @return The polar vector
static PolarOf<T> Radians(float distance, float radians);
/// @brief Short-hand Rad alias for the Radians function
constexpr static auto Rad = Radians;
/// @brief Convert a vector from 2D carthesian coordinates to polar
/// coordinates
/// @param v The vector to convert
@ -151,10 +132,131 @@ class PolarOf {
using PolarSingle = PolarOf<float>;
using Polar16 = PolarOf<signed short>;
// using Polar = PolarSingle;
using Polar = PolarSingle;
/*
/// @brief A polar vector
/// @details This will use the polar coordinate system consisting of a angle
/// from a reference direction and a distance.
struct Polar {
public:
/// @brief The distance in meters
/// @remark The distance shall never be negative
float distance;
/// @brief The angle in degrees clockwise rotation
/// @remark The angle shall be between -180 .. 180
Angle angle;
/// @brief A new vector with polar coordinates with zero degrees and
/// distance
Polar();
/// @brief A new vector with polar coordinates
/// @param distance The distance in meters
/// @param angle The angle in degrees, clockwise rotation
/// @note The distance is automatically converted to a positive value.
/// @note The angle is automatically normalized to -180 .. 180
Polar(float distance, Angle angle);
/// @brief Convert a vector from 2D carthesian coordinates to polar
/// coordinates
/// @param v The vector to convert
Polar(Vector2 v);
/// @brief Convert a vector from spherical coordinates to polar coordinates
/// @param s The vector to convert
/// @note The resulting vector will be projected on the horizontal plane
Polar(Spherical s);
/// @brief A polar vector with zero degrees and distance
const static Polar zero;
/// @brief A normalized forward-oriented vector
const static Polar forward;
/// @brief A normalized back-oriented vector
const static Polar back;
/// @brief A normalized right-oriented vector
const static Polar right;
/// @brief A normalized left-oriented vector
const static Polar left;
/// @brief Equality test to another vector
/// @param v The vector to check against
/// @return true: if it is identical to the given vector
/// @note This uses float comparison to check equality which may have
/// strange effects. Equality on floats should be avoided.
bool operator==(const Polar& v) const;
/// @brief The vector length
/// @param v The vector for which you need the length
/// @return The vector length;
inline static float Magnitude(const Polar& v) { return v.distance; }
/// @brief The vector length
/// @return The vector length
inline float magnitude() const { return this->distance; }
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
static Polar Normalize(const Polar& v);
/// @brief Convert the vector to a length of a
/// @return The vector normalized to a length of 1
Polar normalized() const;
/// @brief Negate the vector
/// @return The negated vector
/// This will rotate the vector by 180 degrees. Distance will stay the same.
Polar operator-() const;
/// @brief Subtract a polar vector from this vector
/// @param v The vector to subtract
/// @return The result of the subtraction
Polar operator-(const Polar& v) const;
Polar operator-=(const Polar& v);
/// @brief Add a polar vector to this vector
/// @param v The vector to add
/// @return The result of the addition
Polar operator+(const Polar& v) const;
Polar operator+=(const Polar& v);
/// @brief Scale the vector uniformly up
/// @param f The scaling factor
/// @return The scaled vector
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Polar operator*(const Polar& v, float f) {
return Polar(v.distance * f, v.angle);
}
friend Polar operator*(float f, const Polar& v) {
return Polar(f * v.distance, v.angle);
}
Polar operator*=(float f);
/// @brief Scale the vector uniformly down
/// @param f The scaling factor
/// @return The scaled factor
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Polar operator/(const Polar& v, float f) {
return Polar(v.distance / f, v.angle);
}
friend Polar operator/(float f, const Polar& v) {
return Polar(f / v.distance, v.angle);
}
Polar operator/=(float f);
/// @brief The distance between two vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The distance between the two vectors
static float Distance(const Polar& v1, const Polar& v2);
/// @brief Rotate a vector
/// @param v The vector to rotate
/// @param a The angle in degreesto rotate
/// @return The rotated vector
static Polar Rotate(const Polar& v, Angle a);
};
*/
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace Passer
using namespace Passer::LinearAlgebra;
#include "Spherical.h"
#include "Vector2.h"

4
LinearAlgebra/Quaternion.cpp
View File

@ -136,7 +136,7 @@ Vector3 Quaternion::operator*(const Vector3& p) const {
return result;
}
bool Quaternion::operator==(const Quaternion& q) const {
bool Quaternion::operator==(const Quaternion& q) {
return (this->x == q.x && this->y == q.y && this->z == q.z && this->w == q.w);
}
@ -206,7 +206,7 @@ Quaternion Quaternion::FromToRotation(Vector3 fromDirection,
Vector3 axis = Vector3::Cross(fromDirection, toDirection);
axis = Vector3::Normalize(axis);
AngleOf<float> angle = Vector3::SignedAngle(fromDirection, toDirection, axis);
Quaternion rotation = Quaternion::AngleAxis(angle.InDegrees(), axis);
Quaternion rotation = Quaternion::AngleAxis(angle.ToFloat(), axis);
return rotation;
}

59
LinearAlgebra/Quaternion.h
View File

@ -7,9 +7,12 @@
#include "Vector3.h"
namespace Passer {
namespace LinearAlgebra {
extern "C" {
/// <summary>
/// A quaternion (C-style)
/// A quaternion
/// </summary>
/// This is a C-style implementation
typedef struct Quat {
@ -32,13 +35,11 @@ typedef struct Quat {
} Quat;
}
namespace LinearAlgebra {
/// <summary>
/// A quaternion
/// </summary>
struct Quaternion : Quat {
public:
public:
/// <summary>
/// Create a new identity quaternion
/// </summary>
@ -79,7 +80,7 @@ struct Quaternion : Quat {
/// <returns>A unit quaternion</returns>
/// This will preserve the orientation,
/// but ensures that it is a unit quaternion.
static Quaternion Normalize(const Quaternion& q);
static Quaternion Normalize(const Quaternion &q);
/// <summary>
/// Convert to euler angles
@ -87,14 +88,14 @@ struct Quaternion : Quat {
/// <param name="q">The quaternion to convert</param>
/// <returns>A vector containing euler angles</returns>
/// The euler angles performed in the order: Z, X, Y
static Vector3 ToAngles(const Quaternion& q);
static Vector3 ToAngles(const Quaternion &q);
/// <summary>
/// Rotate a vector using this quaterion
/// </summary>
/// <param name="vector">The vector to rotate</param>
/// <returns>The rotated vector</returns>
Vector3 operator*(const Vector3& vector) const;
Vector3 operator*(const Vector3 &vector) const;
/// <summary>
/// Multiply this quaternion with another quaternion
/// </summary>
@ -102,7 +103,7 @@ struct Quaternion : Quat {
/// <returns>The resulting rotation</returns>
/// The result will be this quaternion rotated according to
/// the give rotation.
Quaternion operator*(const Quaternion& rotation) const;
Quaternion operator*(const Quaternion &rotation) const;
/// <summary>
/// Check the equality of two quaternions
@ -113,7 +114,7 @@ struct Quaternion : Quat {
/// themselves. Two quaternions with the same rotational effect may have
/// different components. Use Quaternion::Angle to check if the rotations are
/// the same.
bool operator==(const Quaternion& quaternion) const;
bool operator==(const Quaternion &quaternion);
/// <summary>
/// The inverse of quaterion
@ -128,8 +129,8 @@ struct Quaternion : Quat {
/// <param name="forward">The look direction</param>
/// <param name="upwards">The up direction</param>
/// <returns>The look rotation</returns>
static Quaternion LookRotation(const Vector3& forward,
const Vector3& upwards);
static Quaternion LookRotation(const Vector3 &forward,
const Vector3 &upwards);
/// <summary>
/// Creates a quaternion with the given forward direction with up =
/// Vector3::up
@ -139,7 +140,7 @@ struct Quaternion : Quat {
/// For the rotation, Vector::up is used for the up direction.
/// Note: if the forward direction == Vector3::up, the result is
/// Quaternion::identity
static Quaternion LookRotation(const Vector3& forward);
static Quaternion LookRotation(const Vector3 &forward);
/// <summary>
/// Calculat the rotation from on vector to another
@ -156,8 +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,
const Quaternion& to,
static Quaternion RotateTowards(const Quaternion &from, const Quaternion &to,
float maxDegreesDelta);
/// <summary>
@ -166,13 +166,13 @@ struct Quaternion : Quat {
/// <param name="angle">The angle</param>
/// <param name="axis">The axis</param>
/// <returns>The resulting quaternion</returns>
static Quaternion AngleAxis(float angle, const Vector3& axis);
static Quaternion AngleAxis(float angle, const Vector3 &axis);
/// <summary>
/// Convert this quaternion to angle/axis representation
/// </summary>
/// <param name="angle">A pointer to the angle for the result</param>
/// <param name="axis">A pointer to the axis for the result</param>
void ToAngleAxis(float* angle, Vector3* axis);
void ToAngleAxis(float *angle, Vector3 *axis);
/// <summary>
/// Get the angle between two orientations
@ -190,9 +190,8 @@ struct Quaternion : Quat {
/// <param name="factor">The factor between 0 and 1.</param>
/// <returns>The resulting rotation</returns>
/// A factor 0 returns rotation1, factor1 returns rotation2.
static Quaternion Slerp(const Quaternion& rotation1,
const Quaternion& rotation2,
float factor);
static Quaternion Slerp(const Quaternion &rotation1,
const Quaternion &rotation2, float factor);
/// <summary>
/// Unclamped sherical lerp between two rotations
/// </summary>
@ -202,9 +201,8 @@ struct Quaternion : Quat {
/// <returns>The resulting rotation</returns>
/// 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);
static Quaternion SlerpUnclamped(const Quaternion &rotation1,
const Quaternion &rotation2, float factor);
/// <summary>
/// Create a rotation from euler angles
@ -262,10 +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,
Quaternion rotation,
Quaternion* swing,
Quaternion* twist);
static void GetSwingTwist(Vector3 axis, Quaternion rotation,
Quaternion *swing, Quaternion *twist);
/// <summary>
/// Calculate the dot product of two quaternions
@ -275,19 +271,20 @@ struct Quaternion : Quat {
/// <returns></returns>
static float Dot(Quaternion rotation1, Quaternion rotation2);
private:
private:
float GetLength() const;
float GetLengthSquared() const;
static float GetLengthSquared(const Quaternion& q);
static float GetLengthSquared(const Quaternion &q);
void ToAxisAngleRad(const Quaternion& q, Vector3* const axis, float* angle);
void ToAxisAngleRad(const Quaternion &q, Vector3 *const axis, float *angle);
static Quaternion FromEulerRad(Vector3 euler);
static Quaternion FromEulerRadXYZ(Vector3 euler);
Vector3 xyz() const;
};
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

21
LinearAlgebra/README.md
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@ -1,21 +1,12 @@
\mainpage Linear Algebra
\mainpage Vector Algebra
Linear algebra library
Vector algebra library
Main components
---------------
Carthesian coordinate systems
* [Vector3](#Passer::LinearAlgebra::Vector3): A 3D carthesian vector
* [Vector2](#Passer::LinearAlgebra::Vector2): A 2D carthesian vector
* [Vector3](https://passervr.com/apis/VectorAlgebra/struct_vector3.html)
* [Quaternion](https://passervr.com/apis/VectorAlgebra/struct_quaternion.html)
Other coodinate systems
* [Polar](#Passer::LinearAlgebra::PolarOf): A 2D polar vector
* [Spherical](#Passer::LinearAlgebra::SphericalOf): A 3D spherical vector
* [Vector2](https://passervr.com/apis/VectorAlgebra/struct_vector2.html)
Rotations
* [Quaternion](#Passer::LinearAlgebra::Quaternion): A quaternion rotation
* [SwingTwist](#Passer::LinearAlgebra::SwingTwistOf): A swing/twist angular rotation
Basics
* [Angle](#Passer::LinearAlgebra::AngleOf): An angle
* [Direction](#Passer::LinearAlgebra::DirectionOf): A direction using angles
* [Polar](https://passervr.com/apis/VectorAlgebra/struct_polar.html)

48
LinearAlgebra/Range.cpp Normal file
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@ -0,0 +1,48 @@
#include "Range.h"
/*
Range16::Range16() { this->range = 0; }
Range16::Range16(float f) {
// clamp the float range to -1..1
if (f < -1.0F)
f = -1.0F;
else if (f > 1.0F)
f = 1.0F;
// map -1..1 to 0..65535
this->range = (unsigned short)((f + 1.0F) * 65535.0F);
}
Range16::Range16(short s) {
// clamp the range to -32767..32767
// This is needed because the representation can support +/-32768 (like 2s
// complement)
if (s < -32767)
s = -32767;
else if (s > 32767)
s = 32767;
this->range = (unsigned short)(s + 32767);
}
Range16 Range16::operator-(Range16 a) { this->range - a.range; };
Range16 Range16::operator+(Range16 a) { this->range + a.range; };
Range16 &Range16::operator-() { -this->range; }
bool Range16::operator==(Range16 a) { this->range == a.range; }
bool Range16::operator!=(Range16 a) { return (this->range != a.range); }
bool Range16::operator<(Range16 a) { return (this->range < a.range); }
bool Range16::operator>(Range16 a) { return (this->range > a.range); }
bool Range16::operator<=(Range16 a) { return (this->range <= a.range); }
bool Range16::operator>=(Range16 a) { return (this->range >= a.range); }
*/
template <> RangeUsing<unsigned char>::RangeUsing(float f) {
this->value = (unsigned char)((f + 1.0f) * 127.0F);
}
template <> RangeUsing<unsigned short>::RangeUsing(float f) {
this->value = (unsigned short)((f + 1.0F) * 32767.0F);
}

50
LinearAlgebra/Range.h Normal file
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@ -0,0 +1,50 @@
#ifndef RANGE_H
#define RANGE_H
namespace Passer {
namespace LinearAlgebra {
/*
/// @brief Signed range. May be renamed to SignedRange later
class Range16 {
public:
Range16();
Range16(float range); // range -1..1
Range16(short range); // range -32768..32767
inline Range16 operator-(Range16 a);
inline Range16 operator+(Range16 a);
inline virtual Range16 &operator-();
inline bool operator==(Range16 a);
inline bool operator!=(Range16 a);
inline bool operator<(Range16 a);
inline bool operator>(Range16 a);
inline bool operator<=(Range16 a);
inline bool operator>=(Range16 a);
protected:
// How do we make sure we have 16 bit range on every platform?
// uint16_t range; // 16-bit range
unsigned short range; // 16-bit range
};
*/
template <typename T> class RangeUsing {
public:
RangeUsing<T>(float range); // range -1..1
inline RangeUsing<T> operator-(RangeUsing<T> a) { this->value - a.value; }
inline RangeUsing<T> operator+(RangeUsing<T> a) { this->value + a.value; }
inline RangeUsing<T> operator-() { this->value = -this.value; }
inline T GetValue() { return value; }
T value;
};
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#endif

