refactor and reformat

src/bench/bench_arc_param.cpp

@@ -2,12 +2,12 @@
 #include <benchmark/benchmark.h>
 
 static void BM_ArcParam(benchmark::State& state) {
-  const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)};
+  const fl::Pose2d initial{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)};
-  const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)};
+  const fl::Pose2d final{10.0, 10.0, fl::Rotation2d::FromDegrees(45.0)};
-  const auto            spline = std::make_shared<frc5190::ParametricQuinticHermiteSpline>(initial, final);
+  const auto       spline = std::make_shared<fl::ParametricQuinticHermiteSpline>(initial, final);
 
   for (auto _ : state) {
-    frc5190::SplineGenerator::ParameterizeSpline(spline, 2.0, 0.05, 0.1);
+    fl::SplineGenerator::ParameterizeSpline(spline, 2.0, 0.05, 0.1);
   }
 }
 

src/bench/bench_trajectory_generation.cpp

@@ -2,13 +2,13 @@
 #include <benchmark/benchmark.h>
 
 static void BM_TrajectoryGeneration(benchmark::State& state) {
-  const frc5190::Pose2d initial{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)};
+  const fl::Pose2d initial{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)};
-  const frc5190::Pose2d final{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)};
+  const fl::Pose2d final{10.0, 10.0, fl::Rotation2d::FromDegrees(45.0)};
 
   for (auto _ : state) {
-    frc5190::TrajectoryGenerator::GenerateTrajectory(
+    fl::TrajectoryGenerator::GenerateTrajectory(std::vector<fl::Pose2d>{initial, final},
-        std::vector<frc5190::Pose2d>{initial, final},
+                                                std::vector<fl::TimingConstraint<fl::Pose2dWithCurvature>*>{},
-        std::vector<frc5190::TimingConstraint<frc5190::Pose2dWithCurvature>*>{}, 0.0, 0.0, 3., 2., false);
+                                                0.0, 0.0, 3., 2., false);
   }
 }
 

src/bench/main.cpp

@@ -1,4 +1,3 @@
 #include <benchmark/benchmark.h>
 
 BENCHMARK_MAIN();
-

src/include/FalconLibrary.h

@@ -1,22 +1,33 @@
 #pragma once
 
-#include "types/Interpolatable.h"
+#include "fl/Utilities.h"
-#include "types/VaryInterpolatable.h"
 
-#include "mathematics/geometry/Pose2d.h"
+#include "fl/mathematics/geometry/Pose2d.h"
-#include "mathematics/geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
-#include "mathematics/geometry/Rotation2d.h"
+#include "fl/mathematics/geometry/Rotation2d.h"
-#include "mathematics/geometry/Translation2d.h"
+#include "fl/mathematics/geometry/Translation2d.h"
-#include "mathematics/geometry/Twist2d.h"
+#include "fl/mathematics/geometry/Twist2d.h"
 
-#include "mathematics/spline/ParametricQuinticHermiteSpline.h"
+#include "fl/mathematics/control/RamseteTracker.h"
-#include "mathematics/spline/ParametricSpline.h"
+#include "fl/mathematics/control/TrajectoryTracker.h"
-#include "mathematics/spline/SplineGenerator.h"
 
-#include "mathematics/trajectory/TrajectoryGenerator.h"
+#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
+#include "fl/mathematics/spline/ParametricSpline.h"
+#include "fl/mathematics/spline/SplineGenerator.h"
 
-#include "mathematics/control/RamseteTracker.h"
+#include "fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h"
+#include "fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h"
+#include "fl/mathematics/trajectory/constraints/TimingConstraint.h"
+#include "fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h"
 
-#include "Utilities.h"
+#include "fl/mathematics/trajectory/DistanceTrajectory.h"
+#include "fl/mathematics/trajectory/IndexedTrajectory.h"
+#include "fl/mathematics/trajectory/TimedTrajectory.h"
+#include "fl/mathematics/trajectory/Trajectory.h"
+#include "fl/mathematics/trajectory/TrajectoryGenerator.h"
+#include "fl/mathematics/trajectory/TrajectoryIterator.h"
 
