Merge pull request #22 from ichiro-its/21-wrong-result-in-point2-dire…

…ction 21 wrong result in point2 direction
ichiro-its · Apr 25, 2021 · 0b72711 · 0b72711
2 parents 4949f0c + 99bf979
commit 0b72711
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Showing 17 changed files with 85 additions and 84 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -55,4 +55,5 @@ endif()
 
 ament_export_include_directories("include")
 ament_export_libraries(${PROJECT_NAME})
+
 ament_package()
diff --git a/LICENSE b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2021 Ichiro ITS
+Copyright (c) 2021 ICHIRO ITS
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -10,4 +10,4 @@ Keisan is a [ROS 2](https://docs.ros.org/en/foxy/index.html) package that provid
 
 ## License
 
-This project is maintained by [ICHIRO ITS](https://github.com/ichiro-its) and licensed under [the MIT License](./LICENSE).
+This project is maintained by [ICHIRO ITS](https://github.com/ichiro-its) and licensed under the [MIT License](./LICENSE).
diff --git a/include/keisan/angle.hpp b/include/keisan/angle.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/include/keisan/keisan.hpp b/include/keisan/keisan.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/include/keisan/number.hpp b/include/keisan/number.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/include/keisan/point_2.hpp b/include/keisan/point_2.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -30,32 +30,32 @@ struct Point2
   Point2(double x, double y);
   Point2(const Point2 & point);
 
-  Point2 & operator=(Point2 & point);
-  Point2 & operator+=(Point2 & point);
-  Point2 & operator-=(Point2 & point);
+  Point2 & operator=(const Point2 & point);
+  Point2 & operator+=(const Point2 & point);
+  Point2 & operator-=(const Point2 & point);
 
   Point2 & operator+=(double value);
   Point2 & operator-=(double value);
   Point2 & operator*=(double value);
   Point2 & operator/=(double value);
 
-  Point2 operator+(Point2 & point);
-  Point2 operator-(Point2 & point);
+  Point2 operator+(const Point2 & point) const;
+  Point2 operator-(const Point2 & point) const;
 
-  Point2 operator+(double value);
-  Point2 operator-(double value);
-  Point2 operator*(double value);
-  Point2 operator/(double value);
+  Point2 operator+(double value) const;
+  Point2 operator-(double value) const;
+  Point2 operator*(double value) const;
+  Point2 operator/(double value) const;
 
-  static double distance_between(Point2 & point_a, Point2 & point_b);
-  static double angle_between(Point2 & point_a, Point2 & point_b);
-  static double dot_product(Point2 & point_a, Point2 & point_b);
-  static double cross_product(Point2 & point_a, Point2 & point_b);
+  static double distance_between(const Point2 & point_a, const Point2 & point_b);
+  static double angle_between(const Point2 & point_a, const Point2 & point_b);
+  static double dot_product(const Point2 & point_a, const Point2 & point_b);
+  static double cross_product(const Point2 & point_a, const Point2 & point_b);
 
-  double magnitude();
-  double direction();
+  double magnitude() const;
+  double direction() const;
 
-  Point2 normalize();
+  Point2 normalize() const;
 
   double x;
   double y;

diff --git a/include/keisan/point_3.hpp b/include/keisan/point_3.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -30,32 +30,32 @@ struct Point3
   Point3(double x, double y, double z);
   Point3(const Point3 & point);
 
-  Point3 & operator=(Point3 & point);
-  Point3 & operator+=(Point3 & point);
-  Point3 & operator-=(Point3 & point);
+  Point3 & operator=(const Point3 & point);
+  Point3 & operator+=(const Point3 & point);
+  Point3 & operator-=(const Point3 & point);
 
   Point3 & operator+=(double value);
   Point3 & operator-=(double value);
   Point3 & operator*=(double value);
   Point3 & operator/=(double value);
 
-  Point3 operator+(Point3 & point);
-  Point3 operator-(Point3 & point);
+  Point3 operator+(const Point3 & point) const;
+  Point3 operator-(const Point3 & point) const;
 
-  Point3 operator+(double value);
-  Point3 operator-(double value);
-  Point3 operator*(double value);
-  Point3 operator/(double value);
+  Point3 operator+(double value) const;
+  Point3 operator-(double value) const;
+  Point3 operator*(double value) const;
+  Point3 operator/(double value) const;
 