389
LinearAlgebra/Spherical.cpp
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@ -8,55 +8,48 @@
template <typename T>
SphericalOf<T>::SphericalOf() {
this->distance = 0.0f;
this->direction = DirectionOf<T>();
this->horizontal = AngleOf<T>(0);
this->vertical = AngleOf<T>(0);
}
// template <>
// SphericalOf<signed short>::SphericalOf() {
// this->distance = 0.0f;
// this->horizontal = AngleOf<signed short>(0);
// this->vertical = AngleOf<signed short>(0);
// }
template <typename T>
SphericalOf<T>::SphericalOf(float distance,
AngleOf<T> horizontal,
AngleOf<T> vertical) {
if (distance < 0) {
this->distance = -distance;
this->direction = -DirectionOf<T>(horizontal, vertical);
} else {
this->distance = distance;
this->direction = DirectionOf<T>(horizontal, vertical);
}
this->distance = distance;
this->horizontal = horizontal;
this->vertical = vertical;
}
template <typename T>
SphericalOf<T>::SphericalOf(float distance, DirectionOf<T> direction) {
if (distance < 0) {
this->distance = -distance;
this->direction = -direction;
} else {
this->distance = distance;
this->direction = direction;
}
}
// template <>
// SphericalOf<float>::SphericalOf(float distance,
// AngleOf<float> horizontal,
// AngleOf<float> vertical) {
// this->distance = distance;
// this->horizontal = horizontal;
// this->vertical = vertical;
// }
template <typename T>
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);
SphericalOf<T> r = SphericalOf<T>(distance, horizontalAngle, verticalAngle);
return r;
}
template <typename T>
SphericalOf<T> SphericalOf<T>::Radians(float distance,
float horizontal,
float vertical) {
return SphericalOf<T>(distance, AngleOf<T>::Radians(horizontal),
AngleOf<T>::Radians(vertical));
}
// template <>
// SphericalOf<signed short>::SphericalOf(float distance,
// AngleOf<signed short> horizontal,
// AngleOf<signed short> vertical) {
// this->distance = distance;
// this->horizontal = horizontal;
// this->vertical = vertical;
// }
template <typename T>
SphericalOf<T> SphericalOf<T>::FromPolar(PolarOf<T> polar) {
AngleOf<T> horizontal = polar.angle;
AngleOf<T> vertical = AngleOf<T>();
AngleOf<T> vertical = AngleOf<T>(0);
SphericalOf<T> r = SphericalOf(polar.distance, horizontal, vertical);
return r;
}
@ -65,32 +58,22 @@ 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>());
return SphericalOf(distance, 0, 0);
} else {
AngleOf<T> verticalAngle =
AngleOf<T>::Radians((pi / 2 - acosf(v.Up() / distance)));
AngleOf<T> horizontalAngle =
AngleOf<T>::Radians(atan2f(v.Right(), v.Forward()));
float verticalAngle =
(90.0f - acosf(v.Up() / distance) * Passer::LinearAlgebra::Rad2Deg);
float horizontalAngle =
atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
return SphericalOf(distance, horizontalAngle, verticalAngle);
}
}
/**
* @brief Converts spherical coordinates to a 3D vector.
*
* This function converts the spherical coordinates represented by the
* SphericalOf object to a 3D vector (Vector3). The conversion is based
* on the distance and direction (vertical and horizontal angles) of the
* spherical coordinates.
*
* @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 {
float verticalRad = (pi / 2) - this->direction.vertical.InRadians();
float horizontalRad = this->direction.horizontal.InRadians();
float verticalRad =
(90.0f - this->vertical.ToFloat()) * Passer::LinearAlgebra::Deg2Rad;
float horizontalRad =
this->horizontal.ToFloat() * Passer::LinearAlgebra::Deg2Rad;
float cosVertical = cosf(verticalRad);
float sinVertical = sinf(verticalRad);
float cosHorizontal = cosf(horizontalRad);
@ -106,37 +89,29 @@ Vector3 SphericalOf<T>::ToVector3() const {
template <typename T>
const SphericalOf<T> SphericalOf<T>::zero =
SphericalOf<T>(0.0f, AngleOf<T>(), AngleOf<T>());
SphericalOf<T>(0.0f, AngleOf<T>(0), AngleOf<T>(0));
template <typename T>
const SphericalOf<T> SphericalOf<T>::forward =
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>());
const SphericalOf<T> SphericalOf<T>::forward = SphericalOf<T>(1.0f, 0.0f, 0.0f);
template <typename T>
const SphericalOf<T> SphericalOf<T>::back =
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(180), AngleOf<T>());
const SphericalOf<T> SphericalOf<T>::back = SphericalOf<T>(1.0f, 180.0f, 0.0f);
template <typename T>
const SphericalOf<T> SphericalOf<T>::right =
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(90), AngleOf<T>());
const SphericalOf<T> SphericalOf<T>::right = SphericalOf<T>(1.0f, 90.0f, 0.0f);
template <typename T>
const SphericalOf<T> SphericalOf<T>::left =
SphericalOf<T>(1.0f, AngleOf<T>::Degrees(-90), AngleOf<T>());
const SphericalOf<T> SphericalOf<T>::left = SphericalOf<T>(1.0f, -90.0f, 0.0f);
template <typename T>
const SphericalOf<T> SphericalOf<T>::up =
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>::Degrees(90));
const SphericalOf<T> SphericalOf<T>::up = SphericalOf<T>(1.0f, 0.0f, 90.0f);
template <typename T>
const SphericalOf<T> SphericalOf<T>::down =
SphericalOf<T>(1.0f, AngleOf<T>(), AngleOf<T>::Degrees(-90));
const SphericalOf<T> SphericalOf<T>::down = SphericalOf<T>(1.0f, 0.0f, -90.0f);
template <typename T>
SphericalOf<T> SphericalOf<T>::WithDistance(float distance) {
SphericalOf<T> v = SphericalOf<T>(distance, this->direction);
return v;
}
template <>
const SphericalOf<signed short> SphericalOf<signed short>::zero =
SphericalOf(0.0f, AngleOf<signed short>(0), AngleOf<signed short>(0));
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));
SphericalOf<T> v =
SphericalOf<T>(this->distance, this->horizontal.ToFloat() + 180.0f,
this->vertical.ToFloat() + 180.0f);
return v;
}
@ -233,17 +208,6 @@ SphericalOf<T> SphericalOf<T>::operator/=(float f) {
const float epsilon = 1E-05f;
template <typename T>
float SphericalOf<T>::DistanceBetween(const SphericalOf<T>& v1,
const SphericalOf<T>& v2) {
// SphericalOf<T> difference = v1 - v2;
// return difference.distance;
Vector3 vec1 = v1.ToVector3();
Vector3 vec2 = v2.ToVector3();
float distance = Vector3::Distance(vec1, vec2);
return distance;
}
template <typename T>
AngleOf<T> SphericalOf<T>::AngleBetween(const SphericalOf& v1,
const SphericalOf& v2) {
@ -260,44 +224,255 @@ AngleOf<T> SphericalOf<T>::AngleBetween(const SphericalOf& v1,
// float cdot = Float::Clamp(fraction, -1.0, 1.0);
// float r = ((float)acos(cdot)) * Rad2Deg;
AngleSingle r = Vector3::Angle(v1_3, v2_3);
return AngleOf<T>::Degrees(r.InDegrees());
}
template <typename T>
AngleOf<T> SphericalOf<T>::SignedAngleBetween(const SphericalOf<T>& v1,
const SphericalOf<T>& v2,
const SphericalOf<T>& axis) {
Vector3 v1_vector = v1.ToVector3();
Vector3 v2_vector = v2.ToVector3();
Vector3 axis_vector = axis.ToVector3();
AngleSingle r = Vector3::SignedAngle(v1_vector, v2_vector, axis_vector);
return AngleOf<T>::Degrees(r.InDegrees());
Angle r = Vector3::Angle(v1_3, v2_3);
return AngleOf<T>(r.ToFloat());
}
template <typename T>
SphericalOf<T> SphericalOf<T>::Rotate(const SphericalOf<T>& v,
AngleOf<T> horizontalAngle,
AngleOf<T> verticalAngle) {
SphericalOf<T> r =
SphericalOf(v.distance, v.direction.horizontal + horizontalAngle,
v.direction.vertical + verticalAngle);
SphericalOf<T> r = SphericalOf(v.distance, v.horizontal + horizontalAngle,
v.vertical + verticalAngle);
return r;
}
template <typename T>
SphericalOf<T> SphericalOf<T>::RotateHorizontal(const SphericalOf<T>& v,
AngleOf<T> a) {
SphericalOf<T> r =
SphericalOf(v.distance, v.direction.horizontal + a, v.direction.vertical);
SphericalOf<T> r = SphericalOf(v.distance, v.horizontal + a, v.vertical);
return r;
}
template <typename T>
SphericalOf<T> SphericalOf<T>::RotateVertical(const SphericalOf<T>& v,
AngleOf<T> a) {
SphericalOf<T> r =
SphericalOf(v.distance, v.direction.horizontal, v.direction.vertical + a);
SphericalOf<T> r = SphericalOf(v.distance, v.horizontal, v.vertical + a);
return r;
}
template class SphericalOf<float>;
template class SphericalOf<signed short>;
//---------------------------------------
/*
Spherical::Spherical() {
this->distance = 0.0f;
this->horizontalAngle = 0.0f;
this->verticalAngle = 0.0f;
}
// Spherical::Spherical(Polar polar) {
// this->distance = polar.distance;
// this->horizontalAngle = polar.angle;
// this->verticalAngle = 0.0f;
// }
Spherical::Spherical(float distance,
Angle horizontalAngle,
Angle verticalAngle) {
if (distance < 0) {
this->distance = -distance;
this->horizontalAngle =
Angle::Normalize(horizontalAngle.ToFloat() - 180.0f);
this->verticalAngle = verticalAngle;
} else {
this->distance = distance;
this->horizontalAngle = Angle::Normalize(horizontalAngle);
this->verticalAngle = Angle::Normalize(verticalAngle);
}
}
Spherical::Spherical(Vector3 v) {
this->distance = v.magnitude();
if (distance == 0.0f) {
this->verticalAngle = 0.0f;
this->horizontalAngle = 0.0f;
} else {
this->verticalAngle = (90.0f - acosf(v.Up() / this->distance) *
Passer::LinearAlgebra::Rad2Deg);
this->horizontalAngle =
atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
}
}
const Spherical Spherical::zero = Spherical(0.0f, 0.0f, 0.0f);
const Spherical Spherical::forward = Spherical(1.0f, 0.0f, 0.0f);
const Spherical Spherical::back = Spherical(1.0f, 180.0f, 0.0f);
const Spherical Spherical::right = Spherical(1.0f, 90.0f, 0.0f);
const Spherical Spherical::left = Spherical(1.0f, -90.0f, 0.0f);
const Spherical Spherical::up = Spherical(1.0f, 0.0f, 90.0f);
const Spherical Spherical::down = Spherical(1.0f, 0.0f, -90.0f);
bool Spherical::operator==(const Spherical& v) const {
return (this->distance == v.distance &&
this->horizontalAngle.ToFloat() == v.horizontalAngle.ToFloat() &&
this->verticalAngle.ToFloat() == v.verticalAngle.ToFloat());
}
Spherical Spherical::Normalize(const Spherical& v) {
Spherical r = Spherical(1, v.horizontalAngle, v.verticalAngle);
return r;
}
Spherical Spherical::normalized() const {
Spherical r = Spherical(1, this->horizontalAngle, this->verticalAngle);
return r;
}
Spherical Spherical::operator-() const {
Spherical v =
Spherical(this->distance, this->horizontalAngle.ToFloat() + 180.0f,
this->verticalAngle.ToFloat() + 180.0f);
return v;
}
Spherical Spherical::operator-(const Spherical& s2) const {
// let's do it the easy way...
Vector3 v1 = Vector3(*this);
Vector3 v2 = Vector3(s2);
Vector3 v = v1 - v2;
Spherical r = Spherical(v);
return r;
}
Spherical Spherical::operator-=(const Spherical& v) {
*this = *this - v;
return *this;
}
Spherical Spherical::operator+(const Spherical& s2) const {
// let's do it the easy way...
Vector3 v1 = Vector3(*this);
Vector3 v2 = Vector3(s2);
Vector3 v = v1 + v2;
Spherical r = Spherical(v);
return r;
// This is the hard way...
// if (v2.distance <= 0)
// return Spherical(this->distance, this->horizontalAngle,
// this->verticalAngle);
// if (this->distance <= 0)
// return v2;
// float deltaHorizontalAngle =
// (float)Angle::Normalize(v2.horizontalAngle - this->horizontalAngle);
// float horizontalRotation = deltaHorizontalAngle < 0
// ? 180 + deltaHorizontalAngle
// : 180 - deltaHorizontalAngle;
// float deltaVerticalAngle =
// Angle::Normalize(v2.verticalAngle - this->verticalAngle);
// float verticalRotation = deltaVerticalAngle < 0 ? 180 + deltaVerticalAngle
// : 180 - deltaVerticalAngle;
// if (horizontalRotation == 180 && verticalRotation == 180)
// // angle is too small, take this angle and add the distances
// return Spherical(this->distance + v2.distance, this->horizontalAngle,
// this->verticalAngle);
// Angle rotation = AngleBetween(*this, v2);
// float newDistance =
// Angle::CosineRuleSide(v2.distance, this->distance, rotation);
// float angle =
// Angle::CosineRuleAngle(newDistance, this->distance, v2.distance);
// // Now we have to project the angle to the horizontal and vertical
planes...
// // The axis for the angle is the cross product of the two spherical vectors
// // (which function we do not have either...)
// float horizontalAngle = 0;
// float verticalAngle = 0;
// float newHorizontalAngle =
// deltaHorizontalAngle < 0
// ? Angle::Normalize(this->horizontalAngle - horizontalAngle)
// : Angle::Normalize(this->horizontalAngle + horizontalAngle);
// float newVerticalAngle =
// deltaVerticalAngle < 0
// ? Angle::Normalize(this->verticalAngle - verticalAngle)
// : Angle::Normalize(this->verticalAngle + verticalAngle);
// Spherical v = Spherical(newDistance, newHorizontalAngle, newVerticalAngle);
}
Spherical Spherical::operator+=(const Spherical& v) {
*this = *this + v;
return *this;
}
// Spherical Passer::LinearAlgebra::operator*(const Spherical &v, float f) {
// return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
// }
// Spherical Passer::LinearAlgebra::operator*(float f, const Spherical &v) {
// return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
// }
Spherical Spherical::operator*=(float f) {
this->distance *= f;
return *this;
}
// Spherical Passer::LinearAlgebra::operator/(const Spherical &v, float f) {
// return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
// }
// Spherical Passer::LinearAlgebra::operator/(float f, const Spherical &v) {
// return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
// }
Spherical Spherical::operator/=(float f) {
this->distance /= f;
return *this;
}
// float Spherical::GetSwing() {
// // Not sure if this is correct
// return sqrtf(horizontalAngle * horizontalAngle +
// verticalAngle * verticalAngle);
// }
// float Spherical::Distance(const Spherical &s1, const Spherical &s2) {
// float d = 0;
// return d;
// }
#include "AngleUsing.h"
#include "FloatSingle.h"
#include "Vector3.h"
const float epsilon = 1E-05f;
const float Rad2Deg = 57.29578F;
Angle Spherical::AngleBetween(const Spherical& v1, const Spherical& v2) {
// float denominator = sqrtf(v1_3.sqrMagnitude() * v2_3.sqrMagnitude());
float denominator =
v1.distance * v2.distance; // sqrtf(v1.distance * v1.distance *
// v2.distance * v2.distance);
if (denominator < epsilon)
return 0.0f;
Vector3 v1_3 = Vector3(v1);
Vector3 v2_3 = Vector3(v2);
float dot = Vector3::Dot(v1_3, v2_3);
float fraction = dot / denominator;
if (isnan(fraction))
return fraction; // short cut to returning NaN universally
float cdot = Float::Clamp(fraction, -1.0, 1.0);
float r = ((float)acos(cdot)) * Rad2Deg;
return r;
}
Spherical Spherical::Rotate(const Spherical& v,
Angle horizontalAngle,
Angle verticalAngle) {
Spherical r = Spherical(
v.distance, v.horizontalAngle.ToFloat() + horizontalAngle.ToFloat(),
v.verticalAngle.ToFloat() + verticalAngle.ToFloat());
return r;
}
Spherical Spherical::RotateHorizontal(const Spherical& v, Angle a) {
Spherical r = Spherical(v.distance, v.horizontalAngle.ToFloat() + a.ToFloat(),
v.verticalAngle.ToFloat());
return r;
}
Spherical Spherical::RotateVertical(const Spherical& v, Angle a) {
Spherical r = Spherical(v.distance, v.horizontalAngle.ToFloat(),
v.verticalAngle.ToFloat() + a.ToFloat());
return r;
}
*/

248
LinearAlgebra/Spherical.h
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@ -5,63 +5,35 @@
#ifndef SPHERICAL_H
#define SPHERICAL_H
#include "Direction.h"
#include "Angle.h"
// #include "Polar.h"
namespace Passer {
namespace LinearAlgebra {
struct Vector3;
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 {
public:
/// @brief The distance in meters
/// @remark The distance should never be negative
float distance;
/// @brief The direction of the vector
DirectionOf<T> direction;
/// @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;
SphericalOf<T>();
SphericalOf<T>(float distance, AngleOf<T> horizontal, AngleOf<T> vertical);
SphericalOf<T>(float distance, DirectionOf<T> direction);
/// @brief Create spherical vector without using AngleOf type. All given
/// angles are in degrees
/// @param distance The distance in meters
/// @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,
float vertical);
/// @brief Short-hand Deg alias for the Degrees function
constexpr static auto Deg = Degrees;
/// @brief Create sperical vector without using the AngleOf type. All given
/// angles are in radians
/// @param distance The distance in meters
/// @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,
float vertical);
// Short-hand Rad alias for the Radians function
constexpr static auto Rad = Radians;
/// @brief Create a Spherical coordinate from a Polar coordinate
/// @param v The polar coordinate
/// @return The spherical coordinate with the vertical angle set to zero.
static SphericalOf<T> FromPolar(PolarOf<T> v);
/// @brief Create a Spherical coordinate from a Vector3 coordinate
/// @param v The vector coordinate
/// @return The spherical coordinate
static SphericalOf<T> FromVector3(Vector3 v);
/// @brief Convert the spherical coordinate to a Vector3 coordinate
/// @return The vector coordinate
Vector3 ToVector3() const;
/// @brief A spherical vector with zero degree angles and distance
@ -79,11 +51,6 @@ class SphericalOf {
/// @brief A normalized down-oriented vector
const static SphericalOf<T> down;
/// @brief Update the distance component of the spherical coordinate
/// @param distance The new distance
/// @return The updated coordinate
SphericalOf<T> WithDistance(float distance);
/// @brief Negate the vector
/// @return The negated vector
/// This will rotate the vector by 180 degrees horizontally and
@ -107,10 +74,11 @@ class SphericalOf {
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend SphericalOf<T> operator*(const SphericalOf<T>& v, float f) {
return SphericalOf<T>(v.distance * f, v.direction);
return SphericalOf<T>(v.distance * f, v.horizontal, v.vertical);
}
friend SphericalOf<T> operator*(float f, const SphericalOf<T>& v) {
return SphericalOf<T>(f * v.distance, v.direction);
return SphericalOf<T>(v.distance * f, v.horizontal,
v.vertical); // not correct, should be f * v.distance
}
SphericalOf<T> operator*=(float f);
/// @brief Scale the vector uniformly down
@ -119,74 +87,174 @@ class SphericalOf {
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend SphericalOf<T> operator/(const SphericalOf<T>& v, float f) {
return SphericalOf<T>(v.distance / f, v.direction);
return SphericalOf<T>(v.distance / f, v.horizontal, v.vertical);
}
friend SphericalOf<T> operator/(float f, const SphericalOf<T>& v) {
return SphericalOf<T>(f / v.distance, v.direction);
return SphericalOf<T>(v.distance / f, v.horizontal,
v.vertical); // not correct, should be f / v.distance
}
SphericalOf<T> operator/=(float f);
/// @brief Calculate the distance between two spherical coordinates
/// @param v1 The first coordinate
/// @param v2 The second coordinate
/// @return The distance between the coordinates in meters
static float DistanceBetween(const SphericalOf<T>& v1,
const SphericalOf<T>& v2);
/// @brief Calculate the unsigned angle between two spherical vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @return The unsigned angle between the vectors
/// <summary>
/// The distance between two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The distance between the two vectors</returns>
// static float Distance(const Spherical &s1, const Spherical &s2);
static AngleOf<T> AngleBetween(const SphericalOf<T>& v1,
const SphericalOf<T>& v2);
/// @brief Calculate the signed angle between two spherical vectors
/// @param v1 The first vector
/// @param v2 The second vector
/// @param axis The axis are which the angle is calculated
/// @return The signed angle between the vectors
static AngleOf<T> SignedAngleBetween(const SphericalOf<T>& v1,
const SphericalOf<T>& v2,
const SphericalOf<T>& axis);
/// @brief Rotate a spherical vector
/// @param v The vector to rotate
/// @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,
AngleOf<T> verticalAngle);
/// @brief Rotate a spherical vector horizontally
/// @param v The vector to rotate
/// @param angle The horizontal rotation angle in local space
/// @return The rotated vector
static SphericalOf<T> RotateHorizontal(const SphericalOf<T>& v,
AngleOf<T> angle);
/// @brief Rotate a spherical vector vertically
/// @param v The vector to rotate
/// @param angle The vertical rotation angle in local space
/// @return The rotated vector
static SphericalOf<T> RotateVertical(const SphericalOf<T>& v,
AngleOf<T> angle);
};
/// @brief Shorthand notation for a spherical vector using single precision
/// floats for the angles This is the fastest implementation on devices with
/// floating point harware
using SphericalSingle = SphericalOf<float>;
/// @brief Shorthand notation for a spherical vector using signed 16-bit words
/// for the angles
/// @note This is the fastest implementation on devices without floating point
/// hardware
using Spherical16 = SphericalOf<signed short>;
#if defined(ARDUINO)
using Spherical = Spherical16;
#else
using Spherical = SphericalSingle;
#endif
/*
/// @brief A spherical vector
/// @details This is a vector in 3D space using a spherical coordinate system.
/// It consists of a distance and the polar and elevation angles from a
/// reference direction. The reference direction is typically thought of
/// as a forward direction.
struct Spherical {
public:
/// @brief The distance in meters
/// @remark The distance should never be negative
float distance;
/// @brief The angle in the horizontal plane in degrees, clockwise rotation
/// @details The angle is automatically normalized to -180 .. 180
Angle horizontalAngle;
/// @brief The angle in the vertical plane in degrees. Positive is upward.
/// @details The angle is automatically normalized to -180 .. 180
Angle verticalAngle;
/// @brief Create a new spherical vector with zero degrees and distance
Spherical();
/// @brief Create a new spherical vector
/// @param distance The distance in meters
/// @param horizontalAngle The angle in the horizontal plane in degrees,
/// clockwise rotation
/// @param verticalAngle The angle in the vertical plan in degrees,
/// zero is forward, positive is upward
Spherical(float distance, Angle horizontalAngle, Angle verticalAngle);
/// @brief Convert polar coordinates to spherical coordinates
/// @param polar The polar coordinate
// Spherical(Polar polar);
/// @brief Convert 3D carthesian coordinates to spherical coordinates
/// @param v Vector in 3D carthesian coordinates;
Spherical(Vector3 v);
/// @brief A spherical vector with zero degree angles and distance
const static Spherical zero;
/// @brief A normalized forward-oriented vector
const static Spherical forward;
/// @brief A normalized back-oriented vector
const static Spherical back;
/// @brief A normalized right-oriented vector
const static Spherical right;
/// @brief A normalized left-oriented vector
const static Spherical left;
/// @brief A normalized up-oriented vector
const static Spherical up;
/// @brief A normalized down-oriented vector
const static Spherical down;
/// @brief Equality test to another vector
/// @param v The vector to check against
/// @return true: if it is identical to the given vector
/// @note This uses float comparison to check equality which may have strange
/// effects. Equality on floats should be avoided.
bool operator==(const Spherical& v) const;
/// @brief The vector length
/// @param v The vector for which you need the length
/// @return The vector length;
inline static float Magnitude(const Spherical& v) { return v.distance; }
/// @brief The vector length
/// @return The vector length
inline float magnitude() const { return this->distance; }
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
static Spherical Normalize(const Spherical& v);
/// @brief Convert the vector to a length of a
/// @return The vector normalized to a length of 1
Spherical normalized() const;
/// @brief Negate the vector
/// @return The negated vector
/// This will rotate the vector by 180 degrees horizontally and
/// vertically. Distance will stay the same.
Spherical operator-() const;
/// @brief Subtract a spherical vector from this vector
/// @param v The vector to subtract
/// @return The result of the subtraction
Spherical operator-(const Spherical& v) const;
Spherical operator-=(const Spherical& v);
/// @brief Add a spherical vector to this vector
/// @param v The vector to add
/// @return The result of the addition
Spherical operator+(const Spherical& v) const;
Spherical operator+=(const Spherical& v);
/// @brief Scale the vector uniformly up
/// @param f The scaling factor
/// @return The scaled vector
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Spherical operator*(const Spherical& v, float f) {
return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
}
friend Spherical operator*(float f, const Spherical& v) {
return Spherical(v.distance * f, v.horizontalAngle,
v.verticalAngle); // not correct, should be f * v.distance
}
Spherical operator*=(float f);
/// @brief Scale the vector uniformly down
/// @param f The scaling factor
/// @return The scaled factor
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Spherical operator/(const Spherical& v, float f) {
return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
}
friend Spherical operator/(float f, const Spherical& v) {
return Spherical(v.distance / f, v.horizontalAngle,
v.verticalAngle); // not correct, should be f / v.distance
}
Spherical operator/=(float f);
/// <summary>
/// The distance between two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The distance between the two vectors</returns>
// static float Distance(const Spherical &s1, const Spherical &s2);
static Angle AngleBetween(const Spherical& v1, const Spherical& v2);
static Spherical Rotate(const Spherical& v,
Angle horizontalAngle,
Angle verticalAngle);
static Spherical RotateHorizontal(const Spherical& v, Angle angle);
static Spherical RotateVertical(const Spherical& v, Angle angle);
};
*/
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace Passer
using namespace Passer::LinearAlgebra;
#include "Polar.h"
#include "Vector3.h"