-namespace frc5190 {}
+#include "fl/types/Interpolatable.h"
+#include "fl/types/VaryInterpolatable.h"
+
+namespace fl {}

src/include/fl/Utilities.h

@@ -2,7 +2,7 @@
 
 #include <algorithm>
 
-namespace frc5190 {
+namespace fl {
 
 constexpr double kEpsilon = 1E-9;
 constexpr double kPi      = 3.14159265358979323846;

src/include/fl/mathematics/control/RamseteTracker.h

@@ -2,7 +2,7 @@
 
 #include "TrajectoryTracker.h"
 
-namespace frc5190 {
+namespace fl {
 class RamseteTracker : public TrajectoryTracker {
  public:
   RamseteTracker(const double beta, const double zeta) : beta_(beta), zeta_(zeta) {}

src/include/fl/mathematics/control/TrajectoryTracker.h

@@ -1,10 +1,10 @@
 #pragma once
 
-#include "mathematics/trajectory/TimedTrajectory.h"
+#include "fl/mathematics/trajectory/TimedTrajectory.h"
 
 #include <memory>
 
-namespace frc5190 {
+namespace fl {
 
 struct TrajectoryTrackerVelocityOutput {
   double linear_velocity  = 0.0;

src/include/fl/mathematics/geometry/Pose2d.h

@@ -1,11 +1,11 @@
 #pragma once
 
-#include "../../Utilities.h"
+#include "fl/Utilities.h"
 #include "Rotation2d.h"
 #include "Translation2d.h"
 #include "Twist2d.h"
 
-namespace frc5190 {
+namespace fl {
 class Twist2d;
 class Pose2d final : public VaryInterpolatable<Pose2d> {
  public:

src/include/fl/mathematics/geometry/Pose2dWithCurvature.h

@@ -3,7 +3,7 @@
 #include <utility>
 #include "Pose2d.h"
 
-namespace frc5190 {
+namespace fl {
 class Pose2dWithCurvature final : public VaryInterpolatable<Pose2dWithCurvature> {
  public:
   // Constructors

src/include/fl/mathematics/geometry/Rotation2d.h

@@ -1,9 +1,9 @@
 #pragma once
 
 #include <cmath>
-#include "../../Utilities.h"
+#include "fl/Utilities.h"
 
-namespace frc5190 {
+namespace fl {
 class Rotation2d final {
  public:
   // Constructors

src/include/fl/mathematics/geometry/Translation2d.h

@@ -2,10 +2,10 @@
 
 #include <cmath>
 
-#include "../../types/VaryInterpolatable.h"
+#include "fl/types/VaryInterpolatable.h"
 #include "Rotation2d.h"
 
-namespace frc5190 {
+namespace fl {
 
 class Translation2d final : public VaryInterpolatable<Translation2d> {
  public:

src/include/fl/mathematics/geometry/Twist2d.h

@@ -2,7 +2,7 @@
 
 #include <cmath>
 
-namespace frc5190 {
+namespace fl {
 class Twist2d {
  public:
   // Constructors

src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h

@@ -2,7 +2,7 @@
 
 #include "ParametricSpline.h"
 
-namespace frc5190 {
+namespace fl {
 class ParametricQuinticHermiteSpline final : public ParametricSpline {
  public:
   ParametricQuinticHermiteSpline(const Pose2d& start, const Pose2d& end) {

src/include/fl/mathematics/spline/ParametricSpline.h

@@ -1,7 +1,7 @@
 #pragma once
-#include "../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 
-namespace frc5190 {
+namespace fl {
 class ParametricSpline {
  public:
   virtual Translation2d Point(double t) const      = 0;

src/include/fl/mathematics/spline/SplineGenerator.h

@@ -3,10 +3,10 @@
 #include <vector>
 #include <memory>
 
-#include "../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "ParametricSpline.h"
 
-namespace frc5190 {
+namespace fl {
 constexpr static double kMinSampleSize = 1.;
 
 class SplineGenerator {

src/include/fl/mathematics/trajectory/DistanceTrajectory.h

@@ -2,7 +2,7 @@
 
 #include "TrajectoryIterator.h"
 
-namespace frc5190 {
+namespace fl {
 template <typename S>
 class DistanceIterator : public TrajectoryIterator<double, S> {
  public:

src/include/fl/mathematics/trajectory/IndexedTrajectory.h

@@ -6,7 +6,7 @@
 #include <cmath>
 #include <limits>
 
-namespace frc5190 {
+namespace fl {
 
 constexpr double kLowestDouble = std::numeric_limits<double>::lowest();
 

src/include/fl/mathematics/trajectory/TimedTrajectory.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include "../../types/VaryInterpolatable.h"
+#include "fl/types/VaryInterpolatable.h"
 #include "TrajectoryIterator.h"
 
