From ad0138713bc64ba1f647a06b1bdf50d8a4912461 Mon Sep 17 00:00:00 2001
From: Alfi Maulana <alfi.maulana.f@gmail.com>
Date: Sun, 25 Apr 2021 16:59:58 +0700
Subject: [PATCH 1/3] feat: add const in points

---
 include/keisan/point_2.hpp | 32 ++++++++++++++++----------------
 include/keisan/point_3.hpp | 32 ++++++++++++++++----------------
 src/point_2.cpp            | 32 ++++++++++++++++----------------
 src/point_3.cpp            | 32 ++++++++++++++++----------------
 4 files changed, 64 insertions(+), 64 deletions(-)

diff --git a/include/keisan/point_2.hpp b/include/keisan/point_2.hpp
index 2d989f9..419f78b 100644
--- a/include/keisan/point_2.hpp
+++ b/include/keisan/point_2.hpp
@@ -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
index 579bc0e..8dd42fe 100644
--- a/include/keisan/point_3.hpp
+++ b/include/keisan/point_3.hpp
@@ -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/src/point_2.cpp b/src/point_2.cpp
index b418a9b..e364917 100644
--- a/src/point_2.cpp
+++ b/src/point_2.cpp
@@ -44,7 +44,7 @@ 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;
@@ -52,7 +52,7 @@ Point2 & Point2::operator=(Point2 & point)
   return *this;
 }
 
-Point2 & Point2::operator+=(Point2 & point)
+Point2 & Point2::operator+=(const Point2 & point)
 {
   x += point.x;
   y += point.y;
@@ -60,7 +60,7 @@ Point2 & Point2::operator+=(Point2 & point)
   return *this;
 }
 
-Point2 & Point2::operator-=(Point2 & point)
+Point2 & Point2::operator-=(const Point2 & point)
 {
   x -= point.x;
   y -= point.y;
@@ -100,37 +100,37 @@ 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;
@@ -138,7 +138,7 @@ double Point2::distance_between(Point2 & point_a, Point2 & point_b)
   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();
@@ -146,27 +146,27 @@ double Point2::angle_between(Point2 & point_a, Point2 & point_b)
   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));
 }
 
-Point2 Point2::normalize()
+Point2 Point2::normalize() const
 {
   double mag = magnitude();
 
diff --git a/src/point_3.cpp b/src/point_3.cpp
index 780bac2..f0df818 100644
--- a/src/point_3.cpp
+++ b/src/point_3.cpp
@@ -47,7 +47,7 @@ Point3::Point3(const Point3 & point)
   z = point.z;
 }
 
-Point3 & Point3::operator=(Point3 & point)
+Point3 & Point3::operator=(const Point3 & point)
 {
   x = point.x;
   y = point.y;
@@ -56,7 +56,7 @@ Point3 & Point3::operator=(Point3 & point)
   return *this;
 }
 
-Point3 & Point3::operator+=(Point3 & point)
+Point3 & Point3::operator+=(const Point3 & point)
 {
   x += point.x;
   y += point.y;
@@ -65,7 +65,7 @@ Point3 & Point3::operator+=(Point3 & point)
   return *this;
 }
 
-Point3 & Point3::operator-=(Point3 & point)
+Point3 & Point3::operator-=(const Point3 & point)
 {
   x -= point.x;
   y -= point.y;
@@ -110,37 +110,37 @@ Point3 & Point3::operator/=(double value)
   return *this;
 }
 
-Point3 Point3::operator+(Point3 & point)
+Point3 Point3::operator+(const Point3 & point) const
 {
   return Point3(x + point.x, y + point.y, z + point.z);
 }
 
-Point3 Point3::operator-(Point3 & point)
+Point3 Point3::operator-(const Point3 & point) const
 {
   return Point3(x - point.x, y - point.y, z - point.z);
 }
 
-Point3 Point3::operator+(double value)
+Point3 Point3::operator+(double value) const
 {
   return Point3(x + value, y + value, z + value);
 }
 
-Point3 Point3::operator-(double value)
+Point3 Point3::operator-(double value) const
 {
   return Point3(x - value, y - value, z - value);
 }
 
-Point3 Point3::operator*(double value)
+Point3 Point3::operator*(double value) const
 {
   return Point3(x * value, y * value, z * value);
 }
 
-Point3 Point3::operator/(double value)
+Point3 Point3::operator/(double value) const
 {
   return Point3(x / value, y / value, z / value);
 }
 
-double Point3::distance_between(Point3 & point_a, Point3 & point_b)
+double Point3::distance_between(const Point3 & point_a, const Point3 & point_b)
 {
   double dx = point_a.x - point_b.x;
   double dy = point_a.y - point_b.y;
@@ -149,7 +149,7 @@ double Point3::distance_between(Point3 & point_a, Point3 & point_b)
   return sqrt(dx * dx + dy * dy + dz * dz);
 }
 
-double Point3::angle_between(Point3 & point_a, Point3 & point_b)
+double Point3::angle_between(const Point3 & point_a, const Point3 & point_b)
 {
   double dot = dot_product(point_a, point_b);
   double mag = point_a.magnitude() * point_b.magnitude();
@@ -157,29 +157,29 @@ double Point3::angle_between(Point3 & point_a, Point3 & point_b)
   return wrap_rad(acos(dot / mag));
 }
 