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/*
#include "Spherical16.h"
#include "Quaternion.h"
#include "Spherical.h"
#include <math.h>
Spherical16::Spherical16() {
this->distance = 0.0f;
this->horizontalAngle = Angle16(0);
this->verticalAngle = Angle16(0);
}
Spherical16::Spherical16(Polar polar) {
this->distance = polar.distance;
this->horizontalAngle = Angle16(polar.angle.ToFloat());
this->verticalAngle = Angle16(0);
}
Spherical16::Spherical16(float distance,
Angle16 horizontalAngle,
Angle16 verticalAngle) {
if (distance < 0) {
this->distance = -distance;
this->horizontalAngle = horizontalAngle.ToFloat() - Angle16(180).ToFloat();
this->verticalAngle = verticalAngle;
} else {
this->distance = distance;
this->horizontalAngle = horizontalAngle;
this->verticalAngle = verticalAngle;
}
}
Spherical16::Spherical16(Vector3 v) {
this->distance = v.magnitude();
if (distance == 0.0f) {
this->verticalAngle = 0.0f;
this->horizontalAngle = 0.0f;
} else {
this->verticalAngle = (90.0f - acosf(v.Up() / this->distance) *
Passer::LinearAlgebra::Rad2Deg);
this->horizontalAngle =
atan2f(v.Right(), v.Forward()) * Passer::LinearAlgebra::Rad2Deg;
}
}
Vector3 Passer::LinearAlgebra::Spherical16::ToVector3() {
float verticalRad =
(90.0f - this->verticalAngle.ToFloat()) * Passer::LinearAlgebra::Deg2Rad;
float horizontalRad =
this->horizontalAngle.ToFloat() * Passer::LinearAlgebra::Deg2Rad;
float cosVertical = cosf(verticalRad);
float sinVertical = sinf(verticalRad);
float cosHorizontal = cosf(horizontalRad);
float sinHorizontal = sinf(horizontalRad);
float x = this->distance * sinVertical * sinHorizontal;
float y = this->distance * cosVertical;
float z = this->distance * sinVertical * cosHorizontal;
Vector3 v = Vector3(x, y, z);
return Vector3();
}
const Spherical16 Spherical16::zero = Spherical16(0.0f, 0.0f, 0.0f);
const Spherical16 Spherical16::forward = Spherical16(1.0f, 0.0f, 0.0f);
const Spherical16 Spherical16::back = Spherical16(1.0f, 180.0f, 0.0f);
const Spherical16 Spherical16::right = Spherical16(1.0f, 90.0f, 0.0f);
const Spherical16 Spherical16::left = Spherical16(1.0f, -90.0f, 0.0f);
const Spherical16 Spherical16::up = Spherical16(1.0f, 0.0f, 90.0f);
const Spherical16 Spherical16::down = Spherical16(1.0f, 0.0f, -90.0f);
bool Spherical16::operator==(const Spherical16& v) const {
return (this->distance == v.distance &&
this->horizontalAngle.ToFloat() == v.horizontalAngle.ToFloat() &&
this->verticalAngle.ToFloat() == v.verticalAngle.ToFloat());
}
Spherical16 Spherical16::Normalize(const Spherical16& v) {
Spherical16 r = Spherical16(1, v.horizontalAngle, v.verticalAngle);
return r;
}
Spherical16 Spherical16::normalized() const {
Spherical16 r = Spherical16(1, this->horizontalAngle, this->verticalAngle);
return r;
}
Spherical16 Spherical16::operator-() const {
Spherical16 v =
Spherical16(this->distance, this->horizontalAngle.ToFloat() + 180.0f,
this->verticalAngle.ToFloat() + 180.0f);
return v;
}
Spherical16 Spherical16::operator-(const Spherical16& s2) const {
Spherical thisSpherical =
Spherical(this->distance, this->horizontalAngle.ToFloat(),
this->verticalAngle.ToFloat());
Spherical spherical2 = Spherical(s2.distance, s2.horizontalAngle.ToFloat(),
s2.verticalAngle.ToFloat());
// let's do it the easy way...
Vector3 v1 = Vector3(thisSpherical);
Vector3 v2 = Vector3(spherical2);
Vector3 v = v1 - v2;
Spherical16 r = Spherical16(v);
return r;
}
Spherical16 Spherical16::operator-=(const Spherical16& v) {
*this = *this - v;
return *this;
}
Spherical16 Spherical16::operator+(const Spherical16& s2) const {
// let's do it the easy way...
Vector3 v1 =
Vector3(Spherical(this->distance, this->horizontalAngle.ToFloat(),
this->verticalAngle.ToFloat()));
Vector3 v2 = Vector3(Spherical(s2.distance, s2.horizontalAngle.ToFloat(),
s2.verticalAngle.ToFloat()));
Vector3 v = v1 + v2;
Spherical16 r = Spherical16(v);
return r;
// This is the hard way...
if (v2.distance <= 0)
return Spherical(this->distance, this->horizontalAngle,
this->verticalAngle);
if (this->distance <= 0)
return v2;
float deltaHorizontalAngle =
(float)Angle::Normalize(v2.horizontalAngle - this->horizontalAngle);
float horizontalRotation = deltaHorizontalAngle < 0
? 180 + deltaHorizontalAngle
: 180 - deltaHorizontalAngle;
float deltaVerticalAngle =
Angle::Normalize(v2.verticalAngle - this->verticalAngle);
float verticalRotation = deltaVerticalAngle < 0 ? 180 + deltaVerticalAngle
: 180 - deltaVerticalAngle;
if (horizontalRotation == 180 && verticalRotation == 180)
// angle is too small, take this angle and add the distances
return Spherical(this->distance + v2.distance, this->horizontalAngle,
this->verticalAngle);
Angle rotation = AngleBetween(*this, v2);
float newDistance =
Angle::CosineRuleSide(v2.distance, this->distance, rotation);
float angle =
Angle::CosineRuleAngle(newDistance, this->distance, v2.distance);
// Now we have to project the angle to the horizontal and vertical planes...
// The axis for the angle is the cross product of the two spherical vectors
// (which function we do not have either...)
float horizontalAngle = 0;
float verticalAngle = 0;
float newHorizontalAngle =
deltaHorizontalAngle < 0
? Angle::Normalize(this->horizontalAngle - horizontalAngle)
: Angle::Normalize(this->horizontalAngle + horizontalAngle);
float newVerticalAngle =
deltaVerticalAngle < 0
? Angle::Normalize(this->verticalAngle - verticalAngle)
: Angle::Normalize(this->verticalAngle + verticalAngle);
Spherical v = Spherical(newDistance, newHorizontalAngle, newVerticalAngle);
}
Spherical16 Spherical16::operator+=(const Spherical16& v) {
*this = *this + v;
return *this;
}
// Spherical Passer::LinearAlgebra::operator*(const Spherical &v, float f) {
// return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
// }
// Spherical Passer::LinearAlgebra::operator*(float f, const Spherical &v) {
// return Spherical(v.distance * f, v.horizontalAngle, v.verticalAngle);
// }
Spherical16 Spherical16::operator*=(float f) {
this->distance *= f;
return *this;
}
// Spherical Passer::LinearAlgebra::operator/(const Spherical &v, float f) {
// return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
// }
// Spherical Passer::LinearAlgebra::operator/(float f, const Spherical &v) {
// return Spherical(v.distance / f, v.horizontalAngle, v.verticalAngle);
// }
Spherical16 Spherical16::operator/=(float f) {
this->distance /= f;
return *this;
}
// float Spherical::GetSwing() {
// // Not sure if this is correct
// return sqrtf(horizontalAngle * horizontalAngle +
// verticalAngle * verticalAngle);
// }
// float Spherical::Distance(const Spherical &s1, const Spherical &s2) {
// float d = 0;
// return d;
// }
#include "AngleUsing.h"
#include "FloatSingle.h"
#include "Vector3.h"
const float epsilon = 1E-05f;
const float Rad2Deg = 57.29578F;
Angle Spherical16::AngleBetween(const Spherical16& v1, const Spherical16& v2) {
// float denominator = sqrtf(v1_3.sqrMagnitude() * v2_3.sqrMagnitude());
float denominator =
v1.distance * v2.distance; // sqrtf(v1.distance * v1.distance *
// v2.distance * v2.distance);
if (denominator < epsilon)
return 0.0f;
Vector3 v1_3 = Vector3(Spherical(v1.distance, v1.horizontalAngle.ToFloat(),
v1.verticalAngle.ToFloat()));
Vector3 v2_3 = Vector3(Spherical(v2.distance, v2.horizontalAngle.ToFloat(),
v2.verticalAngle.ToFloat()));
float dot = Vector3::Dot(v1_3, v2_3);
float fraction = dot / denominator;
if (isnan(fraction))
return fraction; // short cut to returning NaN universally
float cdot = Float::Clamp(fraction, -1.0, 1.0);
float r = ((float)acos(cdot)) * Rad2Deg;
return r;
}
Spherical16 Spherical16::Rotate(const Spherical16& v,
Angle horizontalAngle,
Angle verticalAngle) {
Spherical16 r = Spherical16(
v.distance, v.horizontalAngle.ToFloat() + horizontalAngle.ToFloat(),
v.verticalAngle.ToFloat() + verticalAngle.ToFloat());
return r;
}
Spherical16 Spherical16::RotateHorizontal(const Spherical16& v, Angle a) {
Spherical16 r = Spherical16(
v.distance, v.horizontalAngle.ToFloat() + a.ToFloat(), v.verticalAngle);
return r;
}
Spherical16 Spherical16::RotateVertical(const Spherical16& v, Angle a) {
Spherical16 r = Spherical16(v.distance, v.horizontalAngle,
v.verticalAngle.ToFloat() + a.ToFloat());
return r;
}
*/

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/*
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#ifndef SPHERICAL16_H
#define SPHERICAL16_H
#include "Angle16.h"
#include "Polar.h"
namespace Passer {
namespace LinearAlgebra {
struct Vector3;
/// @brief A spherical vector
/// @details This is a vector in 3D space using a spherical coordinate system.
/// It consists of a distance and the polar and elevation angles from a
/// reference direction. The reference direction is typically thought of
/// as a forward direction.
/// In contrast to the normal Spherical type, this version uses 16 bit integers
/// for the angles
struct Spherical16 {
public:
/// @brief The distance in meters
/// @remark The distance should never be negative
float distance;
/// @brief The angle in the horizontal plane in degrees, clockwise rotation
/// @details The angle is automatically normalized to -180 .. 180
Angle16 horizontalAngle;
/// @brief The angle in the vertical plane in degrees. Positive is upward.
/// @details The angle is automatically normalized to -180 .. 180
Angle16 verticalAngle;
/// @brief Create a new spherical vector with zero degrees and distance
Spherical16();
/// @brief Create a new spherical vector
/// @param distance The distance in meters
/// @param horizontalAngle The angle in the horizontal plane in degrees,
/// clockwise rotation
/// @param verticalAngle The angle in the vertical plan in degrees,
/// zero is forward, positive is upward
Spherical16(float distance, Angle16 horizontalAngle, Angle16 verticalAngle);
/// @brief Convert polar coordinates to spherical coordinates
/// @param polar The polar coordinate
Spherical16(Polar polar);
/// @brief Convert 3D carthesian coordinates to spherical coordinates
/// @param v Vector in 3D carthesian coordinates;
Spherical16(Vector3 v);
Vector3 ToVector3();
/// @brief A spherical vector with zero degree angles and distance
const static Spherical16 zero;
/// @brief A normalized forward-oriented vector
const static Spherical16 forward;
/// @brief A normalized back-oriented vector
const static Spherical16 back;
/// @brief A normalized right-oriented vector
const static Spherical16 right;
/// @brief A normalized left-oriented vector
const static Spherical16 left;
/// @brief A normalized up-oriented vector
const static Spherical16 up;
/// @brief A normalized down-oriented vector
const static Spherical16 down;
/// @brief Equality test to another vector
/// @param v The vector to check against
/// @return true: if it is identical to the given vector
/// @note This uses float comparison to check equality which may have strange
/// effects. Equality on floats should be avoided.
bool operator==(const Spherical16& v) const;
/// @brief The vector length
/// @param v The vector for which you need the length
/// @return The vector length;
inline static float Magnitude(const Spherical16& v) { return v.distance; }
/// @brief The vector length
/// @return The vector length
inline float magnitude() const { return this->distance; }
/// @brief Convert the vector to a length of 1
/// @param v The vector to convert
/// @return The vector normalized to a length of 1
static Spherical16 Normalize(const Spherical16& v);
/// @brief Convert the vector to a length of a
/// @return The vector normalized to a length of 1
Spherical16 normalized() const;
/// @brief Negate the vector
/// @return The negated vector
/// This will rotate the vector by 180 degrees horizontally and
/// vertically. Distance will stay the same.
Spherical16 operator-() const;
/// @brief Subtract a spherical vector from this vector
/// @param v The vector to subtract
/// @return The result of the subtraction
Spherical16 operator-(const Spherical16& v) const;
Spherical16 operator-=(const Spherical16& v);
/// @brief Add a spherical vector to this vector
/// @param v The vector to add
/// @return The result of the addition
Spherical16 operator+(const Spherical16& v) const;
Spherical16 operator+=(const Spherical16& v);
/// @brief Scale the vector uniformly up
/// @param f The scaling factor
/// @return The scaled vector
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Spherical16 operator*(const Spherical16& v, float f) {
return Spherical16(v.distance * f, v.horizontalAngle, v.verticalAngle);
}
friend Spherical16 operator*(float f, const Spherical16& v) {
return Spherical16(
v.distance * f, v.horizontalAngle,
v.verticalAngle); // not correct, should be f * v.distance
}
Spherical16 operator*=(float f);
/// @brief Scale the vector uniformly down
/// @param f The scaling factor
/// @return The scaled factor
/// @remark This operation will scale the distance of the vector. The angle
/// will be unaffected.
friend Spherical16 operator/(const Spherical16& v, float f) {
return Spherical16(v.distance / f, v.horizontalAngle, v.verticalAngle);
}
friend Spherical16 operator/(float f, const Spherical16& v) {
return Spherical16(
v.distance / f, v.horizontalAngle,
v.verticalAngle); // not correct, should be f / v.distance
}
Spherical16 operator/=(float f);
/// <summary>
/// The distance between two vectors
/// </summary>
/// <param name="v1">The first vector</param>
/// <param name="v2">The second vector</param>
/// <returns>The distance between the two vectors</returns>
// static float Distance(const Spherical16 &s1, const Spherical16 &s2);
static Angle AngleBetween(const Spherical16& v1, const Spherical16& v2);
static Spherical16 Rotate(const Spherical16& v,
Angle horizontalAngle,
Angle verticalAngle);
static Spherical16 RotateHorizontal(const Spherical16& v, Angle angle);
static Spherical16 RotateVertical(const Spherical16& v, Angle angle);
};
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
#include "Vector3.h"
#endif
*/

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// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#include "SwingTwist.h"
template <typename T>
SwingTwistOf<T>::SwingTwistOf() {
this->swing = DirectionOf<T>(AngleOf<T>(), AngleOf<T>());
this->twist = AngleOf<T>();
}
template <typename T>
SwingTwistOf<T>::SwingTwistOf(DirectionOf<T> swing, AngleOf<T> twist) {
// Normalize angles
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
if (swing.vertical > deg90 || swing.vertical < -deg90) {
swing.horizontal += deg180;
swing.vertical = deg180 - swing.vertical;
twist += deg180;
}
this->swing = swing;
this->twist = twist;
}
template <typename T>
SwingTwistOf<T>::SwingTwistOf(AngleOf<T> horizontal,
AngleOf<T> vertical,
AngleOf<T> twist) {
// Normalize angles
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
if (vertical > deg90 || vertical < -deg90) {
horizontal += deg180;
vertical = deg180 - vertical;
twist += deg180;
}
this->swing = DirectionOf<T>(horizontal, vertical);
this->twist = twist;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::Degrees(float horizontal,
float vertical,
float twist) {
SwingTwistOf<T> orientation = SwingTwistOf<T>(AngleOf<T>::Degrees(horizontal),
-AngleOf<T>::Degrees(vertical),
AngleOf<T>::Degrees(twist));
// DirectionOf<T> swing = DirectionOf<T>::Degrees(horizontal, vertical);
// AngleOf<T> twistAngle = AngleOf<T>::Degrees(twist);
// SwingTwistOf<T> orientation = SwingTwistOf(swing, twistAngle);
return orientation;
}
template <typename T>
Quaternion SwingTwistOf<T>::ToQuaternion() const {
Quaternion q = Quaternion::Euler(-this->swing.vertical.InDegrees(),
this->swing.horizontal.InDegrees(),
this->twist.InDegrees());
return q;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::FromQuaternion(Quaternion q) {
Vector3 angles = Quaternion::ToAngles(q);
SwingTwistOf<T> r =
SwingTwistOf<T>::Degrees(angles.Up(), angles.Right(), angles.Forward());
r.Normalize();
return r;
}
template <typename T>
SphericalOf<T> SwingTwistOf<T>::ToAngleAxis() const {
Quaternion q = this->ToQuaternion();
float angle;
Vector3 axis;
q.ToAngleAxis(&angle, &axis);
DirectionOf<T> direction = DirectionOf<T>::FromVector3(axis);
SphericalOf<T> aa = SphericalOf<T>(angle, direction);
return aa;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::FromAngleAxis(SphericalOf<T> aa) {
Vector3 vectorAxis = aa.direction.ToVector3();
Quaternion q = Quaternion::AngleAxis(aa.distance, vectorAxis);
return SwingTwistOf<T>();
}
template <typename T>
bool SwingTwistOf<T>::operator==(const SwingTwistOf<T> s) const {
return (this->swing == s.swing) && (this->twist == s.twist);
}
template <typename T>
const SwingTwistOf<T> SwingTwistOf<T>::identity = SwingTwistOf();
template <typename T>
SphericalOf<T> SwingTwistOf<T>::operator*(const SphericalOf<T>& vector) const {
SphericalOf<T> v = SphericalOf<T>(
vector.distance, vector.direction.horizontal + this->swing.horizontal,
vector.direction.vertical + this->swing.vertical);
return v;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::operator*(
const SwingTwistOf<T>& rotation) const {
SwingTwistOf<T> r =
SwingTwistOf(this->swing.horizontal + rotation.swing.horizontal,
this->swing.vertical + rotation.swing.vertical,
this->twist + rotation.twist);
return r;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::operator*=(const SwingTwistOf<T>& rotation) {
this->swing.horizontal += rotation.swing.horizontal;
this->swing.vertical += rotation.swing.vertical;
this->twist += rotation.twist;
return *this;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::Inverse(SwingTwistOf<T> rotation) {
SwingTwistOf<T> r = SwingTwistOf<T>(
-rotation.swing.horizontal, -rotation.swing.vertical, -rotation.twist);
return r;
}
template <typename T>
SwingTwistOf<T> SwingTwistOf<T>::AngleAxis(float angle,
const DirectionOf<T>& axis) {
Vector3 axis_vector = axis.ToVector3();
Quaternion q = Quaternion::AngleAxis(angle, axis_vector);
SwingTwistOf<T> r = SwingTwistOf<T>::FromQuaternion(q);
return r;
}
template <typename T>
AngleOf<T> SwingTwistOf<T>::Angle(const SwingTwistOf<T>& r1,
const SwingTwistOf<T>& r2) {
Quaternion q1 = r1.ToQuaternion();
Quaternion q2 = r2.ToQuaternion();
float angle = Quaternion::Angle(q1, q2);
return AngleOf<T>::Degrees(angle);
}
template <typename T>
void SwingTwistOf<T>::Normalize() {
AngleOf<T> deg90 = AngleOf<T>::Degrees(90);
AngleOf<T> deg180 = AngleOf<T>::Degrees(180);
if (this->swing.vertical > deg90 || this->swing.vertical < -deg90) {
this->swing.horizontal += deg180;
this->swing.vertical = deg180 - this->swing.vertical;
this->twist += deg180;
}
}
template class SwingTwistOf<float>;
template class SwingTwistOf<signed short>;

85
LinearAlgebra/SwingTwist.h
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@ -1,85 +0,0 @@
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
#ifndef SWINGTWIST_H
#define SWINGTWIST_H
#include "Angle.h"
#include "Direction.h"
#include "Quaternion.h"
#include "Spherical.h"
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 {
public:
DirectionOf<T> swing;
AngleOf<T> twist;
SwingTwistOf<T>();
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,
float twist = 0);
Quaternion ToQuaternion() const;
static SwingTwistOf<T> FromQuaternion(Quaternion q);
SphericalOf<T> ToAngleAxis() const;
static SwingTwistOf<T> FromAngleAxis(SphericalOf<T> aa);
const static SwingTwistOf<T> identity;
bool operator==(const SwingTwistOf<T> d) const;
/// <summary>
/// Rotate a vector using this rotation
/// </summary>
/// <param name="vector">The vector to rotate</param>
/// <returns>The rotated vector</returns>
SphericalOf<T> operator*(const SphericalOf<T>& vector) const;
/// <summary>
/// Multiply this rotation with another rotation
/// </summary>
/// <param name="rotation">The swing/twist rotation to multiply with</param>
/// <returns>The resulting swing/twist rotation</returns>
/// The result will be this rotation rotated according to
/// the give rotation.
SwingTwistOf<T> operator*(const SwingTwistOf<T>& rotation) const;
SwingTwistOf<T> operator*=(const SwingTwistOf<T>& rotation);
static SwingTwistOf<T> Inverse(SwingTwistOf<T> rotation);
/// <summary>
/// Convert an angle/axis representation to a swingt
/// </summary>
/// <param name="angle">The angle</param>
/// <param name="axis">The axis</param>
/// <returns>The resulting quaternion</returns>
static SwingTwistOf<T> AngleAxis(float angle, const DirectionOf<T>& axis);
static AngleOf<T> Angle(const SwingTwistOf<T>& r1, const SwingTwistOf<T>& r2);
void Normalize();
};
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;
#endif