-namespace frc5190 {
+namespace fl {
 template <typename S>
 class TimedEntry final : public VaryInterpolatable<TimedEntry<S>> {
  public:

src/include/fl/mathematics/trajectory/Trajectory.h

@@ -3,7 +3,7 @@
 #include <utility>
 #include <vector>
 
-namespace frc5190 {
+namespace fl {
 
 template <typename S>
 struct TrajectoryPoint {

src/include/fl/mathematics/trajectory/TrajectoryGenerator.h

@@ -2,15 +2,15 @@
 
 #include <array>
 
-#include "../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
-#include "../spline/ParametricQuinticHermiteSpline.h"
+#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
-#include "../spline/SplineGenerator.h"
+#include "fl/mathematics/spline/SplineGenerator.h"
 #include "DistanceTrajectory.h"
 #include "IndexedTrajectory.h"
 #include "TimedTrajectory.h"
 #include "constraints/TimingConstraint.h"
 
-namespace frc5190 {
+namespace fl {
 
 class TrajectoryGenerator {
   using Constraints = std::vector<TimingConstraint<Pose2dWithCurvature>*>;

src/include/fl/mathematics/trajectory/TrajectoryIterator.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include "../../Utilities.h"
+#include "fl/Utilities.h"
 #include "Trajectory.h"
 
-namespace frc5190 {
+namespace fl {
 template <typename U, typename S>
 class TrajectoryIterator {
  public:

src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include "../../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
 
-namespace frc5190 {
+namespace fl {
 
 class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCurvature> {
  public:
@@ -22,7 +22,7 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
     return std::sqrt(max_angular_acceleration_ / std::abs(state.Dkds()));
   }
 
-  frc5190::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
+  fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
                                                  double                     velocity) const override {
     /**
      * We want to limit the acceleration such that we never go above the
@@ -55,7 +55,7 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
     const auto max_absolute_acceleration =
         std::abs((max_angular_acceleration_ - (velocity * velocity * state.Dkds())) / state.Curvature());
 
-    return frc5190::MinMaxAcceleration{-max_absolute_acceleration, max_absolute_acceleration};
+    return fl::MinMaxAcceleration{-max_absolute_acceleration, max_absolute_acceleration};
   }
 
  private:

src/include/fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include "../../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
 
-namespace frc5190 {
+namespace fl {
 
 class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWithCurvature> {
  public:
@@ -16,7 +16,7 @@ class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWi
     return std::sqrt(std::abs(max_centripetal_acceleration_ / state.Curvature()));
   }
 
-  frc5190::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
+  fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
                                                  double                     velocity) const override {
     return kNoLimits;
   }

src/include/fl/mathematics/trajectory/constraints/TimingConstraint.h

@@ -2,7 +2,7 @@
 
 #include <limits>
 
-namespace frc5190 {
+namespace fl {
 
 struct MinMaxAcceleration {
   double min_acceleration;

src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h

@@ -1,9 +1,9 @@
 #pragma once
 
-#include "../../geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
 
-namespace frc5190 {
+namespace fl {
 
 class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvature> {
  public:
@@ -19,7 +19,7 @@ class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvatur
     return std::numeric_limits<double>::max();
   }
 
-  frc5190::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
+  fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
                                                  double                     velocity) const override {
     return kNoLimits;
   }

src/include/fl/types/Interpolatable.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "Utilities.h"
+#include "fl/Utilities.h"
 
-namespace frc5190 {
+namespace fl {
 template <typename T>
 class Interpolatable {
  public:

src/include/fl/types/VaryInterpolatable.h

@@ -2,7 +2,7 @@
 
 #include "Interpolatable.h"
 
-namespace frc5190 {
+namespace fl {
 template <typename T>
 class VaryInterpolatable : public Interpolatable<T> {
  public:

src/test/cpp/geometry-tests.cpp

@@ -4,19 +4,19 @@
 constexpr double kTestEpsilon = 1E-9;
 