-double Point3::dot_product(Point3 & point_a, Point3 & point_b)
+double Point3::dot_product(const Point3 & point_a, const Point3 & point_b)
 {
   return point_a.x * point_b.x + point_a.y * point_b.y + point_a.z * point_b.z;
 }
 
-double Point3::cross_product(Point3 & point_a, Point3 & point_b)
+double Point3::cross_product(const Point3 & point_a, const Point3 & point_b)
 {
   return point_a.magnitude() * point_b.magnitude() * sin(angle_between(point_a, point_b));
 }
 
-double Point3::magnitude()
+double Point3::magnitude() const
 {
   return sqrt(x * x + y * y + z * z);
 }
 
-double Point3::direction()
+double Point3::direction() const
 {
   double temp = sqrt(x * x + y * y);
 
   return wrap_rad(atan(z / temp));
 }
 
-Point3 Point3::normalize()
+Point3 Point3::normalize() const
 {
   double mag = magnitude();
 

From 1d4e2364f50a5e903690512788e9880e46bbf782 Mon Sep 17 00:00:00 2001
From: Alfi Maulana <alfi.maulana.f@gmail.com>
Date: Sun, 25 Apr 2021 17:03:42 +0700
Subject: [PATCH 2/3] fix: replace atan with atan2 in direction

---
 src/point_2.cpp       | 2 +-
 test/point_2_test.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/point_2.cpp b/src/point_2.cpp
index e364917..8047690 100644
--- a/src/point_2.cpp
+++ b/src/point_2.cpp
@@ -163,7 +163,7 @@ double Point2::magnitude() const
 
 double Point2::direction() const
 {
-  return wrap_rad(atan(y / x));
+  return wrap_rad(atan2(y, x));
 }
 
 Point2 Point2::normalize() const
diff --git a/test/point_2_test.cpp b/test/point_2_test.cpp
index 306d724..d48291e 100644
--- a/test/point_2_test.cpp
+++ b/test/point_2_test.cpp
@@ -122,8 +122,8 @@ TEST(Point2Test, Normalize)
 
 TEST(Point2Test, Direction)
 {
-  auto point = keisan::Point2(4.0, 0.0);
-  ASSERT_DOUBLE_EQ(point.direction(), keisan::deg_to_rad(0.0));
+  ASSERT_DOUBLE_EQ(keisan::Point2(0.0, 4.0).direction(), keisan::deg_to_rad(90.0));
+  ASSERT_DOUBLE_EQ(keisan::Point2(-4.0, 0.0).direction(), keisan::deg_to_rad(180.0));
 }
 
 TEST(Point2Test, AngleBetween)

From 99bf979d2d56f86cc63f76e17c25fb94b75c79bf Mon Sep 17 00:00:00 2001
From: Alfi Maulana <alfi.maulana.f@gmail.com>
Date: Sun, 25 Apr 2021 17:06:32 +0700
Subject: [PATCH 3/3] docs: update information and copyright

---
 CMakeLists.txt             | 1 +
 LICENSE                    | 2 +-
 README.md                  | 2 +-
 include/keisan/angle.hpp   | 2 +-
 include/keisan/keisan.hpp  | 2 +-
 include/keisan/number.hpp  | 2 +-
 include/keisan/point_2.hpp | 2 +-
 include/keisan/point_3.hpp | 2 +-
 package.xml                | 4 ++--
 src/angle.cpp              | 2 +-
 src/number.cpp             | 2 +-
 src/point_2.cpp            | 2 +-
 src/point_3.cpp            | 2 +-
 test/angle_test.cpp        | 2 +-
 test/number_test.cpp       | 2 +-
 test/point_2_test.cpp      | 2 +-
 test/point_3_test.cpp      | 2 +-
 17 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ece18b9..7984534 100644
--- 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
index 2ae239c..2a819b1 100644
--- 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
index 4faf5cd..4e5695d 100644
--- 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
index 6ef01d8..8500fc5 100644
--- 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
index 2c39518..b1af831 100644
--- 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
index 40f5db3..308fdba 100644
--- 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
index 419f78b..6e0a33c 100644
--- 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
diff --git a/include/keisan/point_3.hpp b/include/keisan/point_3.hpp
index 8dd42fe..9172779 100644
--- 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
diff --git a/package.xml b/package.xml
index 57e48fb..db64be3 100644
--- 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="alfi.maulana.f@gmail.com">Alfi Maulana</maintainer>
   <license>MIT License</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/src/angle.cpp b/src/angle.cpp
index aae48a5..51846ef 100644
--- 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
index 9dfbdc1..ebf4f97 100644
--- 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
index 8047690..bbbd8cc 100644
--- 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
diff --git a/src/point_3.cpp b/src/point_3.cpp
index f0df818..79a95a7 100644
--- a/src/point_3.cpp
+++ b/src/point_3.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/test/angle_test.cpp b/test/angle_test.cpp
index 31e6354..9ed37a7 100644
--- a/test/angle_test.cpp
+++ b/test/angle_test.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/test/number_test.cpp b/test/number_test.cpp
index 16dec14..ee29716 100644
--- a/test/number_test.cpp
+++ b/test/number_test.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/test/point_2_test.cpp b/test/point_2_test.cpp
index d48291e..996b95d 100644
--- a/test/point_2_test.cpp
+++ b/test/point_2_test.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/test/point_3_test.cpp b/test/point_3_test.cpp
index 48c72c8..53b6bf3 100644
--- a/test/point_3_test.cpp
+++ b/test/point_3_test.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