18
LinearAlgebra/Vector2.cpp
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@ -7,11 +7,11 @@
#include "FloatSingle.h"
#include "Vector3.h"
// #if defined(AVR)
// #include <Arduino.h>
// #else
#if defined(AVR)
#include <Arduino.h>
#else
#include <math.h>
// #endif
#endif
Vector2::Vector2() {
x = 0;
@ -29,8 +29,8 @@ Vector2::Vector2(Vector3 v) {
x = v.Right(); // x;
y = v.Forward(); // z;
}
Vector2::Vector2(PolarSingle p) {
float horizontalRad = p.angle.InDegrees() * Deg2Rad;
Vector2::Vector2(Polar p) {
float horizontalRad = p.angle.ToFloat() * Passer::LinearAlgebra::Deg2Rad;
float cosHorizontal = cosf(horizontalRad);
float sinHorizontal = sinf(horizontalRad);
@ -156,11 +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) * Rad2Deg;
return -(angleTo - angleFrom) * Passer::LinearAlgebra::Rad2Deg;
}
Vector2 Vector2::Rotate(const Vector2& v, AngleSingle a) {
float angleRad = a.InDegrees() * Deg2Rad;
Vector2 Vector2::Rotate(const Vector2& v, Passer::LinearAlgebra::Angle a) {
float angleRad = a.ToFloat() * Passer::LinearAlgebra::Deg2Rad;
#if defined(AVR)
float sinValue = sin(angleRad);
float cosValue = cos(angleRad); // * Angle::Deg2Rad);

11
LinearAlgebra/Vector2.h
View File

@ -9,7 +9,7 @@
extern "C" {
/// <summary>
/// 2-dimensional Vector representation (C-style)
/// 2-dimensional Vector representation
/// </summary>
/// This is a C-style implementation
/// This uses the right-handed coordinate system.
@ -26,13 +26,15 @@ typedef struct Vec2 {
} Vec2;
}
namespace Passer {
namespace LinearAlgebra {
struct Vector3;
template <typename T>
class PolarOf;
// using Polar = PolarOf<float>
/// @brief A 2-dimensional vector
/// @brief A 2=dimensional vector
/// @remark This uses the right=handed carthesian coordinate system.
/// @note This implementation intentionally avoids the use of x and y
struct Vector2 : Vec2 {
@ -188,7 +190,7 @@ 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::Angle a);
/// @brief Lerp (linear interpolation) between two vectors
/// @param v1 The starting vector
@ -202,7 +204,8 @@ struct Vector2 : Vec2 {
};
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace Passer
using namespace Passer::LinearAlgebra;
#include "Polar.h"

18
LinearAlgebra/Vector3.cpp
View File

@ -30,9 +30,10 @@ Vector3::Vector3(Vector2 v) {
this->z = v.y;
}
Vector3::Vector3(SphericalOf<float> s) {
float verticalRad = (90.0f - s.direction.vertical.InDegrees()) * Deg2Rad;
float horizontalRad = s.direction.horizontal.InDegrees() * Deg2Rad;
Vector3::Vector3(Spherical s) {
float verticalRad =
(90.0f - s.vertical.ToFloat()) * Passer::LinearAlgebra::Deg2Rad;
float horizontalRad = s.horizontal.ToFloat() * Passer::LinearAlgebra::Deg2Rad;
float cosVertical = cosf(verticalRad);
float sinVertical = sinf(verticalRad);
float cosHorizontal = cosf(horizontalRad);
@ -151,7 +152,7 @@ float Vector3::Dot(const Vector3& v1, const Vector3& v2) {
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
bool Vector3::operator==(const Vector3& v) const {
bool Vector3::operator==(const Vector3& v) {
return (this->x == v.x && this->y == v.y && this->z == v.z);
}
@ -189,17 +190,16 @@ float clamp(float x, float lower, float upper) {
AngleOf<float> Vector3::Angle(const Vector3& v1, const Vector3& v2) {
float denominator = sqrtf(v1.sqrMagnitude() * v2.sqrMagnitude());
if (denominator < epsilon)
return AngleOf<float>();
return 0;
float dot = Vector3::Dot(v1, v2);
float fraction = dot / denominator;
if (isnan(fraction))
return AngleOf<float>::Degrees(
fraction); // short cut to returning NaN universally
return fraction; // short cut to returning NaN universally
float cdot = clamp(fraction, -1.0, 1.0);
float r = ((float)acos(cdot));
return AngleOf<float>::Radians(r);
float r = ((float)acos(cdot)) * Rad2Deg;
return AngleOf<float>(r);
}
AngleOf<float> Vector3::SignedAngle(const Vector3& v1,

19
LinearAlgebra/Vector3.h
View File

@ -7,9 +7,16 @@
#include "Vector2.h"
namespace Passer {
namespace LinearAlgebra {
// struct Spherical;
template <typename T>
class SphericalOf;
extern "C" {
/// <summary>
/// 3-dimensional Vector representation (C-style)
/// 3-dimensional Vector representation
/// </summary>
/// This is a C-style implementation
/// This uses the right-handed coordinate system.
@ -31,11 +38,6 @@ typedef struct Vec3 {
} Vec3;
}
namespace LinearAlgebra {
template <typename T>
class SphericalOf;
/// @brief A 3-dimensional vector
/// @remark This uses a right-handed carthesian coordinate system.
/// @note This implementation intentionally avoids the use of x, y and z values.
@ -88,7 +90,7 @@ struct Vector3 : Vec3 {
/// @return true if it is identical to the given vector
/// @note This uses float comparison to check equality which may have strange
/// effects. Equality on floats should be avoided.
bool operator==(const Vector3& v) const;
bool operator==(const Vector3& v);
/// @brief The vector length
/// @param v The vector for which you need the length
@ -226,7 +228,8 @@ struct Vector3 : Vec3 {
};
} // namespace LinearAlgebra
using namespace LinearAlgebra;
} // namespace Passer
using namespace Passer::LinearAlgebra;
#include "Spherical.h"

250
LinearAlgebra/float16.cpp
View File

@ -1,250 +0,0 @@
//
// FILE: float16.cpp
// AUTHOR: Rob Tillaart
// VERSION: 0.1.8
// PURPOSE: library for Float16s for Arduino
// URL: http://en.wikipedia.org/wiki/Half-precision_floating-point_format
#include "float16.h"
// #include <limits>
#include <math.h>
// CONSTRUCTOR
float16::float16(float f) { _value = f32tof16(f); }
// PRINTING
// size_t float16::printTo(Print& p) const
// {
// double d = this->f16tof32(_value);
// return p.print(d, _decimals);
// }
float float16::toFloat() const { return f16tof32(_value); }
//////////////////////////////////////////////////////////
//
// EQUALITIES
//
bool float16::operator==(const float16 &f) { return (_value == f._value); }
bool float16::operator!=(const float16 &f) { return (_value != f._value); }
bool float16::operator>(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value < f._value;
if (_value & 0x8000)
return false;
if (f._value & 0x8000)
return true;
return _value > f._value;
}
bool float16::operator>=(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value <= f._value;
if (_value & 0x8000)
return false;
if (f._value & 0x8000)
return true;
return _value >= f._value;
}
bool float16::operator<(const float16 &f) {
if ((_value & 0x8000) && (f._value & 0x8000))
return _value > f._value;
if (_value & 0x8000)
return true;
if (f._value & 0x8000)
return false;
return _value < f._value;
}
bool float16::operator<=(const float16 &f) {
if ((_value & (uint16_t)0x8000) && (f._value & (uint16_t)0x8000))
return _value >= f._value;
if (_value & 0x8000)
return true;
if (f._value & 0x8000)
return false;
return _value <= f._value;
}
//////////////////////////////////////////////////////////
//
// NEGATION
//
float16 float16::operator-() {
float16 f16;
f16.setBinary(_value ^ 0x8000);
return f16;
}
//////////////////////////////////////////////////////////
//
// MATH
//
float16 float16::operator+(const float16 &f) {
return float16(this->toFloat() + f.toFloat());
}
float16 float16::operator-(const float16 &f) {
return float16(this->toFloat() - f.toFloat());
}
float16 float16::operator*(const float16 &f) {
return float16(this->toFloat() * f.toFloat());
}
float16 float16::operator/(const float16 &f) {
return float16(this->toFloat() / f.toFloat());
}
float16 &float16::operator+=(const float16 &f) {
*this = this->toFloat() + f.toFloat();
return *this;
}
float16 &float16::operator-=(const float16 &f) {
*this = this->toFloat() - f.toFloat();
return *this;
}
float16 &float16::operator*=(const float16 &f) {
*this = this->toFloat() * f.toFloat();
return *this;
}
float16 &float16::operator/=(const float16 &f) {
*this = this->toFloat() / f.toFloat();
return *this;
}
//////////////////////////////////////////////////////////
//
// MATH HELPER FUNCTIONS
//
int float16::sign() {
if (_value & 0x8000)
return -1;
if (_value & 0xFFFF)
return 1;
return 0;
}
bool float16::isZero() { return ((_value & 0x7FFF) == 0x0000); }
bool float16::isNaN() {
if ((_value & 0x7C00) != 0x7C00)
return false;
if ((_value & 0x03FF) == 0x0000)
return false;
return true;
}
bool float16::isInf() { return ((_value == 0x7C00) || (_value == 0xFC00)); }
//////////////////////////////////////////////////////////
//
// CORE CONVERSION
//
float float16::f16tof32(uint16_t _value) const {
uint16_t sgn, man;
int exp;
float f;
sgn = (_value & 0x8000) > 0;
exp = (_value & 0x7C00) >> 10;
man = (_value & 0x03FF);
// ZERO
if ((_value & 0x7FFF) == 0) {
return sgn ? -0.0f : 0.0f;
}
// NAN & INF
if (exp == 0x001F) {
if (man == 0)
return sgn ? -INFINITY : INFINITY;
else
return NAN;
}
// SUBNORMAL/NORMAL
if (exp == 0)
f = 0;
else
f = 1;
// PROCESS MANTISSE
for (int i = 9; i >= 0; i--) {
f *= 2;
if (man & (1 << i))
f = f + 1;
}
f = f * powf(2.0f, (float)(exp - 25));
if (exp == 0) {
f = f * powf(2.0f, -13); // 5.96046447754e-8;
}
return sgn ? -f : f;
}
uint16_t float16::f32tof16(float f) const {
// untested code, but will avoid strict aliasing warning
// union {
// float f;
// uint32_t t;
// } u;
// u.f = f;
// uint32_t t = u.t;
uint32_t t = *(uint32_t *)&f;
// man bits = 10; but we keep 11 for rounding
uint16_t man = (t & 0x007FFFFF) >> 12;
int16_t exp = (t & 0x7F800000) >> 23;
bool sgn = (t & 0x80000000);
// handle 0
if ((t & 0x7FFFFFFF) == 0) {
return sgn ? 0x8000 : 0x0000;
}
// denormalized float32 does not fit in float16
if (exp == 0x00) {
return sgn ? 0x8000 : 0x0000;
}
// handle infinity & NAN
if (exp == 0x00FF) {
if (man)
return 0xFE00; // NAN
return sgn ? 0xFC00 : 0x7C00; // -INF : INF
}
// normal numbers
exp = exp - 127 + 15;
// overflow does not fit => INF
if (exp > 30) {
return sgn ? 0xFC00 : 0x7C00; // -INF : INF
}
// subnormal numbers
if (exp < -38) {
return sgn ? 0x8000 : 0x0000; // -0 or 0 ? just 0 ?
}
if (exp <= 0) // subnormal
{
man >>= (exp + 14);
// rounding
man++;
man >>= 1;
if (sgn)
return 0x8000 | man;
return man;
}
// normal
// TODO rounding
exp <<= 10;
man++;
man >>= 1;
if (sgn)
return 0x8000 | exp | man;
return exp | man;
}
// -- END OF FILE --

74
LinearAlgebra/float16.h
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@ -1,74 +0,0 @@
#pragma once
//
// FILE: float16.h
// AUTHOR: Rob Tillaart
// VERSION: 0.1.8
// PURPOSE: Arduino library to implement float16 data type.
// half-precision floating point format,
// used for efficient storage and transport.
// URL: https://github.com/RobTillaart/float16
#include <stdint.h>
#define FLOAT16_LIB_VERSION (F("0.1.8"))
// typedef uint16_t _fp16;
class float16 {
public:
// Constructors
float16(void) { _value = 0x0000; };
float16(float f);
float16(const float16 &f) { _value = f._value; };
// Conversion
float toFloat(void) const;
// access the 2 byte representation.
uint16_t getBinary() { return _value; };
void setBinary(uint16_t u) { _value = u; };
// Printable
// size_t printTo(Print &p) const;
void setDecimals(uint8_t d) { _decimals = d; };
uint8_t getDecimals() { return _decimals; };
// equalities
bool operator==(const float16 &f);
bool operator!=(const float16 &f);
bool operator>(const float16 &f);
bool operator>=(const float16 &f);
bool operator<(const float16 &f);
bool operator<=(const float16 &f);
// negation
float16 operator-();
// basic math
float16 operator+(const float16 &f);
float16 operator-(const float16 &f);
float16 operator*(const float16 &f);
float16 operator/(const float16 &f);
float16 &operator+=(const float16 &f);
float16 &operator-=(const float16 &f);
float16 &operator*=(const float16 &f);
float16 &operator/=(const float16 &f);
// math helper functions
int sign(); // 1 = positive 0 = zero -1 = negative.
bool isZero();
bool isNaN();
bool isInf();
// CORE CONVERSION
// should be private but for testing...
float f16tof32(uint16_t) const;
uint16_t f32tof16(float) const;
private:
uint8_t _decimals = 4;
uint16_t _value;
};
// -- END OF FILE --

241
LinearAlgebra/test/Angle16_test.cc
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@ -1,241 +0,0 @@
#if GTEST
#include "gtest/gtest.h"
#include <math.h>
#include <limits>
#include "Angle.h"
using namespace LinearAlgebra;
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Angle16, Construct) {
float angle = 0.0F;
Angle16 a = Angle16::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = -180.0F;
a = Angle16::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 270.0F;
a = Angle16::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
}
TEST(Angle16, Negate) {
float angle = 0;
Angle16 a = Angle16::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 90.0F;
a = Angle16::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
}
TEST(Angle16, Subtract) {
Angle16 a = Angle16::Degrees(0);
Angle16 b = Angle16::Degrees(45.0F);
Angle16 r = a - b;
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
}
TEST(Angle16, Add) {
Angle16 a = Angle16::Degrees(-45);
Angle16 b = Angle16::Degrees(45.0F);
Angle16 r = a + b;
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
}
TEST(Angle16, Compare) {
Angle16 a = Angle16::Degrees(45);
bool r = false;
r = a > Angle16::Degrees(0);
EXPECT_TRUE(r) << "45 > 0";
r = a > Angle16::Degrees(90);
EXPECT_FALSE(r) << "45 > 90";
r = a > Angle16::Degrees(-90);
EXPECT_TRUE(r) << "45 > -90";
}
TEST(Angle16, Normalize) {
Angle16 r = Angle16();
r = Angle16::Normalize(Angle16::Degrees(90.0f));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
r = Angle16::Normalize(Angle16::Degrees(-90));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
r = Angle16::Normalize(Angle16::Degrees(270));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
r = Angle16::Normalize(Angle16::Degrees(270 + 360));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
r = Angle16::Normalize(Angle16::Degrees(-270));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
r = Angle16::Normalize(Angle16::Degrees(-270 - 360));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
r = Angle16::Normalize(Angle16::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
if (false) { // std::numeric_limits<float>::is_iec559) {
// Infinites are not supported
r = Angle16::Normalize(Angle16::Degrees(FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
r = Angle16::Normalize(Angle16::Degrees(-FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
}
}
TEST(Angle16, Clamp) {
Angle16 r = Angle16();
// Clamp(1, 0, 2) will fail because Angle16 does not have enough resolution
// for this. Instead we use Clamp(10, 0, 20) etc.
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
Angle16::Degrees(20));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 10 0 20";
r = Angle16::Clamp(Angle16::Degrees(-10), Angle16::Degrees(0),
Angle16::Degrees(20));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -10 0 20";
r = Angle16::Clamp(Angle16::Degrees(30), Angle16::Degrees(0),
Angle16::Degrees(20));
EXPECT_NEAR(r.InDegrees(), 20, 1.0e-2) << "Clamp 30 0 20";
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
Angle16::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 10 0 0";
r = Angle16::Clamp(Angle16::Degrees(0), Angle16::Degrees(0),
Angle16::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
r = Angle16::Clamp(Angle16::Degrees(0), Angle16::Degrees(10),
Angle16::Degrees(-10));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 10 -10";
if (false) { // std::numeric_limits<float>::is_iec559) {
// Infinites are not supported
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(0),
Angle16::Degrees(FLOAT_INFINITY));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 1 0 INFINITY";
r = Angle16::Clamp(Angle16::Degrees(10), Angle16::Degrees(-FLOAT_INFINITY),
Angle16::Degrees(10));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-2) << "Clamp 1 -INFINITY 1";
}
}
// TEST(Angle16, Difference) {
// Angle16 r = 0;
// r = Angle16::Difference(0, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
// r = Angle16::Difference(0, -90);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
// r = Angle16::Difference(0, 270);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
// r = Angle16::Difference(0, -270);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
// r = Angle16::Difference(90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
// r = Angle16::Difference(-90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
// r = Angle16::Difference(0, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
// r = Angle16::Difference(90, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
// if (std::numeric_limits<float>::is_iec559) {
// r = Angle16::Difference(0, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
// r = Angle16::Difference(0, -INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
// r = Angle16::Difference(-INFINITY, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
// INFINITY";
// }
// }
TEST(Angle16, MoveTowards) {
Angle16 r = Angle16();
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 30);
EXPECT_NEAR(r.InDegrees(), 30, 1.0e-2) << "MoveTowards 0 90 30";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 90);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), 180);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 -90 -180";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 270);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -90);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -180);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90), -270);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90), 0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(0), 0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(0), 30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
if (false) { // std::numeric_limits<float>::is_iec559) {
// infinites are not supported
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(90),
FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
r = Angle16::MoveTowards(Angle16::Degrees(0),
Angle16::Degrees(FLOAT_INFINITY), 30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
r = Angle16::MoveTowards(Angle16::Degrees(0), Angle16::Degrees(-90),
-FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY)
<< "MoveTowards 0 -90 -FLOAT_INFINITY";
r = Angle16::MoveTowards(Angle16::Degrees(0),
Angle16::Degrees(-FLOAT_INFINITY), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
}
}
#endif

241
LinearAlgebra/test/Angle8_test.cc
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@ -1,241 +0,0 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Angle.h"
using namespace LinearAlgebra;
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Angle8, Construct) {
float angle = 0.0F;
Angle8 a = Angle8::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = -180.0F;
a = Angle8::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 270.0F;
a = Angle8::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
}
TEST(Angle8, Negate) {
float angle = 0;
Angle8 a = Angle8::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 90.0F;
a = Angle8::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
}
TEST(Angle8, Add) {
Angle8 a = Angle8::Degrees(-45);
Angle8 b = Angle8::Degrees(45.0F);
Angle8 r = a + b;
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
}
TEST(Angle8, Subtract) {
Angle8 a = Angle8::Degrees(0);
Angle8 b = Angle8::Degrees(45.0F);
Angle8 r = a - b;
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
}
TEST(Angle8, Compare) {
Angle8 a = Angle8::Degrees(45);
bool r = false;
r = a > Angle8::Degrees(0);
EXPECT_TRUE(r) << "45 > 0";
r = a > Angle8::Degrees(90);
EXPECT_FALSE(r) << "45 > 90";
r = a > Angle8::Degrees(-90);
EXPECT_TRUE(r) << "45 > -90";
}
TEST(Angle8, Normalize) {
Angle8 r = Angle8();
r = Angle8::Normalize(Angle8::Degrees(90.0f));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
r = Angle8::Normalize(Angle8::Degrees(-90));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
r = Angle8::Normalize(Angle8::Degrees(270));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
r = Angle8::Normalize(Angle8::Degrees(270 + 360));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
r = Angle8::Normalize(Angle8::Degrees(-270));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
r = Angle8::Normalize(Angle8::Degrees(-270 - 360));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
r = Angle8::Normalize(Angle8::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
if (false) { // std::numeric_limits<float>::is_iec559) {
// Infinites are not supported
r = Angle8::Normalize(Angle8::Degrees(FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
r = Angle8::Normalize(Angle8::Degrees(-FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
}
}
TEST(Angle8, Clamp) {
Angle8 r = Angle8();
// Clamp(1, 0, 2) will fail because Angle8 does not have enough resolution for
// this. Instead we use Clamp(10, 0, 20) etc.
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
Angle8::Degrees(20));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 10 0 20";
r = Angle8::Clamp(Angle8::Degrees(-10), Angle8::Degrees(0),
Angle8::Degrees(20));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -10 0 20";
r = Angle8::Clamp(Angle8::Degrees(30), Angle8::Degrees(0),
Angle8::Degrees(20));
EXPECT_NEAR(r.InDegrees(), 20, 1.0e-0) << "Clamp 30 0 20";
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
Angle8::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 10 0 0";
r = Angle8::Clamp(Angle8::Degrees(0), Angle8::Degrees(0), Angle8::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
r = Angle8::Clamp(Angle8::Degrees(0), Angle8::Degrees(10),
Angle8::Degrees(-10));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 10 -10";
if (false) { // std::numeric_limits<float>::is_iec559) {
// Infinites are not supported
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(0),
Angle8::Degrees(FLOAT_INFINITY));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 1 0 INFINITY";
r = Angle8::Clamp(Angle8::Degrees(10), Angle8::Degrees(-FLOAT_INFINITY),
Angle8::Degrees(10));
EXPECT_NEAR(r.InDegrees(), 10, 1.0e-0) << "Clamp 1 -INFINITY 1";
}
}
// TEST(Angle8, Difference) {
// Angle8 r = 0;
// r = Angle8::Difference(0, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
// r = Angle8::Difference(0, -90);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
// r = Angle8::Difference(0, 270);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
// r = Angle8::Difference(0, -270);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
// r = Angle8::Difference(90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
// r = Angle8::Difference(-90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
// r = Angle8::Difference(0, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
// r = Angle8::Difference(90, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
// if (std::numeric_limits<float>::is_iec559) {
// r = Angle8::Difference(0, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
// r = Angle8::Difference(0, -INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
// r = Angle8::Difference(-INFINITY, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
// INFINITY";
// }
// }
TEST(Angle8, MoveTowards) {
Angle8 r = Angle8();
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 30);
EXPECT_NEAR(r.InDegrees(), 30, 1.0e-0) << "MoveTowards 0 90 30";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 90);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), 180);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 -90 -180";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 270);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -90);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -180);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90), -270);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90), 0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(0), 0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(0), 30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
if (false) { // std::numeric_limits<float>::is_iec559) {
// infinites are not supported
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(90),
FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(FLOAT_INFINITY),
30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
r = Angle8::MoveTowards(Angle8::Degrees(0), Angle8::Degrees(-90),
-FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY)
<< "MoveTowards 0 -90 -FLOAT_INFINITY";
r = Angle8::MoveTowards(Angle8::Degrees(0),
Angle8::Degrees(-FLOAT_INFINITY), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
}
}
#endif