 TEST(TestRotation2d, TestRotation2d) {
-  auto rot = frc5190::Rotation2d();
+  auto rot = fl::Rotation2d();
   EXPECT_EQ(1.0, rot.Cos());
   EXPECT_EQ(0.0, rot.Sin());
   EXPECT_EQ(0.0, rot.Tan());
   EXPECT_EQ(0.0, rot.Radians());
   EXPECT_EQ(0.0, rot.Degrees());
 
-  rot = frc5190::Rotation2d(1, 1, true);
+  rot = fl::Rotation2d(1, 1, true);
   EXPECT_NEAR(std::sqrt(2) / 2, rot.Cos(), kTestEpsilon);
   EXPECT_NEAR(std::sqrt(2) / 2, rot.Sin(), kTestEpsilon);
   EXPECT_NEAR(1.0, rot.Tan(), kTestEpsilon);
   EXPECT_NEAR(45.0, rot.Degrees(), kTestEpsilon);
-  EXPECT_NEAR(frc5190::kPi / 4, rot.Radians(), kTestEpsilon);
+  EXPECT_NEAR(fl::kPi / 4, rot.Radians(), kTestEpsilon);
 
-  auto twist = frc5190::Twist2d();
+  auto twist = fl::Twist2d();
 }

src/test/cpp/ramsete-tests.cpp

@@ -3,19 +3,19 @@
 
 class RamseteTest : public ::testing::Test {
  public:
-  void Run(frc5190::Pose2d initial, frc5190::Pose2d final, double max_velocity = 3,
+  void Run(fl::Pose2d initial, fl::Pose2d final, double max_velocity = 3,
            double max_acceleration = 2, bool backwards = false) {
-    auto trajectory = frc5190::TrajectoryGenerator::GenerateTrajectory(
+    auto trajectory = fl::TrajectoryGenerator::GenerateTrajectory(
-        std::vector<frc5190::Pose2d>{initial, final},
+        std::vector<fl::Pose2d>{initial, final},
-        std::vector<frc5190::TimingConstraint<frc5190::Pose2dWithCurvature>*>{}, 0.0, 0.0, max_velocity,
+        std::vector<fl::TimingConstraint<fl::Pose2dWithCurvature>*>{}, 0.0, 0.0, max_velocity,
         max_acceleration, backwards);
 
-    frc5190::RamseteTracker tracker{2.0, 0.7};
+    fl::RamseteTracker tracker{2.0, 0.7};
     tracker.Reset(trajectory);
   }
 };
 
 TEST_F(RamseteTest, Test) {
-  Run(frc5190::Pose2d{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)},
+  Run(fl::Pose2d{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)},
-      frc5190::Pose2d{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)});
+      fl::Pose2d{10.0, 10.0, fl::Rotation2d::FromDegrees(50.0)});
 }

src/test/cpp/trajectory-tests.cpp

@@ -7,14 +7,14 @@ class TrajectoryTest : public ::testing::Test {
  public:
   TrajectoryTest() {}
 
-  void Run(frc5190::Pose2d initial,
+  void Run(fl::Pose2d initial,
-           frc5190::Pose2d final,
+           fl::Pose2d final,
            double max_velocity = 3,
            double max_acceleration = 2,
            bool backwards = false) {
-    auto trajectory = frc5190::TrajectoryGenerator::GenerateTrajectory(
+    auto trajectory = fl::TrajectoryGenerator::GenerateTrajectory(
-        std::vector<frc5190::Pose2d>{initial, final},
+        std::vector<fl::Pose2d>{initial, final},
-        std::vector<frc5190::TimingConstraint<frc5190::Pose2dWithCurvature>*>{},
+        std::vector<fl::TimingConstraint<fl::Pose2dWithCurvature>*>{},
         0.0,
         0.0,
         max_velocity,
@@ -61,6 +61,6 @@ class TrajectoryTest : public ::testing::Test {
 };
 
 TEST_F(TrajectoryTest, Curve) {
-  Run(frc5190::Pose2d{0.0, 0.0, frc5190::Rotation2d::FromDegrees(0.0)},
+  Run(fl::Pose2d{0.0, 0.0, fl::Rotation2d::FromDegrees(0.0)},
-      frc5190::Pose2d{10.0, 10.0, frc5190::Rotation2d::FromDegrees(50.0)});
+      fl::Pose2d{10.0, 10.0, fl::Rotation2d::FromDegrees(50.0)});
 }