-  static double distance_between(Point3 & point_a, Point3 & point_b);
-  static double angle_between(Point3 & point_a, Point3 & point_b);
-  static double dot_product(Point3 & point_a, Point3 & point_b);
-  static double cross_product(Point3 & point_a, Point3 & point_b);
+  static double distance_between(const Point3 & point_a, const Point3 & point_b);
+  static double angle_between(const Point3 & point_a, const Point3 & point_b);
+  static double dot_product(const Point3 & point_a, const Point3 & point_b);
+  static double cross_product(const Point3 & point_a, const Point3 & point_b);
 
-  double magnitude();
-  double direction();
+  double magnitude() const;
+  double direction() const;
 
-  Point3 normalize();
+  Point3 normalize() const;
 
   double x;
   double y;

diff --git a/package.xml b/package.xml
@@ -2,8 +2,8 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>keisan</name>
-  <version>0.1.0</version>
-  <description>A Math equations and algorithms package</description>
+  <version>0.2.0</version>
+  <description>Math equations and algorithms library</description>
   <maintainer email="[email protected]">Alfi Maulana</maintainer>
   <license>MIT License</license>
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/src/angle.cpp b/src/angle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/src/number.cpp b/src/number.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal

diff --git a/src/point_2.cpp b/src/point_2.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021 Ichiro ITS
+// Copyright (c) 2021 ICHIRO ITS
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to deal
@@ -44,23 +44,23 @@ Point2::Point2(const Point2 & point)
   y = point.y;
 }
 
-Point2 & Point2::operator=(Point2 & point)
+Point2 & Point2::operator=(const Point2 & point)
 {
   x = point.x;
   y = point.y;
 
   return *this;
 }
 
-Point2 & Point2::operator+=(Point2 & point)
+Point2 & Point2::operator+=(const Point2 & point)
 {
   x += point.x;
   y += point.y;
 
   return *this;
 }
 
-Point2 & Point2::operator-=(Point2 & point)
+Point2 & Point2::operator-=(const Point2 & point)
 {
   x -= point.x;
   y -= point.y;
@@ -100,73 +100,73 @@ Point2 & Point2::operator/=(double value)
   return *this;
 }
 
-Point2 Point2::operator+(Point2 & point)
+Point2 Point2::operator+(const Point2 & point) const
 {
   return Point2(x + point.x, y + point.y);
 }
 
-Point2 Point2::operator-(Point2 & point)
+Point2 Point2::operator-(const Point2 & point) const
 {
   return Point2(x - point.x, y - point.y);
 }
 
-Point2 Point2::operator+(double value)
+Point2 Point2::operator+(double value) const
 {
   return Point2(x + value, y + value);
 }
 
-Point2 Point2::operator-(double value)
+Point2 Point2::operator-(double value) const
 {
   return Point2(x - value, y - value);
 }
 
-Point2 Point2::operator*(double value)
+Point2 Point2::operator*(double value) const
 {
   return Point2(x * value, y * value);
 }
 
-Point2 Point2::operator/(double value)
+Point2 Point2::operator/(double value) const
 {
   return Point2(x / value, y / value);
 }
 
-double Point2::distance_between(Point2 & point_a, Point2 & point_b)
+double Point2::distance_between(const Point2 & point_a, const Point2 & point_b)
 {
   double dx = point_a.x - point_b.x;
   double dy = point_a.y - point_b.y;
 
   return sqrt(dx * dx + dy * dy);
 }
 
-double Point2::angle_between(Point2 & point_a, Point2 & point_b)
+double Point2::angle_between(const Point2 & point_a, const Point2 & point_b)
 {
   double dot = dot_product(point_a, point_b);
   double mag = point_a.magnitude() * point_b.magnitude();
 
   return wrap_rad(acos(dot / mag));
 }
 
-double Point2::dot_product(Point2 & point_a, Point2 & point_b)
+double Point2::dot_product(const Point2 & point_a, const Point2 & point_b)
 {
   return point_a.x * point_b.x + point_a.y * point_b.y;
 }
 
-double Point2::cross_product(Point2 & point_a, Point2 & point_b)
+double Point2::cross_product(const Point2 & point_a, const Point2 & point_b)
 {
   return point_a.magnitude() * point_b.magnitude() * sin(angle_between(point_a, point_b));
 }
 
-double Point2::magnitude()
+double Point2::magnitude() const
 {
   return sqrt(x * x + y * y);
 }
 
-double Point2::direction()
+double Point2::direction() const
 {
-  return wrap_rad(atan(y / x));
+  return wrap_rad(atan2(y, x));
 }
 
-Point2 Point2::normalize()
+Point2 Point2::normalize() const
 {
   double mag = magnitude();