249
LinearAlgebra/test/AngleSingle_test.cc
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@ -1,249 +0,0 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Angle.h"
using namespace LinearAlgebra;
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(AngleSingle, Construct) {
float angle = 0.0F;
AngleSingle a = AngleSingle::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = -180.0F;
a = AngleSingle::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 270.0F;
a = AngleSingle::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), -90);
}
TEST(AngleSingle, Negate) {
float angle = 0;
AngleSingle a = AngleSingle::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
angle = 90.0F;
a = AngleSingle::Degrees(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
}
TEST(AngleSingle, Add) {
AngleSingle a = AngleSingle::Degrees(-45);
AngleSingle b = AngleSingle::Degrees(45.0F);
AngleSingle r = a + b;
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
}
TEST(AngleSingle, Subtract) {
AngleSingle a = AngleSingle::Degrees(0);
AngleSingle b = AngleSingle::Degrees(45.0F);
AngleSingle r = a - b;
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
}
TEST(AngleSingle, Compare) {
AngleSingle a = AngleSingle::Degrees(45);
bool r = false;
r = a > AngleSingle::Degrees(0);
EXPECT_TRUE(r) << "45 > 0";
r = a > AngleSingle::Degrees(90);
EXPECT_FALSE(r) << "45 > 90";
r = a > AngleSingle::Degrees(-90);
EXPECT_TRUE(r) << "45 > -90";
}
TEST(AngleSingle, Normalize) {
AngleSingle r = AngleSingle();
r = AngleSingle::Normalize(AngleSingle::Degrees(90.0f));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize 90";
r = AngleSingle::Normalize(AngleSingle::Degrees(-90));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize -90";
r = AngleSingle::Normalize(AngleSingle::Degrees(270));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270";
r = AngleSingle::Normalize(AngleSingle::Degrees(270 + 360));
EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Normalize 270+360";
r = AngleSingle::Normalize(AngleSingle::Degrees(-270));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270";
r = AngleSingle::Normalize(AngleSingle::Degrees(-270 - 360));
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Normalize -270-360";
r = AngleSingle::Normalize(AngleSingle::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Normalize 0";
if (std::numeric_limits<float>::is_iec559) {
r = AngleSingle::Normalize(AngleSingle::Degrees(FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), FLOAT_INFINITY) << "Normalize INFINITY";
r = AngleSingle::Normalize(AngleSingle::Degrees(-FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), -FLOAT_INFINITY) << "Normalize INFINITY";
}
}
TEST(AngleSingle, Clamp) {
AngleSingle r = AngleSingle();
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
AngleSingle::Degrees(2));
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 0 2";
r = AngleSingle::Clamp(AngleSingle::Degrees(-1), AngleSingle::Degrees(0),
AngleSingle::Degrees(2));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp -1 0 2";
r = AngleSingle::Clamp(AngleSingle::Degrees(3), AngleSingle::Degrees(0),
AngleSingle::Degrees(2));
EXPECT_FLOAT_EQ(r.InDegrees(), 2) << "Clamp 3 0 2";
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
AngleSingle::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 1 0 0";
r = AngleSingle::Clamp(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
AngleSingle::Degrees(0));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 0 0";
r = AngleSingle::Clamp(AngleSingle::Degrees(0), AngleSingle::Degrees(1),
AngleSingle::Degrees(-1));
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Clamp 0 1 -1";
if (std::numeric_limits<float>::is_iec559) {
r = AngleSingle::Clamp(AngleSingle::Degrees(1), AngleSingle::Degrees(0),
AngleSingle::Degrees(FLOAT_INFINITY));
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 0 INFINITY";
r = AngleSingle::Clamp(AngleSingle::Degrees(1),
AngleSingle::Degrees(-FLOAT_INFINITY),
AngleSingle::Degrees(1));
EXPECT_FLOAT_EQ(r.InDegrees(), 1) << "Clamp 1 -INFINITY 1";
}
}
// TEST(AngleSingle, Difference) {
// AngleSingle r = 0;
// r = AngleSingle::Difference(0, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 90";
// r = AngleSingle::Difference(0, -90);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 -90";
// r = AngleSingle::Difference(0, 270);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 0 270";
// r = AngleSingle::Difference(0, -270);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference 0 -270";
// r = AngleSingle::Difference(90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), -90) << "Difference 90 0";
// r = AngleSingle::Difference(-90, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "Difference -90 0";
// r = AngleSingle::Difference(0, 0);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 0 0";
// r = AngleSingle::Difference(90, 90);
// EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "Difference 90 90";
// if (std::numeric_limits<float>::is_iec559) {
// r = AngleSingle::Difference(0, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference 0 INFINITY";
// r = AngleSingle::Difference(0, -INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), -INFINITY) << "Difference 0 -INFINITY";
// r = AngleSingle::Difference(-INFINITY, INFINITY);
// EXPECT_FLOAT_EQ(r.InDegrees(), INFINITY) << "Difference -INFINITY
// INFINITY";
// }
// }
TEST(AngleSingle, MoveTowards) {
AngleSingle r = AngleSingle();
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), 30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 90 30";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), 90);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 90";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), 180);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 180";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), 270);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 270";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 -30";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-90), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -30";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-90), -90);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -90";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-90), -180);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -180";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-90), -270);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -270";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), 0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 90 0";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
0);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 0";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0), AngleSingle::Degrees(0),
30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 0 30";
if (std::numeric_limits<float>::is_iec559) {
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(90), FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(FLOAT_INFINITY), 30);
EXPECT_FLOAT_EQ(r.InDegrees(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-90), -FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -90 -FLOAT_INFINITY";
r = AngleSingle::MoveTowards(AngleSingle::Degrees(0),
AngleSingle::Degrees(-FLOAT_INFINITY), -30);
EXPECT_FLOAT_EQ(r.InDegrees(), 0) << "MoveTowards 0 -FLOAT_INFINITY -30";
}
}
#endif

168
LinearAlgebra/test/Angle_test.cc Normal file
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@ -0,0 +1,168 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Angle.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Angle, Normalize) {
Angle r = 0;
r = Angle::Normalize(90.0f);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Normalize 90";
r = Angle::Normalize(-90);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Normalize -90";
r = Angle::Normalize(270);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Normalize 270";
r = Angle::Normalize(270 + 360);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Normalize 270+360";
r = Angle::Normalize(-270);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Normalize -270";
r = Angle::Normalize(-270 - 360);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Normalize -270-360";
r = Angle::Normalize(0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Normalize 0";
if (std::numeric_limits<float>::is_iec559) {
r = Angle::Normalize(FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), FLOAT_INFINITY) << "Normalize INFINITY";
r = Angle::Normalize(-FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), -FLOAT_INFINITY) << "Normalize INFINITY";
}
}
TEST(Angle, Clamp) {
Angle r = 0;
r = Angle::Clamp(1, 0, 2);
EXPECT_FLOAT_EQ(r.ToFloat(), 1) << "Clamp 1 0 2";
r = Angle::Clamp(-1, 0, 2);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Clamp -1 0 2";
r = Angle::Clamp(3, 0, 2);
EXPECT_FLOAT_EQ(r.ToFloat(), 2) << "Clamp 3 0 2";
r = Angle::Clamp(1, 0, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Clamp 1 0 0";
r = Angle::Clamp(0, 0, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Clamp 0 0 0";
r = Angle::Clamp(0, 1, -1);
EXPECT_FLOAT_EQ(r.ToFloat(), 1) << "Clamp 0 1 -1";
if (std::numeric_limits<float>::is_iec559) {
r = Angle::Clamp(1, 0, FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), 1) << "Clamp 1 0 INFINITY";
r = Angle::Clamp(1, -FLOAT_INFINITY, 1);
EXPECT_FLOAT_EQ(r.ToFloat(), 1) << "Clamp 1 -INFINITY 1";
}
}
TEST(Angle, Difference) {
Angle r = 0;
r = Angle::Difference(0, 90);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Difference 0 90";
r = Angle::Difference(0, -90);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Difference 0 -90";
r = Angle::Difference(0, 270);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Difference 0 270";
r = Angle::Difference(0, -270);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Difference 0 -270";
r = Angle::Difference(90, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), -90) << "Difference 90 0";
r = Angle::Difference(-90, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "Difference -90 0";
r = Angle::Difference(0, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Difference 0 0";
r = Angle::Difference(90, 90);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "Difference 90 90";
if (std::numeric_limits<float>::is_iec559) {
r = Angle::Difference(0, INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), INFINITY) << "Difference 0 INFINITY";
r = Angle::Difference(0, -INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), -INFINITY) << "Difference 0 -INFINITY";
r = Angle::Difference(-INFINITY, INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), INFINITY) << "Difference -INFINITY INFINITY";
}
}
TEST(Angle, MoveTowards) {
Angle r = 0;
r = Angle::MoveTowards(0, 90, 30);
EXPECT_FLOAT_EQ(r.ToFloat(), 30) << "MoveTowards 0 90 30";
r = Angle::MoveTowards(0, 90, 90);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "MoveTowards 0 90 90";
r = Angle::MoveTowards(0, 90, 180);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "MoveTowards 0 90 180";
r = Angle::MoveTowards(0, 90, 270);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "MoveTowards 0 90 270";
r = Angle::MoveTowards(0, 90, -30);
EXPECT_FLOAT_EQ(r.ToFloat(), -30) << "MoveTowards 0 90 -30";
r = Angle::MoveTowards(0, -90, -30);
EXPECT_FLOAT_EQ(r.ToFloat(), 30) << "MoveTowards 0 -90 -30";
r = Angle::MoveTowards(0, -90, -90);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "MoveTowards 0 -90 -90";
r = Angle::MoveTowards(0, -90, -180);
EXPECT_FLOAT_EQ(r.ToFloat(), 180) << "MoveTowards 0 -90 -180";
r = Angle::MoveTowards(0, -90, -270);
EXPECT_FLOAT_EQ(r.ToFloat(), 270) << "MoveTowards 0 -90 -270";
r = Angle::MoveTowards(0, 90, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "MoveTowards 0 90 0";
r = Angle::MoveTowards(0, 0, 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "MoveTowards 0 0 0";
r = Angle::MoveTowards(0, 0, 30);
EXPECT_FLOAT_EQ(r.ToFloat(), 0) << "MoveTowards 0 0 30";
if (std::numeric_limits<float>::is_iec559) {
r = Angle::MoveTowards(0, 90, FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), 90) << "MoveTowards 0 90 FLOAT_INFINITY";
r = Angle::MoveTowards(0, FLOAT_INFINITY, 30);
EXPECT_FLOAT_EQ(r.ToFloat(), 30) << "MoveTowards 0 FLOAT_INFINITY 30";
r = Angle::MoveTowards(0, -90, -FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r.ToFloat(), FLOAT_INFINITY)
<< "MoveTowards 0 -90 -FLOAT_INFINITY";
r = Angle::MoveTowards(0, -FLOAT_INFINITY, -30);
EXPECT_FLOAT_EQ(r.ToFloat(), 30) << "MoveTowards 0 -FLOAT_INFINITY -30";
}
}
#endif

56
LinearAlgebra/test/Direction_test.cc
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@ -1,56 +0,0 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Direction.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Direction16, Compare) {
Direction16 d = Direction16::Degrees(45, 135);
bool r;
r = (d == Direction16(Angle16::Degrees(45), Angle16::Degrees(135)));
EXPECT_TRUE(r) << "45,135 == 45, 135";
r = (d ==
Direction16(Angle16::Degrees(45 + 360), Angle16::Degrees(135 - 360)));
EXPECT_TRUE(r) << "45+360, 135-360 == 45, 135";
}
TEST(Direction16, Inverse) {
Direction16 d;
Direction16 r;
d = Direction16::Degrees(45, 135);
r = -d;
EXPECT_EQ(r, Direction16::Degrees(-135, -135)) << "-(45, 135)";
d = Direction16::Degrees(-45, -135);
r = -d;
EXPECT_EQ(r, Direction16::Degrees(135, 135)) << "-(-45, -135)";
d = Direction16::Degrees(0, 0);
r = -d;
EXPECT_EQ(r, Direction16::Degrees(180, 0)) << "-(0, 0)";
d = Direction16::Degrees(0, 45);
r = -d;
EXPECT_EQ(r, Direction16::Degrees(180, -45)) << "-(0, 45)";
}
TEST(Direction16, Equality) {
Direction16 d;
d = Direction16::Degrees(135, 45);
EXPECT_EQ(d, Direction16::Degrees(135, 45)) << "(135, 45) == (135, 45)";
EXPECT_EQ(d, Direction16::Degrees(135 + 360, 45))
<< "(135, 45) == (135 + 360, 45) ";
EXPECT_EQ(d, Direction16::Degrees(135 - 360, 45))
<< "(135, 135) == (135 - 360, 45) ";
d = Direction16::Degrees(0, 45 + 180);
EXPECT_EQ(d, Direction16::Degrees(180, -45)) << "(0, 45+180) == (180, -45)";
}
#endif

61
LinearAlgebra/test/DiscreteAngle_test.cc
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@ -1,82 +1,79 @@
/*
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Angle.h"
// #include "Angle16.h"
// #include "Angle8.h"
#include "Angle16.h"
#include "Angle8.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Angle8, Construct) {
float angle = 0.0F;
Angle8 a = Angle8::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
Angle8 a = Angle8(angle);
EXPECT_FLOAT_EQ(a.ToFloat(), angle);
angle = -180.0F;
a = Angle8::Degrees(angle);
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
a = Angle8(angle);
EXPECT_FLOAT_EQ(a.ToFloat(), angle);
}
TEST(Angle8, Negate) {
float angle = 0;
Angle8 a = Angle8::Degrees(angle);
Angle8 a = Angle8(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
EXPECT_FLOAT_EQ(a.ToFloat(), angle);
angle = 90.0F;
a = Angle8::Degrees(angle);
a = Angle8(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
EXPECT_FLOAT_EQ(a.ToFloat(), -angle);
}
TEST(Angle8, Add) {
Angle8 a = Angle8::Degrees(-45);
Angle8 b = Angle8::Degrees(45.0F);
Angle8 a = Angle8(-45);
Angle8 b = Angle8(45.0F);
Angle8 r = a + b;
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0);
}
TEST(Angle8, Subtract) {
Angle8 a = Angle8::Degrees(0);
Angle8 b = Angle8::Degrees(45.0F);
Angle8 a = Angle8(0);
Angle8 b = Angle8(45.0F);
Angle8 r = a - b;
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
EXPECT_FLOAT_EQ(r.ToFloat(), -45);
}
TEST(Angle16, Construct) {
Angle16 a = Angle16::Degrees(0.0F);
EXPECT_FLOAT_EQ(a.InDegrees(), 0);
Angle16 a = Angle16(0.0F);
EXPECT_FLOAT_EQ(a.ToFloat(), 0);
}
TEST(Angle16, Negate) {
float angle = 0;
Angle16 a = Angle16::Degrees(angle);
Angle16 a = Angle16(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), angle);
EXPECT_FLOAT_EQ(a.ToFloat(), angle);
angle = 90.0F;
a = Angle16::Degrees(angle);
a = Angle16(angle);
a = -a;
EXPECT_FLOAT_EQ(a.InDegrees(), -angle);
EXPECT_FLOAT_EQ(a.ToFloat(), -angle);
}
TEST(Angle16, Subtract) {
Angle16 a = Angle16::Degrees(0);
Angle16 b = Angle16::Degrees(45.0F);
Angle16 a = Angle16(0);
Angle16 b = Angle16(45.0F);
Angle16 r = a - b;
EXPECT_FLOAT_EQ(r.InDegrees(), -45);
EXPECT_FLOAT_EQ(r.ToFloat(), -45);
}
TEST(Angle16, Add) {
Angle16 a = Angle16::Degrees(-45);
Angle16 b = Angle16::Degrees(45.0F);
Angle16 a = Angle16(-45);
Angle16 b = Angle16(45.0F);
Angle16 r = a + b;
EXPECT_FLOAT_EQ(r.InDegrees(), 0);
EXPECT_FLOAT_EQ(r.ToFloat(), 0);
}
#endif
*/
#endif

40
LinearAlgebra/test/FloatSingle_test.cc
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@ -1,41 +1,41 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <limits>
#include "FloatSingle.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(FloatC, Clamp) {
float r = 0;
float r = 0;
r = Float::Clamp(1, 0, 2);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 2";
r = Float::Clamp(1, 0, 2);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 2";
r = Float::Clamp(-1, 0, 2);
EXPECT_FLOAT_EQ(r, 0) << "Clamp -1 0 2";
r = Float::Clamp(-1, 0, 2);
EXPECT_FLOAT_EQ(r, 0) << "Clamp -1 0 2";
r = Float::Clamp(3, 0, 2);
EXPECT_FLOAT_EQ(r, 2) << "Clamp 3 0 2";
r = Float::Clamp(3, 0, 2);
EXPECT_FLOAT_EQ(r, 2) << "Clamp 3 0 2";
r = Float::Clamp(1, 0, 0);
EXPECT_FLOAT_EQ(r, 0) << "Clamp 1 0 0";
r = Float::Clamp(1, 0, 0);
EXPECT_FLOAT_EQ(r, 0) << "Clamp 1 0 0";
r = Float::Clamp(0, 0, 0);
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 0 0";
r = Float::Clamp(0, 0, 0);
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 0 0";
r = Float::Clamp(0, 1, -1);
EXPECT_FLOAT_EQ(r, 0) << "Clamp 0 1 -1";
r = Float::Clamp(0, 1, -1);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 0 1 -1";
if (std::numeric_limits<float>::is_iec559) {
r = Float::Clamp(1, 0, FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 INFINITY";
if (std::numeric_limits<float>::is_iec559) {
r = Float::Clamp(1, 0, FLOAT_INFINITY);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 0 INFINITY";
r = Float::Clamp(1, -FLOAT_INFINITY, 1);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 -INFINITY 1";
}
r = Float::Clamp(1, -FLOAT_INFINITY, 1);
EXPECT_FLOAT_EQ(r, 1) << "Clamp 1 -INFINITY 1";
}
}
#endif

185
LinearAlgebra/test/Polar_test.cc
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@ -1,7 +1,7 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <limits>
#include "Polar.h"
#include "Spherical.h"
@ -10,116 +10,112 @@
TEST(Polar, FromVector2) {
Vector2 v = Vector2(0, 1);
PolarSingle p = PolarSingle::FromVector2(v);
Polar p = Polar::FromVector2(v);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance 0 1";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "s.angle 0 0 1";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 0.0F) << "s.angle 0 0 1";
v = Vector2(1, 0);
p = PolarSingle::FromVector2(v);
p = Polar::FromVector2(v);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance 1 0";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 90.0F) << "s.angle 1 0";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 90.0F) << "s.angle 1 0";
v = Vector2(-1, 1);
p = PolarSingle::FromVector2(v);
p = Polar::FromVector2(v);
EXPECT_FLOAT_EQ(p.distance, sqrt(2.0F)) << "p.distance -1 1";
EXPECT_NEAR(p.angle.InDegrees(), -45.0F, 1.0e-05) << "s.angle -1 1";
EXPECT_NEAR(p.angle.ToFloat(), -45.0F, 1.0e-05) << "s.angle -1 1";
}
TEST(Polar, FromSpherical) {
SphericalSingle s;
PolarSingle p;
Spherical s;
Polar p;
s = SphericalSingle(1, DirectionSingle::forward);
p = PolarSingle::FromSpherical(s);
s = Spherical(1, 0, 0);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(1 0 0)";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 0.0F) << "p.angle FromSpherical(1 0 0)";
s = SphericalSingle(1, AngleSingle::Degrees(45), AngleSingle::Degrees(0));
p = PolarSingle::FromSpherical(s);
s = Spherical(1, 45, 0);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 45 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 45.0F)
<< "p.angle FromSpherical(1 45 0)";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 45.0F) << "p.angle FromSpherical(1 45 0)";
s = SphericalSingle(1, AngleSingle::Degrees(-45), AngleSingle::Degrees(0));
p = PolarSingle::FromSpherical(s);
s = Spherical(1, -45, 0);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(1 -45 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -45.0F)
EXPECT_FLOAT_EQ(p.angle.ToFloat(), -45.0F)
<< "p.angle FromSpherical(1 -45 0)";
s = SphericalSingle(0, AngleSingle::Degrees(0), AngleSingle::Degrees(0));
p = PolarSingle::FromSpherical(s);
s = Spherical(0, 0, 0);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(0 0 0)";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 0.0F) << "p.angle FromSpherical(0 0 0)";
s = SphericalSingle(-1, AngleSingle::Degrees(0), AngleSingle::Degrees(0));
p = PolarSingle::FromSpherical(s);
s = Spherical(-1, 0, 0);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 1.0F) << "p.distance FromSpherical(-1 0 0)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), -180.0F)
<< "p.angle FromSpherical(-1 0 0)";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 180.0F) << "p.angle FromSpherical(-1 0 0)";
s = SphericalSingle(0, AngleSingle::Degrees(0), AngleSingle::Degrees(90));
p = PolarSingle::FromSpherical(s);
s = Spherical(0, 0, 90);
p = Polar::FromSpherical(s);
EXPECT_FLOAT_EQ(p.distance, 0.0F) << "p.distance FromSpherical(0 0 90)";
EXPECT_FLOAT_EQ(p.angle.InDegrees(), 0.0F) << "p.angle FromSpherical(0 0 90)";
EXPECT_FLOAT_EQ(p.angle.ToFloat(), 0.0F) << "p.angle FromSpherical(0 0 90)";
}
TEST(Polar, Negation) {
PolarSingle v = PolarSingle(2, AngleSingle::Degrees(45));
PolarSingle r = PolarSingle::zero;
Polar v = Polar(2, 45);
Polar r = Polar::zero;
r = -v;
EXPECT_FLOAT_EQ(r.distance, 2);
EXPECT_FLOAT_EQ(r.angle.InDegrees(), -135);
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(-135)))
<< "Negate(2 45)";
EXPECT_FLOAT_EQ(r.angle.ToFloat(), -135);
EXPECT_TRUE(r == Polar(2, -135)) << "Negate(2 45)";
v = PolarSingle::Deg(2, -45);
v = Polar(2, -45);
r = -v;
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(135)))
<< "Negate(2 -45)";
EXPECT_TRUE(r == Polar(2, 135)) << "Negate(2 -45)";
v = PolarSingle::Degrees(2, 0);
v = Polar(2, 0);
r = -v;
EXPECT_TRUE(r == PolarSingle(2, AngleSingle::Degrees(180))) << "Negate(2 0)";
EXPECT_TRUE(r == Polar(2, 180)) << "Negate(2 0)";
v = PolarSingle(0, AngleSingle::Degrees(0));
v = Polar(0, 0);
r = -v;
EXPECT_FLOAT_EQ(r.distance, 0.0f);
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 0.0f);
EXPECT_TRUE(r == PolarSingle(0, AngleSingle::Degrees(0))) << "Negate(0 0)";
EXPECT_FLOAT_EQ(r.angle.ToFloat(), 0.0f);
EXPECT_TRUE(r == Polar(0, 0)) << "Negate(0 0)";
}
TEST(Polar, Subtraction) {
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
PolarSingle r = PolarSingle::zero;
Polar v1 = Polar(4, 45);
Polar v2 = Polar(1, -90);
Polar r = Polar::zero;
r = v1 - v2;
// don't know what to expect yet
v2 = PolarSingle::zero;
v2 = Polar::zero;
r = v1 - v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Subtraction(0 0)";
}
TEST(Polar, Addition) {
PolarSingle v1 = PolarSingle(1, AngleSingle::Degrees(45));
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
PolarSingle r = PolarSingle::zero;
Polar v1 = Polar(1, 45);
Polar v2 = Polar(1, -90);
Polar r = Polar::zero;
r = v1 - v2;
// don't know what to expect yet
v2 = PolarSingle::zero;
v2 = Polar::zero;
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0)";
@ -127,106 +123,51 @@ TEST(Polar, Addition) {
r += v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0)";
v2 = PolarSingle(1, AngleSingle::Degrees(-45));
v2 = Polar(1, -45);
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(0 0 0)";
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 0) << "Addition(0 0 0)";
EXPECT_FLOAT_EQ(r.angle.ToFloat(), 0) << "Addition(0 0 0)";
}
TEST(Polar, Scale_Multiply) {
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
PolarSingle r = PolarSingle::zero;
Polar v1 = Polar(4, 45);
Polar r = Polar::zero;
r = v1 * 2.0f;
EXPECT_FLOAT_EQ(r.distance, v1.distance * 2) << "ScaleMult(4 45, 2)";
EXPECT_FLOAT_EQ(r.angle.InDegrees(), v1.angle.InDegrees())
EXPECT_FLOAT_EQ(r.angle.ToFloat(), v1.angle.ToFloat())
<< "ScaleMult(4 45, 2)";
}
TEST(Polar, Scale_Divide) {
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
PolarSingle r = PolarSingle::zero;
Polar v1 = Polar(4, 45);
Polar r = Polar::zero;
r = v1 / 2.0f;
EXPECT_FLOAT_EQ(r.distance, v1.distance / 2) << "ScaleDiv(4 45, 2)";
EXPECT_FLOAT_EQ(r.angle.InDegrees(), v1.angle.InDegrees())
<< "ScaleDiv(4 45, 2)";
EXPECT_FLOAT_EQ(r.angle.ToFloat(), v1.angle.ToFloat()) << "ScaleDiv(4 45, 2)";
}
TEST(Polar, Distance) {
PolarSingle v1 = PolarSingle(4, AngleSingle::Degrees(45));
PolarSingle v2 = PolarSingle(1, AngleSingle::Degrees(-90));
Polar v1 = Polar(4, 45);
Polar v2 = Polar(1, -90);
float d = 0;
d = PolarSingle::Distance(v1, v2);
d = Polar::Distance(v1, v2);
// don't know what to expect yet
v2 = PolarSingle::zero;
d = PolarSingle::Distance(v1, v2);
v2 = Polar::zero;
d = Polar::Distance(v1, v2);
EXPECT_FLOAT_EQ(d, v1.distance) << "Distance(4 45, zero)";
}
TEST(Polar, Rotate) {
PolarSingle v = PolarSingle(4, AngleSingle::Degrees(45));
PolarSingle r = PolarSingle::zero;
Polar v = Polar(4, 45);
Polar r = Polar::zero;
r = PolarSingle::Rotate(v, AngleSingle::Degrees(45));
r = Polar::Rotate(v, 45);
EXPECT_FLOAT_EQ(r.distance, v.distance) << "Rotate(4 45, 45)";
EXPECT_FLOAT_EQ(r.angle.InDegrees(), 90.0f) << "Rotate(4 45, 45)";
}
// Performance Test
TEST(PolarOfTest, PerformanceTest) {
const int numIterations = 1000000; // Number of instances to test
std::vector<PolarOf<float>> polarObjects;
// Measure time for creating a large number of PolarOf objects
auto start = std::chrono::high_resolution_clock::now();
for (int i = 0; i < numIterations; ++i) {
float distance =
static_cast<float>(rand() % 100); // Random distance from 0 to 100
AngleOf<float> angle = AngleOf<float>::Degrees(
static_cast<float>(rand() % 360)); // Random angle from 0 to 360 degrees
PolarOf<float> p = PolarOf<float>(distance, angle);
polarObjects.emplace_back(p); // Create and store the object
}
auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double> duration = end - start;
std::cout << "Time to construct " << numIterations
<< " PolarOf objects: " << duration.count() << " seconds."
<< std::endl;
// Test completion with a message
ASSERT_GE(duration.count(), 0); // Ensure duration is non-negative
// Assert that the duration is less than or equal to 1 second
ASSERT_LE(duration.count(), 1.0)
<< "Performance test failed: Construction took longer than 1 second.";
}
// Edge Case 1: Testing with distance = 0 and angle = 45
TEST(PolarOfTest, TestDistanceZero) {
PolarOf<float> p1(0.0f, AngleOf<float>::Degrees(45.0f));
EXPECT_EQ(p1.distance, 0.0f); // Ensure distance is 0
EXPECT_EQ(p1.angle.InDegrees(), 0.0f); // Ensure angle is 0 when distance is 0
}
// Edge Case 2: Testing with negative distance, angle should be adjusted
TEST(PolarOfTest, TestNegativeDistance) {
PolarOf<float> p2(-10.0f, AngleOf<float>::Degrees(90.0f));
EXPECT_EQ(p2.distance, 10.0f); // Ensure distance is positive
EXPECT_NEAR(p2.angle.InDegrees(), -90.0f,
0.0001f); // Ensure angle is normalized to 270 degrees (180 + 90)
}
// Edge Case 3: Testing with positive distance and angle = 180
TEST(PolarOfTest, TestPositiveDistance) {
PolarOf<float> p3(100.0f, AngleOf<float>::Degrees(180.0f));
EXPECT_EQ(p3.distance, 100.0f); // Ensure distance is correct
EXPECT_NEAR(p3.angle.InDegrees(), -180.0f,
0.0001f); // Ensure angle is correct
EXPECT_FLOAT_EQ(r.angle.ToFloat(), 90.0f) << "Rotate(4 45, 45)";
}
#endif

3
LinearAlgebra/test/Quaternion_test.cc
View File

@ -36,8 +36,7 @@ TEST(Quaternion, ToAngles) {
q1 = Quaternion(1, 0, 0, 0);
v = Quaternion::ToAngles(q1);
r = v == Vector3(180, 0, 0);
// EXPECT_TRUE(r) << "Quaternion::ToAngles 1 0 0 0";
// fails on MacOS?
EXPECT_TRUE(r) << "Quaternion::ToAngles 1 0 0 0";
}
TEST(Quaternion, Multiplication) {

143
LinearAlgebra/test/Spherical16_test.cc
View File

@ -1,7 +1,7 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <limits>
#include "Spherical.h"
#include "Vector3.h"
@ -13,36 +13,22 @@ TEST(Spherical16, FromVector3) {
Spherical16 s = Spherical16::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
EXPECT_FLOAT_EQ((float)s.direction.horizontal.InDegrees(), 0.0F)
<< "s.hor 0 0 1";
EXPECT_FLOAT_EQ((float)s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert 0 0 1";
EXPECT_FLOAT_EQ((float)s.horizontal.ToFloat(), 0.0F) << "s.hor 0 0 1";
EXPECT_FLOAT_EQ((float)s.vertical.ToFloat(), 0.0F) << "s.vert 0 0 1";
v = Vector3(0, 1, 0);
s = Spherical16::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 1 0";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 90.0F) << "s.vert 0 1 0";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor 0 1 0";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 90.0F) << "s.vert 0 1 0";
v = Vector3(1, 0, 0);
s = Spherical16::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 90.0F) << "s.hor 1 0 0";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 1 0 0";
}
TEST(Spherical16, Vector3) {
Vector3 v = Vector3(1, 2, 3);
Spherical16 rd = Spherical16::FromVector3(v);
Vector3 rv = rd.ToVector3();
EXPECT_LT(Vector3::Distance(v, rv), 10e-4) << " 1 2 3 <-> spherical";
v = Vector3(1, 2, -3);
rd = Spherical16::FromVector3(v);
rv = rd.ToVector3();
EXPECT_LT(Vector3::Distance(v, rv), 10e-4) << " 1 2 3 <-> spherical";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 90.0F) << "s.hor 1 0 0";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert 1 0 0";
}
// TEST(Spherical16, FromPolar) {
@ -50,53 +36,48 @@ TEST(Spherical16, Vector3) {
// Spherical16 s = Spherical16::FromPolar(p);
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 0)";
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 0.0F) << "s.hor Polar(1 0)";
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 0)";
// EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor Polar(1 0)";
// EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 0)";
// p = Polar(1, 45);
// s = Spherical16::FromPolar(p);
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 45)";
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 45.0F) << "s.hor Polar(1 45)";
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 45)";
// EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 45.0F) << "s.hor Polar(1 45)";
// EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 45)";
// p = Polar(1, -45);
// s = Spherical16::FromPolar(p);
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 -45)";
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), -45.0F) << "s.hor Polar(1 -45)";
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(1 -45)";
// EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), -45.0F) << "s.hor Polar(1 -45)";
// EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 -45)";
// p = Polar(0, 0);
// s = Spherical16::FromPolar(p);
// EXPECT_FLOAT_EQ(s.distance, 0.0F) << "s.distance Polar(0 0)";
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), 0.0F) << "s.hor Polar(0 0)";
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(0 0)";
// EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor Polar(0 0)";
// EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(0 0)";
// p = Polar(-1, 0);
// s = Spherical16::FromPolar(p);
// EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(-1 0)";
// EXPECT_FLOAT_EQ(s.horizontal.InDegrees(), -180.0F) << "s.hor Polar(-1 0)";
// EXPECT_FLOAT_EQ(s.vertical.InDegrees(), 0.0F) << "s.vert Polar(-1 0)";
// EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), -180.0F) << "s.hor Polar(-1 0)";
// EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(-1 0)";
// }
TEST(Spherical16, Incident1) {
Vector3 v = Vector3(2.242557f, 1.027884f, -0.322347f);
Spherical16 s = Spherical16::FromVector3(v);
Spherical16 sr =
Spherical16(2.49F, Angle16::Degrees(98.18f), Angle16::Degrees(24.4F));
Spherical16 sr = Spherical16(2.49F, 98.18f, 24.4F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-01);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-02);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-02);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-02);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-02);
Vector3 r =
Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
.ToVector3();
Vector3 r = Spherical16(sr.distance, sr.horizontal, sr.vertical).ToVector3();
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
@ -106,17 +87,12 @@ TEST(Spherical16, Incident2) {
Vector3 v = Vector3(1.0f, 0.0f, 1.0f);
Spherical16 s = Spherical16::FromVector3(v);
Spherical16 sr = Spherical16(1.4142135623F, Angle16::Degrees(45.0f),
Angle16::Degrees(0.0F));
Spherical16 sr = Spherical16(1.4142135623F, 45.0f, 0.0F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-05);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-05);
Vector3 r =
Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
.ToVector3();
Vector3 r = Spherical16(sr.distance, sr.horizontal, sr.vertical).ToVector3();
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
@ -124,27 +100,23 @@ TEST(Spherical16, Incident2) {
v = Vector3(0.0f, 1.0f, 1.0f);
s = Spherical16::FromVector3(v);
sr = Spherical16(1.4142135623F, Angle16::Degrees(0), Angle16::Degrees(45));
sr = Spherical16(1.4142135623F, 0.0f, 45.0F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-05);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-05);
r = Spherical16(sr.distance, sr.direction.horizontal, sr.direction.vertical)
.ToVector3();
r = Spherical16(sr.distance, sr.horizontal, sr.vertical).ToVector3();
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
v = Vector3(1.0f, 1.0f, 1.0f);
s = Spherical16::FromVector3(v);
r = Spherical16(s.distance, s.direction.horizontal, s.direction.vertical)
.ToVector3();
r = Spherical16(s.distance, s.horizontal, s.vertical).ToVector3();
EXPECT_NEAR(s.distance, 1.73205080F, 1.0e-02);
EXPECT_NEAR(s.direction.horizontal.InDegrees(), 45.0F, 1.0e-02);
EXPECT_NEAR(s.direction.vertical.InDegrees(), 35.26F, 1.0e-02);
EXPECT_NEAR(s.horizontal.ToFloat(), 45.0F, 1.0e-02);
EXPECT_NEAR(s.vertical.ToFloat(), 35.26F, 1.0e-02);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-04);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-04);
@ -158,7 +130,7 @@ TEST(Spherical16, Incident2) {
}
TEST(Spherical16, Addition) {
Spherical16 v1 = Spherical16(1, Angle16::Degrees(45), Angle16::Degrees(0));
Spherical16 v1 = Spherical16(1, 45, 0);
Spherical16 v2 = Spherical16::zero;
Spherical16 r = Spherical16::zero;
@ -169,54 +141,17 @@ TEST(Spherical16, Addition) {
r += v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
v2 = Spherical16(1, Angle16::Degrees(-45), Angle16::Degrees(0));
v2 = Spherical16(1, -45, 0);
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 0) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 0) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.horizontal.ToFloat(), 0) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.vertical.ToFloat(), 0) << "Addition(1 -45 0)";
v2 = Spherical16(1, Angle16::Degrees(0), Angle16::Degrees(90));
v2 = Spherical16(1, 0, 90);
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 45) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 45) << "Addition(1 0 90)";
}
TEST(Spherical16, AdditionPerformance) {
const int numIterations = 1000000; // Number of additions to test
std::vector<Spherical16> sphericalObjects;
// Populate the vector with random SphericalOf objects
for (int i = 0; i < numIterations; ++i) {
float distance = (float)(rand() % 100);
float horizontal = (float)(rand() % 180);
float vertical = (float)(rand() % 360);
Spherical16 s = Spherical16::Deg(distance, horizontal, vertical);
sphericalObjects.push_back(s);
}
// Measure the time to perform multiple additions
auto start = std::chrono::high_resolution_clock::now();
Spherical16 result = Spherical16::zero; // Start with a
// zero-initialized object
for (int i = 0; i < numIterations - 1; ++i) {
result = result + sphericalObjects[i]; // Add objects
// together
}
auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double> duration = end - start;
std::cout << "Time to perform " << numIterations - 1
<< " additions: " << duration.count() << " seconds." << std::endl;
// Assert that the time taken is less than
// 1 second (or any other performance
// requirement)
ASSERT_LE(duration.count(), 2.0) << "Performance test failed: "
"Additions took longer than 1 "
"second.";
EXPECT_FLOAT_EQ(r.horizontal.ToFloat(), 45) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.vertical.ToFloat(), 45) << "Addition(1 0 90)";
}
#endif

213
LinearAlgebra/test/SphericalSingle_test.cc
View File

@ -1,213 +0,0 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include "Spherical.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(SphericalSingle, FromVector3) {
Vector3 v = Vector3(0, 0, 1);
SphericalSingle s = SphericalSingle ::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 0 1";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 0 0 1";
v = Vector3(0, 1, 0);
s = SphericalSingle ::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F) << "s.hor 0 1 0";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 90.0F) << "s.vert 0 1 0";
v = Vector3(1, 0, 0);
s = SphericalSingle ::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 90.0F) << "s.hor 1 0 0";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F) << "s.vert 1 0 0";
}
TEST(SphericalSingle, FromPolar) {
PolarSingle p = PolarSingle(1, AngleSingle::Degrees(0));
SphericalSingle s = SphericalSingle ::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 0)";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F)
<< "s.hor Polar(1 0)";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert Polar(1 0)";
p = PolarSingle(1, AngleSingle::Degrees(45));
s = SphericalSingle ::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 45)";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 45.0F)
<< "s.hor Polar(1 45)";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert Polar(1 45)";
p = PolarSingle(1, AngleSingle::Degrees(-45));
s = SphericalSingle ::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 -45)";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), -45.0F)
<< "s.hor Polar(1 -45)";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert Polar(1 -45)";
p = PolarSingle(0, AngleSingle::Degrees(0));
s = SphericalSingle ::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 0.0F) << "s.distance Polar(0 0)";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), 0.0F)
<< "s.hor Polar(0 0)";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert Polar(0 0)";
p = PolarSingle(-1, AngleSingle::Degrees(0));
s = SphericalSingle ::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(-1 0)";
EXPECT_FLOAT_EQ(s.direction.horizontal.InDegrees(), -180.0F)
<< "s.hor Polar(-1 0)";
EXPECT_FLOAT_EQ(s.direction.vertical.InDegrees(), 0.0F)
<< "s.vert Polar(-1 0)";
}
TEST(SphericalSingle, Incident1) {
Vector3 v = Vector3(2.242557f, 1.027884f, -0.322347f);
SphericalSingle s = SphericalSingle ::FromVector3(v);
SphericalSingle sr = SphericalSingle(2.49F, AngleSingle::Degrees(98.18f),
AngleSingle::Degrees(24.4F));
EXPECT_NEAR(s.distance, sr.distance, 1.0e-01);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-02);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-02);
Vector3 r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
}
TEST(SphericalSingle, Incident2) {
Vector3 v = Vector3(1.0f, 0.0f, 1.0f);
SphericalSingle s = SphericalSingle ::FromVector3(v);
SphericalSingle sr = SphericalSingle(
1.4142135623F, AngleSingle::Degrees(45.0f), AngleSingle::Degrees(0.0F));
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-05);
Vector3 r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
v = Vector3(0.0f, 1.0f, 1.0f);
s = SphericalSingle ::FromVector3(v);
sr = SphericalSingle(1.4142135623F, AngleSingle::Degrees(0.0f),
AngleSingle::Degrees(45.0F));
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.direction.horizontal.InDegrees(),
sr.direction.horizontal.InDegrees(), 1.0e-05);
EXPECT_NEAR(s.direction.vertical.InDegrees(),
sr.direction.vertical.InDegrees(), 1.0e-05);
r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
v = Vector3(1.0f, 1.0f, 1.0f);
s = SphericalSingle ::FromVector3(v);
r = Vector3(s);
EXPECT_NEAR(s.distance, 1.73205080F, 1.0e-02);
EXPECT_NEAR(s.direction.horizontal.InDegrees(), 45.0F, 1.0e-02);
EXPECT_NEAR(s.direction.vertical.InDegrees(), 35.26F, 1.0e-02);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
// s = SphericalSingle(10, 45, 45);
// r = s.ToVector3();
// EXPECT_NEAR(r.x, 5, 1.0e-06);
// EXPECT_NEAR(r.y, 7.07, 1.0e-06);
// EXPECT_NEAR(r.z, 5, 1.0e-06);
}
TEST(SphericalSingle, Addition) {
SphericalSingle v1 =
SphericalSingle(1, AngleSingle::Degrees(45), AngleSingle::Degrees(0));
SphericalSingle v2 = SphericalSingle ::zero;
SphericalSingle r = SphericalSingle ::zero;
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
r = v1;
r += v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
v2 = SphericalSingle(1, AngleSingle::Degrees(-45), AngleSingle::Degrees(0));
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 0) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 0) << "Addition(1 -45 0)";
v2 = SphericalSingle(1, AngleSingle::Degrees(0), AngleSingle::Degrees(90));
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.direction.horizontal.InDegrees(), 45) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.direction.vertical.InDegrees(), 45) << "Addition(1 0 90)";
}
TEST(SphericalSingle, AdditionPerformance) {
const int numIterations = 1000000; // Number of additions to test
std::vector<SphericalSingle> sphericalObjects;
// Populate the vector with random SphericalOf objects
for (int i = 0; i < numIterations; ++i) {
float distance = (float)(rand() % 100);
float horizontal = (float)(rand() % 180);
float vertical = (float)(rand() % 360);
SphericalSingle s = SphericalSingle::Deg(distance, horizontal, vertical);
sphericalObjects.push_back(s);
}
// Measure the time to perform multiple additions
auto start = std::chrono::high_resolution_clock::now();
SphericalSingle result = SphericalSingle::zero; // Start with a
// zero-initialized object
for (int i = 0; i < numIterations - 1; ++i) {
result = result + sphericalObjects[i]; // Add objects
// together
}
auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double> duration = end - start;
std::cout << "Time to perform " << numIterations - 1
<< " additions: " << duration.count() << " seconds." << std::endl;
// Assert that the time taken is less than
// 1 second (or any other performance
// requirement)
ASSERT_LE(duration.count(), 1.0) << "Performance test failed: "
"Additions took longer than 1 "
"second.";
}
#endif

156
LinearAlgebra/test/Spherical_test.cc Normal file
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@ -0,0 +1,156 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "Spherical.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(Spherical, FromVector3) {
Vector3 v = Vector3(0, 0, 1);
Spherical s = Spherical::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 0 1";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor 0 0 1";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert 0 0 1";
v = Vector3(0, 1, 0);
s = Spherical::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 0 1 0";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor 0 1 0";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 90.0F) << "s.vert 0 1 0";
v = Vector3(1, 0, 0);
s = Spherical::FromVector3(v);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance 1 0 0";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 90.0F) << "s.hor 1 0 0";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert 1 0 0";
}
TEST(Spherical, FromPolar) {
Polar p = Polar(1, 0);
Spherical s = Spherical::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 0)";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor Polar(1 0)";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 0)";
p = Polar(1, 45);
s = Spherical::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 45)";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 45.0F) << "s.hor Polar(1 45)";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 45)";
p = Polar(1, -45);
s = Spherical::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(1 -45)";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), -45.0F) << "s.hor Polar(1 -45)";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(1 -45)";
p = Polar(0, 0);
s = Spherical::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 0.0F) << "s.distance Polar(0 0)";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 0.0F) << "s.hor Polar(0 0)";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(0 0)";
p = Polar(-1, 0);
s = Spherical::FromPolar(p);
EXPECT_FLOAT_EQ(s.distance, 1.0F) << "s.distance Polar(-1 0)";
EXPECT_FLOAT_EQ(s.horizontal.ToFloat(), 180.0F) << "s.hor Polar(-1 0)";
EXPECT_FLOAT_EQ(s.vertical.ToFloat(), 0.0F) << "s.vert Polar(-1 0)";
}
TEST(Spherical, Incident1) {
Vector3 v = Vector3(2.242557f, 1.027884f, -0.322347f);
Spherical s = Spherical::FromVector3(v);
Spherical sr = Spherical(2.49F, 98.18f, 24.4F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-01);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-02);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-02);
Vector3 r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-02) << "toVector3.x 1 0 0";
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-02) << "toVector3.y 1 0 0";
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-02) << "toVector3.z 1 0 0";
}
TEST(Spherical, Incident2) {
Vector3 v = Vector3(1.0f, 0.0f, 1.0f);
Spherical s = Spherical::FromVector3(v);
Spherical sr = Spherical(1.4142135623F, 45.0f, 0.0F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-05);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-05);
Vector3 r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
v = Vector3(0.0f, 1.0f, 1.0f);
s = Spherical::FromVector3(v);
sr = Spherical(1.4142135623F, 0.0f, 45.0F);
EXPECT_NEAR(s.distance, sr.distance, 1.0e-05);
EXPECT_NEAR(s.horizontal.ToFloat(), sr.horizontal.ToFloat(), 1.0e-05);
EXPECT_NEAR(s.vertical.ToFloat(), sr.vertical.ToFloat(), 1.0e-05);
r = Vector3(sr);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
v = Vector3(1.0f, 1.0f, 1.0f);
s = Spherical::FromVector3(v);
r = Vector3(s);
EXPECT_NEAR(s.distance, 1.73205080F, 1.0e-02);
EXPECT_NEAR(s.horizontal.ToFloat(), 45.0F, 1.0e-02);
EXPECT_NEAR(s.vertical.ToFloat(), 35.26F, 1.0e-02);
EXPECT_NEAR(r.Right(), v.Right(), 1.0e-06);
EXPECT_NEAR(r.Up(), v.Up(), 1.0e-06);
EXPECT_NEAR(r.Forward(), v.Forward(), 1.0e-06);
// s = Spherical(10, 45, 45);
// r = s.ToVector3();
// EXPECT_NEAR(r.x, 5, 1.0e-06);
// EXPECT_NEAR(r.y, 7.07, 1.0e-06);
// EXPECT_NEAR(r.z, 5, 1.0e-06);
}
TEST(Spherical, Addition) {
Spherical v1 = Spherical(1, 45, 0);
Spherical v2 = Spherical::zero;
Spherical r = Spherical::zero;
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
r = v1;
r += v2;
EXPECT_FLOAT_EQ(r.distance, v1.distance) << "Addition(0 0 0)";
v2 = Spherical(1, -45, 0);
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.horizontal.ToFloat(), 0) << "Addition(1 -45 0)";
EXPECT_FLOAT_EQ(r.vertical.ToFloat(), 0) << "Addition(1 -45 0)";
v2 = Spherical(1, 0, 90);
r = v1 + v2;
EXPECT_FLOAT_EQ(r.distance, sqrtf(2)) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.horizontal.ToFloat(), 45) << "Addition(1 0 90)";
EXPECT_FLOAT_EQ(r.vertical.ToFloat(), 45) << "Addition(1 0 90)";
}
#endif

131
LinearAlgebra/test/SwingTwistSingle_test.cc
View File

@ -1,131 +0,0 @@
#if GTEST
#include <gtest/gtest.h>
#include <math.h>
#include <limits>
#include "SwingTwist.h"
#define FLOAT_INFINITY std::numeric_limits<float>::infinity()
TEST(SwingTwistSingle, Quaternion) {
Quaternion q;
SwingTwistSingle s;
Quaternion rq;
q = Quaternion::identity;
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_EQ(q, rq) << " 0 0 0 1 <-> SwingTwist";
q = Quaternion::Euler(90, 0, 0);
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 90 0 0 <-> SwingTwist";
q = Quaternion::Euler(0, 90, 0);
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
q = Quaternion::Euler(0, 0, 90);
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_EQ(q, rq) << " Euler 0 0 90 <-> SwingTwist";
q = Quaternion::Euler(0, 180, 0); // ==> spherical S(180 0)T0
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
q = Quaternion::Euler(0, 135, 0); // ==> spherical S(180 45)T0
s = SwingTwistSingle::FromQuaternion(q);
rq = s.ToQuaternion();
EXPECT_LT(Quaternion::Angle(q, rq), 10e-2) << " Euler 0 90 0 <-> SwingTwist";
}
TEST(SwingTwistSingle, AngleAxis) {
SwingTwistSingle s;
SwingTwistSingle r;
s = SwingTwistSingle::AngleAxis(0, DirectionSingle::up);
EXPECT_EQ(s, SwingTwistSingle::Degrees(0, 0, 0)) << "0 up";
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::up);
s = SwingTwistSingle::Degrees(90, 0, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "90 up";
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::up);
s = SwingTwistSingle::Degrees(180, 0, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "180 up";
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::up);
s = SwingTwistSingle::Degrees(-90, 0, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "270 up";
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::right);
s = SwingTwistSingle::Degrees(0, 90, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "90 right";
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::right);
s = SwingTwistSingle::Degrees(0, 180, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "180 right";
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::right);
s = SwingTwistSingle::Degrees(0, -90, 0);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "270 right";
r = SwingTwistSingle::AngleAxis(90, DirectionSingle::forward);
s = SwingTwistSingle::Degrees(0, 0, 90);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "90 up";
r = SwingTwistSingle::AngleAxis(180, DirectionSingle::forward);
s = SwingTwistSingle::Degrees(0, 0, 180);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "180 up";
r = SwingTwistSingle::AngleAxis(270, DirectionSingle::forward);
s = SwingTwistSingle::Degrees(0, 0, -90);
EXPECT_LT(SwingTwistSingle::Angle(r, s), AngleSingle::Degrees(10e-2f))
<< "270 up";
auto r16 = SwingTwist16::AngleAxis(13, Direction16::down);
auto s16 = SwingTwist16::Degrees(-13, 0, 0);
EXPECT_LT(SwingTwist16::Angle(r16, s16), Angle16::Degrees(10e-2f))
<< "270 up";
}
TEST(SwingTwistSingle, Normalize) {
SwingTwistSingle s;
s = SwingTwistSingle::Degrees(0, 0, 0);
EXPECT_EQ(s, SwingTwistSingle::Degrees(0, 0, 0)) << "0 0 0 Normalized";
s = SwingTwistSingle::Degrees(0, 180, 0);
EXPECT_EQ(s, SwingTwistSingle::Degrees(180, 0, 180)) << "0 180 0 Normalized";
s = SwingTwistSingle::Degrees(0, 180, 180);
EXPECT_EQ(s, SwingTwistSingle::Degrees(180, 0, 0)) << "0 180 180 Normalized";
s = SwingTwistSingle::Degrees(270, 90, 0);
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, 90, 0)) << "270 90 0 Normalized";
s = SwingTwistSingle::Degrees(270, 270, 0);
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, -90, 0))
<< "270 270 0 Normalized";
s = SwingTwistSingle::Degrees(270, 225, 0);
EXPECT_EQ(s, SwingTwistSingle::Degrees(90, -45, -180))
<< "270 225 0 Normalized";
s = SwingTwistSingle::Degrees(270, 0, 225);
EXPECT_EQ(s, SwingTwistSingle::Degrees(-90, 0, -135))
<< "270 0 225 Normalized";
}
#endif

18
LinearAlgebra/test/Vector2_test.cc
View File

@ -1,7 +1,7 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <limits>
#include "Vector2.h"
@ -9,25 +9,25 @@
TEST(Vector2, FromPolar) {
Vector2 v;
PolarSingle p;
Polar p;
Vector2 r;
v = Vector2(0, 1);
p = PolarSingle::FromVector2(v);
p = Polar::FromVector2(v);
r = Vector2(p);
EXPECT_FLOAT_EQ(r.x, 0.0F) << "FromPolar(0 1)";
EXPECT_FLOAT_EQ(r.y, 1.0F) << "FromPolar(0 1)";
v = Vector2(1, 0);
p = PolarSingle::FromVector2(v);
p = Polar::FromVector2(v);
r = Vector2(p);
EXPECT_FLOAT_EQ(r.x, 1.0F) << "FromPolar(1 0)";
EXPECT_NEAR(r.y, 0.0F, 1.0e-07) << "FromPolar(1 0)";
v = Vector2(0, 0);
p = PolarSingle::FromVector2(v);
p = Polar::FromVector2(v);
r = Vector2(p);
EXPECT_FLOAT_EQ(r.x, 0.0F) << "FromPolar(0 0)";
@ -462,16 +462,16 @@ TEST(Vector2, Rotate) {
Vector2 v1 = Vector2(1, 2);
Vector2 r = Vector2(0, 0);
r = Vector2::Rotate(v1, AngleSingle::Degrees(0));
r = Vector2::Rotate(v1, 0);
EXPECT_FLOAT_EQ(Vector2::Distance(r, v1), 0);
r = Vector2::Rotate(v1, AngleSingle::Degrees(180));
r = Vector2::Rotate(v1, 180);
EXPECT_NEAR(Vector2::Distance(r, Vector2(-1, -2)), 0, 1.0e-06);
r = Vector2::Rotate(v1, AngleSingle::Degrees(-90));
r = Vector2::Rotate(v1, -90);
EXPECT_NEAR(Vector2::Distance(r, Vector2(2, -1)), 0, 1.0e-06);
r = Vector2::Rotate(v1, AngleSingle::Degrees(270));
r = Vector2::Rotate(v1, 270);
EXPECT_NEAR(Vector2::Distance(r, Vector2(2, -1)), 0, 1.0e-06);
}

36
LinearAlgebra/test/Vector3_test.cc
View File

@ -1,7 +1,7 @@
#if GTEST
#include <gtest/gtest.h>
#include <limits>
#include <math.h>
#include <limits>
#include "Vector3.h"
@ -9,7 +9,7 @@
TEST(Vector3, FromSpherical) {
Vector3 v = Vector3(0, 0, 1);
SphericalOf<float> s = SphericalOf<float>::FromVector3(v);
Spherical s = Spherical::FromVector3(v);
Vector3 r = Vector3(s);
EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 0 1";
@ -17,7 +17,7 @@ TEST(Vector3, FromSpherical) {
EXPECT_FLOAT_EQ(r.Forward(), 1.0F) << "toVector3.z 0 0 1";
v = Vector3(0, 1, 0);
s = SphericalOf<float>::FromVector3(v);
s = Spherical::FromVector3(v);
r = Vector3(s);
EXPECT_FLOAT_EQ(r.Right(), 0.0F) << "toVector3.x 0 1 0";
@ -25,7 +25,7 @@ TEST(Vector3, FromSpherical) {
EXPECT_NEAR(r.Forward(), 0.0F, 1.0e-06) << "toVector3.z 0 1 0";
v = Vector3(1, 0, 0);
s = SphericalOf<float>::FromVector3(v);
s = Spherical::FromVector3(v);
r = Vector3(s);
EXPECT_FLOAT_EQ(r.Right(), 1.0F) << "toVector3.x 1 0 0";
@ -488,29 +488,29 @@ TEST(Vector3, ProjectOnPlane) {
TEST(Vector3, Angle) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
AngleOf<float> f = AngleOf<float>::Degrees(0);
AngleOf<float> f = 0;
bool r = false;
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f.InDegrees(), 12.9331388F) << "Angle(4 5 6, 1 2 3)";
EXPECT_FLOAT_EQ(f.ToFloat(), 12.9331388F) << "Angle(4 5 6, 1 2 3)";
v2 = Vector3(-1, -2, -3);
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f.InDegrees(), 167.066864F) << "Angle(4 5 6, -1 -2 -3)";
EXPECT_FLOAT_EQ(f.ToFloat(), 167.066864F) << "Angle(4 5 6, -1 -2 -3)";
v2 = Vector3(0, 0, 0);
f = Vector3::Angle(v1, v2);
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "Angle(4 5 6, 0 0 0)";
EXPECT_FLOAT_EQ(f.ToFloat(), 0) << "Angle(4 5 6, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::Angle(v1, v2);
r = isnan(f.InDegrees());
r = isnan(f.ToFloat());
EXPECT_TRUE(r) << "Angle(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::Angle(v1, v2);
r = isnan(f.InDegrees());
r = isnan(f.ToFloat());
EXPECT_TRUE(r) << "Angle(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}
@ -519,42 +519,42 @@ TEST(Vector3, SignedAngle) {
Vector3 v1 = Vector3(4, 5, 6);
Vector3 v2 = Vector3(1, 2, 3);
Vector3 v3 = Vector3(7, 8, -9);
AngleOf<float> f = AngleOf<float>::Degrees(0);
AngleOf<float> f = 0;
bool r = false;
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f.InDegrees(), -12.9331388F)
EXPECT_FLOAT_EQ(f.ToFloat(), -12.9331388F)
<< "SignedAngle(4 5 6, 1 2 3, 7 8 -9)";
v2 = Vector3(-1, -2, -3);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f.InDegrees(), 167.066864F)
EXPECT_FLOAT_EQ(f.ToFloat(), 167.066864F)
<< "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)";
v2 = Vector3(0, 0, 0);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "SignedAngle(4 5 6, 0 0 0, 7 8 -9 )";
EXPECT_FLOAT_EQ(f.ToFloat(), 0) << "SignedAngle(4 5 6, 0 0 0, 7 8 -9 )";
v2 = Vector3(1, 2, 3);
v3 = Vector3(-7, -8, 9);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f.InDegrees(), 12.9331388F)
EXPECT_FLOAT_EQ(f.ToFloat(), 12.9331388F)
<< "SignedAngle(4 5 6, 1 2 3, -7 -8 9)";
v3 = Vector3(0, 0, 0);
f = Vector3::SignedAngle(v1, v2, v3);
EXPECT_FLOAT_EQ(f.InDegrees(), 0) << "SignedAngle(4 5 6, 1 2 3, 0 0 0)";
EXPECT_FLOAT_EQ(f.ToFloat(), 0) << "SignedAngle(4 5 6, 1 2 3, 0 0 0)";
if (std::numeric_limits<float>::is_iec559) {
v2 = Vector3(FLOAT_INFINITY, FLOAT_INFINITY, FLOAT_INFINITY);
f = Vector3::SignedAngle(v1, v2, v3);
r = isnan(f.InDegrees());
r = isnan(f.ToFloat());
EXPECT_TRUE(r) << "SignedAngle(4 5 6, INFINITY INFINITY INFINITY)";
v2 = Vector3(-FLOAT_INFINITY, -FLOAT_INFINITY, -FLOAT_INFINITY);
f = Vector3::SignedAngle(v1, v2, v3);
r = isnan(f.InDegrees());
r = isnan(f.ToFloat());
EXPECT_TRUE(r) << "SignedAngle(4 5 6, -INFINITY -INFINITY -INFINITY)";
}
}

366
LocalParticipant.cpp
View File

@ -1,366 +0,0 @@
#include "LocalParticipant.h"
#include "Thing.h"
#include "Arduino/ArduinoParticipant.h"
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#include <ws2tcpip.h>
#include "Windows/WindowsParticipant.h"
#pragma comment(lib, "ws2_32.lib")
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <fcntl.h> // For fcntl
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#include <chrono>
#include "Posix/PosixParticipant.h"
#endif
#include <string.h>
namespace RoboidControl {
// LocalParticipant::LocalParticipant() {}
LocalParticipant::LocalParticipant(int port) {
this->ipAddress = "0.0.0.0";
this->port = port;
if (this->port == 0)
this->isIsolated = true;
}
LocalParticipant::LocalParticipant(const char* ipAddress, int port) {
this->ipAddress = "0.0.0.0"; // ipAddress; // maybe this is not needed
// anymore, keeping it to "0.0.0.0"
this->port = port;
if (this->port == 0)
this->isIsolated = true;
else
this->remoteSite = new Participant(ipAddress, port);
}
static LocalParticipant* isolatedParticipant = nullptr;
LocalParticipant* LocalParticipant::Isolated() {
if (isolatedParticipant == nullptr)
isolatedParticipant = new LocalParticipant(0);
return isolatedParticipant;
}
void LocalParticipant::begin() {
if (this->isIsolated)
return;
SetupUDP(this->port, this->ipAddress, this->port);
}
void LocalParticipant::SetupUDP(int localPort,
const char* remoteIpAddress,
int remotePort) {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
thisWindows->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
thisPosix->Setup(localPort, remoteIpAddress, remotePort);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
thisArduino->Setup(localPort, remoteIpAddress, remotePort);
#endif
this->connected = true;
}
void LocalParticipant::Update(unsigned long currentTimeMs) {
if (currentTimeMs == 0) {
currentTimeMs = Thing::GetTimeMs();
// #if defined(ARDUINO)
// currentTimeMs = millis();
// #elif defined(__unix__) || defined(__APPLE__)
// auto now = std::chrono::steady_clock::now();
// auto ms =
// std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
// currentTimeMs = static_cast<unsigned long>(ms.count());
// #endif
}
if (this->isIsolated == false) {
if (this->connected == false)
begin();
if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
ParticipantMsg* msg = new ParticipantMsg(this->networkId);
if (this->remoteSite == nullptr)
this->Publish(msg);
else
this->Send(this->remoteSite, msg);
delete msg;
this->nextPublishMe = currentTimeMs + this->publishInterval;
}
this->ReceiveUDP();
}
for (Thing* thing : this->things) {
if (thing != nullptr) {
thing->Update(currentTimeMs);
if (this->isIsolated == false) {
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
for (Participant* sender : this->senders)
this->Send(sender, poseMsg);
delete poseMsg;
}
}
}
}
void LocalParticipant::ReceiveUDP() {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
thisWindows->Receive();
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
thisPosix->Receive();
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
thisArduino->Receive();
#endif
}
Participant* LocalParticipant::GetParticipant(const char* ipAddress, int port) {
for (Participant* sender : this->senders) {
if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
return sender;
}
return nullptr;
}
Participant* LocalParticipant::AddParticipant(const char* ipAddress, int port) {
// std::cout << "New Participant " << ipAddress << ":" << port << "\n";
Participant* participant = new Participant(ipAddress, port);
#if defined(NO_STD)
participant->networkId = this->senderCount;
this->senders[this->senderCount++] = participant;
#else
participant->networkId = (unsigned char)this->senders.size();
this->senders.push_back(participant);
#endif
return participant;
}
#pragma region Send
void LocalParticipant::SendThingInfo(Participant* remoteParticipant,
Thing* thing) {
// std::cout << "Send thing info " << (int)thing->id << " \n";
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Send(remoteParticipant, thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Send(remoteParticipant, nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Send(remoteParticipant, modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Send(remoteParticipant, poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Send(remoteParticipant, customMsg);
delete customMsg;
}
bool LocalParticipant::Send(Participant* remoteParticipant, IMessage* msg) {
int bufferSize = msg->Serialize(this->buffer);
if (bufferSize <= 0)
return true;
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
return thisWindows->Send(remoteParticipant, bufferSize);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
return thisPosix->Send(remoteParticipant, bufferSize);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
return thisArduino->Send(remoteParticipant, bufferSize);
#endif
}
void LocalParticipant::PublishThingInfo(Thing* thing) {
// std::cout << "Publish thing info" << thing->networkId << "\n";
// Strange, when publishing, the network id is irrelevant, because it is
// connected to a specific site...
ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
this->Publish(thingMsg);
delete thingMsg;
NameMsg* nameMsg = new NameMsg(this->networkId, thing);
this->Publish(nameMsg);
delete nameMsg;
ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
this->Publish(modelMsg);
delete modelMsg;
PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
this->Publish(poseMsg);
delete poseMsg;
BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
this->Publish(customMsg);
delete customMsg;
}
bool LocalParticipant::Publish(IMessage* msg) {
#if defined(_WIN32) || defined(_WIN64)
Windows::LocalParticipant* thisWindows =
static_cast<Windows::LocalParticipant*>(this);
return thisWindows->Publish(msg);
#elif defined(__unix__) || defined(__APPLE__)
Posix::LocalParticipant* thisPosix =
static_cast<Posix::LocalParticipant*>(this);
return thisPosix->Publish(msg);
#elif defined(ARDUINO)
Arduino::LocalParticipant* thisArduino =
static_cast<Arduino::LocalParticipant*>(this);
return thisArduino->Publish(msg);
#endif
}
// Send
#pragma endregion
#pragma region Receive
void LocalParticipant::ReceiveData(unsigned char packetSize,
char* senderIpAddress,
unsigned int senderPort) {
Participant* remoteParticipant =
this->GetParticipant(senderIpAddress, senderPort);
if (remoteParticipant == nullptr) {
remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
// std::cout << "New sender " << sender_ipAddress << ":" << sender_port
// << "\n";
// std::cout << "New remote participant " << remoteParticipant->ipAddress
// << ":" << remoteParticipant->port << " "
// << (int)remoteParticipant->networkId << "\n";
}
ReceiveData(packetSize, remoteParticipant);
}
void LocalParticipant::ReceiveData(unsigned char bufferSize,
Participant* remoteParticipant) {
unsigned char msgId = this->buffer[0];
// std::cout << "receive msg " << (int)msgId << "\n";
switch (msgId) {
case ParticipantMsg::id: {
ParticipantMsg* msg = new ParticipantMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case SiteMsg::id: {
SiteMsg* msg = new SiteMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case InvestigateMsg::id: {
InvestigateMsg* msg = new InvestigateMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case ThingMsg::id: {
ThingMsg* msg = new ThingMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case NameMsg::id: {
NameMsg* msg = new NameMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case PoseMsg::id: {
PoseMsg* msg = new PoseMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
case BinaryMsg::id: {
BinaryMsg* msg = new BinaryMsg(this->buffer);
Process(remoteParticipant, msg);
delete msg;
} break;
};
}
void LocalParticipant::Process(Participant* sender, ParticipantMsg* msg) {}
void LocalParticipant::Process(Participant* sender, SiteMsg* msg) {
// std::cout << this->name << ": process NetworkId [" << (int)this->networkId
// << "/" << (int)msg->networkId << "]\n";
if (this->networkId != msg->networkId) {
this->networkId = msg->networkId;
// std::cout << this->things.size() << " things\n";
for (Thing* thing : this->things)
this->SendThingInfo(sender, thing);
}
}
void LocalParticipant::Process(Participant* sender, InvestigateMsg* msg) {}
void LocalParticipant::Process(Participant* sender, ThingMsg* msg) {}
void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing != nullptr) {
int nameLength = msg->nameLength;
int stringLen = nameLength + 1;
char* thingName = new char[stringLen];
#if defined(_WIN32) || defined(_WIN64)
strncpy_s(thingName, stringLen, msg->name,
stringLen - 1); // Leave space for null terminator
#else
// Use strncpy with bounds checking for other platforms (Arduino, POSIX,
// ESP-IDF)
strncpy(thingName, msg->name,
stringLen - 1); // Leave space for null terminator
thingName[stringLen - 1] = '\0'; // Ensure null termination
#endif
thingName[nameLength] = '\0';
thing->name = thingName;
// std::cout << "thing name = " << thing->name << " length = " << nameLength
// << "\n";
}
}
void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {}
void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
// std::cout << this->name << ": process Binary [" << (int)this->networkId <<
// "/"
// << (int)msg->networkId << "]\n";
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
else {
thing = this->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
// else
// std::cout << "custom msg for unknown thing [" << (int)msg->networkId
// << "/" << (int)msg->thingId << "]\n";
}
}
// Receive
#pragma endregion
} // namespace RoboidControl

140
LocalParticipant.h
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#pragma once
#include "Messages/BinaryMsg.h"
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/ParticipantMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/SiteMsg.h"
#include "Messages/ThingMsg.h"
#include "Participant.h"
#if !defined(NO_STD)
#include <list>
#endif
#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#elif defined(ARDUINO)
// #include <WiFiUdp.h>
#endif
namespace RoboidControl {
constexpr int MAX_SENDER_COUNT = 256;
/// @brief A local participant is the local device which can communicate with
/// other participants It manages all local things and communcation with other
/// participants. Each application has a local participant which is usually
/// explicit in the code. An participant can be isolated. In that case it is
/// standalong and does not communicate with other participants.
///
/// It is possible to work with an hidden participant by creating things without
/// specifying a participant in the constructor. In that case an hidden isolated
/// participant is created which can be obtained using
/// RoboidControl::LocalParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class LocalParticipant : public Participant {
public:
/// @brief Create a participant without connecting to a site
/// @param port The port on which the participant communicates
/// These participant typically broadcast Participant messages to let site
/// servers on the local network know their presence. Alternatively they can
/// broadcast information which can be used directly by other participants.
LocalParticipant(int port = 7681);
/// @brief Create a participant which will try to connect to a site.
/// @param ipAddress The IP address of the site
/// @param port The port used by the site
LocalParticipant(const char* ipAddress, int port = 7681);
// Note to self: one cannot specify the port used by the local participant
// now!!
/// @brief Isolated participant is used when the application is run without
/// networking
/// @return A participant without networking support
static LocalParticipant* Isolated();
/// @brief True if the participant is running isolated.
/// Isolated participants do not communicate with other participants
bool isIsolated = false;
/// The interval in milliseconds for publishing (broadcasting) data on the
/// local network
long publishInterval = 3000; // 3 seconds
/// @brief The name of the participant
const char* name = "LocalParticipant";
// int localPort = 0;
/// @brief The remote site when this participant is connected to a site
Participant* remoteSite = nullptr;
#if defined(ARDUINO)
// const char* remoteIpAddress = nullptr;
// unsigned short remotePort = 0;
// char* broadcastIpAddress = nullptr;
// WiFiUDP udp;
#else
#if defined(__unix__) || defined(__APPLE__)
int sock;
#endif
sockaddr_in remote_addr;
sockaddr_in server_addr;
sockaddr_in broadcast_addr;
#endif
void begin();
bool connected = false;
virtual void Update(unsigned long currentTimeMs = 0);
void SendThingInfo(Participant* remoteParticipant, Thing* thing);
void PublishThingInfo(Thing* thing);
bool Send(Participant* remoteParticipant, IMessage* msg);
bool Publish(IMessage* msg);
void ReceiveData(unsigned char bufferSize,
char* senderIpAddress,
unsigned int senderPort);
void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
#if defined(NO_STD)
unsigned char senderCount = 0;
Participant* senders[MAX_SENDER_COUNT];
#else
std::list<Participant*> senders;
#endif
protected:
unsigned long nextPublishMe = 0;
char buffer[1024];
void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
Participant* GetParticipant(const char* ipAddress, int port);
Participant* AddParticipant(const char* ipAddress, int port);
void ReceiveUDP();
virtual void Process(Participant* sender, ParticipantMsg* msg);
virtual void Process(Participant* sender, SiteMsg* msg);
virtual void Process(Participant* sender, InvestigateMsg* msg);
virtual void Process(Participant* sender, ThingMsg* msg);
virtual void Process(Participant* sender, NameMsg* msg);
virtual void Process(Participant* sender, PoseMsg* msg);
virtual void Process(Participant* sender, BinaryMsg* msg);
};
} // namespace RoboidControl

78
MessageFormat.md Normal file
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Message Format
==============
## Data type
The datatype consists of 4-bit (nibble) 2 parts: the most significant nibble is the syntax, while the least significant nibble is the sematics.
| 7 . 6 | 5 . 4| 3. 2. 1. 0 |
|-|-|-|
| angular | linear | semantics |
When the Data type is 0x00, this indicates that a second byte will follow which defines further syntax options. Currently, this has not been defined yet, but can be used to define high-resolution angles using 2 bytes per dimension.
### Syntax
The syntax defines the format of the data sent and makes it possible to parse or skip parts of the message. Every value can consist of two parts: the angular and linear part, each represented by 2 bits.
| Angular part | |
|-|-|
| 00 (0x0) | No angle |
| 01 (0x4) | 1-byte, 1D angle |
| 10 (0x8) | 2-byte, 2D angle |
| 11 (0xC) | 3-byte, 3D angle |
| Linear part | |
|-|-|
| 00 (0x0) | No magnitude |
| 01 (0x1) | 1 byte magnitude |
| 10 (0x2) | 2 byte magnitude |
| 11 (0x3) | 4 byte magnitude |
Note that these values do not actually say how the angular and linear values are encoded. A 4-byte magnitude may be a 32-bit unsigned int or a single precision float for example. This depends on the semantics.
When the angular and linear parts are combined, the size of the message can be determined. A few examples:
| Data type | Size | Description |
|-|-|-|
| 0001 (0x1) | 1 byte | A single byte of linear data, like an intensity value |
| 0100 (0x4) | 1 byte | An angle, like an angle between 0 and 360 degrees |
| 0101 (0x5) | 2 bytes | An angle with a distance, like a polar coordinate |
| 1101 (0xD) | 4 bytes | For example a quaternion, where the x,y,z = angular and w = linear part |
| 0002 (0x2) | 2 bytes | A 16-bit value, like a single short int |
| 1011 (0xB) | 6 bytes | 2D angles and a 32-bit distance, for example a spherical coordinate |
### Semantics
The semantics defines how the data should be interpreted. The following are defined:
| Semantics | |
|-|-|
| 0b0001 (0x1) | Position |
| 0b0010 (0x2) | Linear velocity |
| 0b0011 (0x3) | Linear acceleration |
| 0b0101 (0x5) | Orientation or rotation |
| ob0110 (0x6) | Angular velocity |
| 0b0111 (0x7) | Angular acceleration |
| 0b1000 (0x8) | Direction |
## Currently implemented data types
| Data type | Message |
|-|-|
| 0x62 | Polar velocity with 2-byte distance |
## Typical data types
| Data type | Interpretation |
| 0x48 | A direction in 2D space, represented by an angle. |
| 0x88 | A direction in 3D space, represented by 2 angles. |
| 0x83 | A position in 3D space, using Spherical coordinates |
| 0xD4 | An orientation represented by a quaternion |
| 0xE5 | Angular verlocity, represented in Angle-axis format |
| 0xF5 | Angular verlocity, represented in Angle-axis format using a float for the magnitude |
Note that a 2D or 3D vector is not directly supported. In alignment to the coordinate sytem of Roboid controle, these need to be converted to Polar or Spherical coordinates before they can be sent.

34
Messages/BinaryMsg.cpp
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#include "BinaryMsg.h"
namespace RoboidControl {
BinaryMsg::BinaryMsg(char* buffer) {
unsigned char ix = 1;
this->networkId = buffer[ix++];
this->thingId = buffer[ix++];
this->bytes = buffer + ix; // This is only valid because the code ensures the the msg
// lifetime is shorter than the buffer lifetime...
}
BinaryMsg::BinaryMsg(unsigned char networkId, Thing* thing) {
this->networkId = networkId;
this->thingId = thing->id;
this->thing = thing;
}
BinaryMsg::~BinaryMsg() {}
unsigned char BinaryMsg::Serialize(char* buffer) {
unsigned char ix = this->length;
this->thing->GenerateBinary(buffer, &ix);
if (ix <= this->length) // in this case, no data is actually sent
return 0;
buffer[0] = this->id;
buffer[1] = this->networkId;
buffer[2] = this->thingId;
return ix;
}
} // namespace RoboidControl

38
Messages/BinaryMsg.h
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#pragma once
#include "Messages.h"
namespace RoboidControl {
/// @brief Message to send thing-specific data
class BinaryMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0xB1;
/// @brief The length of the message without the binary data itslef
static const unsigned length = 3;
/// @brief The network ID of the thing
unsigned char networkId;
/// @brief The ID of the thing
unsigned char thingId;
/// @brief The thing for which the binary data is communicated
Thing* thing;
/// @brief The binary data which is communicated
char* bytes = nullptr;
/// @brief Create a new message for sending
/// @param networkId The network ID of the thing
/// @param thing The thing for which binary data is sent
BinaryMsg(unsigned char networkId, Thing* thing);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
BinaryMsg(char* buffer);
/// @brief Destructor for the message
virtual ~BinaryMsg();
/// @copydoc RoboidControl::IMessage::Serialize
virtual unsigned char Serialize(char* buffer) override;
};
} // namespace RoboidControl

22
Messages/DestroyMsg.cpp
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#include "DestroyMsg.h"
namespace RoboidControl {
DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
this->networkId = networkId;
this->thingId = thing->id;
}
DestroyMsg::DestroyMsg(char* buffer) {}
DestroyMsg::~DestroyMsg() {}
unsigned char DestroyMsg::Serialize(char *buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
return ix;
}
} // namespace RoboidControl

30
Messages/DestroyMsg.h
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#include "Messages.h"
namespace RoboidControl {
/// @brief Message notifiying that a Thing no longer exists
class DestroyMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0x20;
/// @brief The length of the message
static const unsigned length = 3;
/// @brief The network ID of the thing
unsigned char networkId;
/// @brief The ID of the thing
unsigned char thingId;
/// @brief Create a message for sending
/// @param networkId The network ID of the thing
/// @param thing The ID of the thing
DestroyMsg(unsigned char networkId, Thing* thing);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
DestroyMsg(char* buffer);
/// @brief Destructor for the message
virtual ~DestroyMsg();
/// @copydoc RoboidControl::IMessage::Serialize
virtual unsigned char Serialize(char* buffer) override;
};
} // namespace RoboidControl

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Messages/InvestigateMsg.cpp
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#include "InvestigateMsg.h"
namespace RoboidControl {
InvestigateMsg::InvestigateMsg(char* buffer) {
unsigned ix = 1; // first byte is msgId
this->networkId = buffer[ix++];
this->thingId = buffer[ix++];
}
InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
this->networkId = networkId;
this->thingId = thingId;
}
InvestigateMsg::~InvestigateMsg() {}
unsigned char InvestigateMsg::Serialize(char* buffer) {
unsigned char ix = 0;
buffer[ix++] = this->id;
buffer[ix++] = this->networkId;
buffer[ix++] = this->thingId;
return ix;
}
} // namespace RoboidControl

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Messages/InvestigateMsg.h
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#include "Messages.h"
namespace RoboidControl {
/// @brief Message to request details for a Thing
class InvestigateMsg : public IMessage {
public:
/// @brief The message ID
static const unsigned char id = 0x81;
/// @brief The length of the message
static const unsigned char length = 3;
/// @brief The network ID of the thing
unsigned char networkId;
/// @brief the ID of the thing
unsigned char thingId;
/// @brief Create a new message for sending
/// @param networkId The network ID for the thing
/// @param thingId The ID of the thing
InvestigateMsg(unsigned char networkId, unsigned char thingId);
/// @copydoc RoboidControl::IMessage::IMessage(char*)
InvestigateMsg(char* buffer);
/// @brief Destructor for the message
virtual ~InvestigateMsg();
/// @copydoc RoboidControl::IMessage::Serialize
virtual unsigned char Serialize(char* buffer) override;
};
} // namespace RoboidControl

99
Messages/LowLevelMessages.cpp
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#include "LowLevelMessages.h"
// #include <iostream>
#include "LinearAlgebra/float16.h"
namespace RoboidControl {
void LowLevelMessages::SendAngle8(char* buffer,
unsigned char* ix,
const float angle) {
Angle8 packedAngle2 = Angle8::Degrees(angle);
buffer[(*ix)++] = packedAngle2.GetBinary();
}
Angle8 LowLevelMessages::ReceiveAngle8(const char* buffer,
unsigned char* startIndex) {
unsigned char binary = buffer[(*startIndex)++];
Angle8 angle = Angle8::Binary(binary);
return angle;
}
void LowLevelMessages::SendFloat16(char* buffer,
unsigned char* ix,
float value) {
float16 value16 = float16(value);
short binary = value16.getBinary();
buffer[(*ix)++] = (binary >> 8) & 0xFF;
buffer[(*ix)++] = binary & 0xFF;
}
float LowLevelMessages::ReceiveFloat16(const char* buffer,
unsigned char* startIndex) {
unsigned char ix = *startIndex;
unsigned char msb = buffer[ix++];
unsigned char lsb = buffer[ix++];
unsigned short value = msb << 8 | lsb;
float16 f = float16();
f.setBinary(value);
*startIndex = ix;
return (float)f.toFloat();
}
void LowLevelMessages::SendSpherical(char* buffer,
unsigned char* ix,
Spherical s) {
SendFloat16(buffer, ix, s.distance);
SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
}
Spherical LowLevelMessages::ReceiveSpherical(const char* buffer,
unsigned char* startIndex) {
float distance = ReceiveFloat16(buffer, startIndex);
Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
Angle horizontal = Angle::Radians(horizontal8.InRadians());
Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
Angle vertical = Angle::Radians(vertical8.InRadians());
Spherical s = Spherical(distance, horizontal, vertical);
return s;
}
void LowLevelMessages::SendQuat32(char* buffer,
unsigned char* ix,
SwingTwist rotation) {
Quaternion q = rotation.ToQuaternion();
unsigned char qx = (char)(q.x * 127 + 128);
unsigned char qy = (char)(q.y * 127 + 128);
unsigned char qz = (char)(q.z * 127 + 128);
unsigned char qw = (char)(q.w * 255);
if (q.w < 0) {
qx = -qx;
qy = -qy;
qz = -qz;
qw = -qw;
}
// std::cout << (int)qx << "," << (int)qy << "," << (int)qz << "," << (int)qw
// << "\n";
buffer[(*ix)++] = qx;
buffer[(*ix)++] = qy;
buffer[(*ix)++] = qz;
buffer[(*ix)++] = qw;
}
SwingTwist LowLevelMessages::ReceiveQuat32(const char* buffer,
unsigned char* ix) {
float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
float qw = buffer[(*ix)++] / 255.0F;
Quaternion q = Quaternion(qx, qy, qz, qw);
SwingTwist s = SwingTwist::FromQuaternion(q);
return s;
}
} // namespace RoboidControl

22
Messages/LowLevelMessages.h
View File

@ -1,22 +0,0 @@
#include "LinearAlgebra/Spherical.h"
#include "LinearAlgebra/SwingTwist.h"
namespace RoboidControl {
class LowLevelMessages {
public:
static void SendAngle8(char* buffer, unsigned char* ix, const float angle);
static Angle8 ReceiveAngle8(const char* buffer, unsigned char* startIndex);
static void SendFloat16(char* buffer, unsigned char* ix, float value);
static float ReceiveFloat16(const char* buffer, unsigned char* startIndex);
static void SendSpherical(char* buffer, unsigned char* ix, Spherical s);
static Spherical ReceiveSpherical(const char* buffer,
unsigned char* startIndex);
static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist q);
static SwingTwist ReceiveQuat32(const char* buffer, unsigned char* ix);
};
} // namespace RoboidControl

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