Rename Vector3D::getMag() to mag(), document Vector3D

lib/hydra/Vector3D.cpp

@@ -5,40 +5,75 @@ using namespace std;
 
 namespace Hydra
 {
+	/**
+	 * @brief Constructor. Sets y and z to 0, and x to 1.
+	 */
     Vector3D::Vector3D()
     {
         xComp = 1.f;
         yComp = 0.f;
         zComp = 0.f;
     }
+
+    /**
+     * @brief Constructor. Lets you set initial component values.
+     * @param newX X component
+     * @param newY Y component
+     * @param newZ Z component
+     */
     Vector3D::Vector3D(double newX, double newY, double newZ)
     {
         xComp = newX;
         yComp = newY;
         zComp = newZ;
     }
+
+    /**
+     * @brief Normalizes the vector, preserving the direction but setting magnitude to 1.
+     */
     void Vector3D::normalize()
     {
-        double mag = getMag();
-        xComp /= mag;
-        yComp /= mag;
-        zComp /= mag;
+        double m = mag();
+        xComp /= m;
+        yComp /= m;
+        zComp /= m;
     }
-    double Vector3D::getMag() const
+
+    /**
+     * @brief Returns the magnitude of the vector.
+     * @return Magnitude
+     */
+    double Vector3D::mag() const
     {
         return sqrtf((xComp * xComp) + (yComp * yComp) + (zComp * zComp));
     }
+
+    /**
+     * @brief Sets the magnitude of the vector.
+     * @param newMag New magnitude.
+     */
     void Vector3D::setMag(double newMag)
     {
-        double ratio = newMag / getMag();
+        double ratio = newMag / mag();
         xComp *= ratio;
         yComp *= ratio;
         zComp *= ratio;
     }
+
+    /**
+     * @brief Gets the angle between two vectors.
+     * @param vec The second vector.
+     * @return Angle in radians.
+     */
     double Vector3D::getADelt(Vector3D vec) const
     {
-        return acos((*this * vec) / (getMag() * vec.getMag()));
+        return acos((*this * vec) / (mag() * vec.mag()));
     }
+
+    /**
+     * @brief Rotates the vector about the X axis.
+     * @param rad Angle of rotation in radians.
+     */
     void Vector3D::rotateX(double rad)
     {
         double sine = sin(rad);
@@ -53,6 +88,11 @@ namespace Hydra
 
         setMatrix(toMatrix() * xTransMat); //Multiply matrices.
     }
+
+    /**
+     * @brief Rotates the vector about the Y axis.
+     * @param rad Angle of rotation in radians.
+     */
     void Vector3D::rotateY(double rad)
     {
         double sine = sin(rad);
@@ -67,6 +107,11 @@ namespace Hydra
 
         setMatrix(toMatrix() * yTransMat);
     }
+
+    /**
+     * @brief Rotates the vector about the Z axis.
+     * @param rad Angle of rotation in radians.
+     */
     void Vector3D::rotateZ(double rad)
     {
         rad *= -1; //Not sure why this is needed, but it works and makes it work properly.
@@ -82,6 +127,10 @@ namespace Hydra
 
         setMatrix(toMatrix() * zTransMat);
     }
+
+    /**
+     * @brief Standard vector addition.
+     */
     Vector3D Vector3D::operator+(const Vector3D& vec) const
     {
         Vector3D newVec;
@@ -90,6 +139,10 @@ namespace Hydra
         newVec.zComp = zComp + vec.zComp;
         return newVec;
     }
+
+    /**
+     * @brief Standard vector subtraction
+     */
     Vector3D Vector3D::operator-(const Vector3D& vec) const
     {
         Vector3D newVec;
@@ -98,10 +151,20 @@ namespace Hydra
         newVec.zComp = zComp - vec.zComp;
         return newVec;
     }
+
+    /**
+     * @brief Vector dot product.
+     * @return Dot product result.
+     */
     double Vector3D::operator*(const Vector3D& vec) const
     {
         return (xComp * vec.xComp) + (yComp * vec.yComp) + (zComp * vec.zComp);
     }
+
+    /**
+     * @brief Vector cross product.
+     * @return Resulting vector of vector cross product.
+     */
     Vector3D Vector3D::operator%(const Vector3D& vec) const
     {
         Vector3D newVec;
@@ -110,42 +173,93 @@ namespace Hydra
         newVec.zComp = (xComp * vec.yComp) - (yComp * vec.xComp);
         return newVec;
     }
+
+    /**
+     * @brief Sets X component.
+     * @param newX New X component
+     */
     void Vector3D::setX(double newX)
     {
         xComp = newX;
     }
+
+    /**
+     * @brief Sets Y component.
+     * @param newY New Y component.
+     */
     void Vector3D::setY(double newY)
     {
         yComp = newY;
     }
+
+    /**
+     * @brief Sets new Z component.
+     * @param newZ New Z component.
+     */
     void Vector3D::setZ(double newZ)
     {
         zComp = newZ;
     }
+
+    /**
+     * @brief Returns the X component
+     * @return X component
+     */
     double Vector3D::getX() const
     {
         return xComp;
     }
+
+    /**
+     * @brief Returns the Y component.
+     * @return Y component
+     */
     double Vector3D::getY() const
     {
         return yComp;
     }
+
+    /**
+     * @brief Retusn the Z component.
+     * @return Z component
+     */
     double Vector3D::getZ() const
     {
         return zComp;
     }
+
+    /**
+     * @brief Returns the angle to the X axis
+     * @return Angle in radians
+     */
     double Vector3D::getAngleX() const
     {
-        return acosf(xComp / getMag());
+        return acosf(xComp / mag());
     }
+
+    /**
+     * @brief Returns the angle to the Y axis.
+     * @return Angle in radians
+     */
     double Vector3D::getAngleY() const
     {
-        return acosf(yComp / getMag());
+        return acosf(yComp / mag());
     }
+
+    /**
+     * @brief Returns the angle to the Z axis.
+     * @return Angle in radians
+     */
     double Vector3D::getAngleZ() const
     {
-        return acosf(zComp / getMag());
+        return acosf(zComp / mag());
     }
+
+    /**
+     * @brief Converts this vector to a 3x1 matrix.
+     * @return A 3x1 matrix of the vector components in order x,y,z
+     * @todo Flip matrix to 1x3 (XxY)
+     */
     Matrix Vector3D::toMatrix() const
     {
         Matrix mat(3, 1); //Should work.
@@ -154,6 +268,12 @@ namespace Hydra
         mat.setValue(zComp, 2, 0);
         return mat;
     }
+
+    /**
+     * @brief Sets the components of this vector based on a 3x1 matrix
+     * @param mat A 3x1 matrix of vector components in order x,y,z
+     * @todo Flip matrix to 1x3 (XxY)
+     */
     void Vector3D::setMatrix(Matrix mat)
     {
         if (mat.getXSize() != 3 || mat.getYSize() != 1)

lib/hydra/Vector3D.h

@@ -16,18 +16,18 @@ namespace Hydra
         Vector3D(double newX, double newY, double newZ);
 
         void normalize();
-        double getMag() const;
+        double mag() const;
         void setMag(double newMag);
-        double getADelt(Vector3D vec) const;  //!< Returns the angle between two vectors, in radians (?)
+        double getADelt(Vector3D vec) const;
 
         void rotateX(double rad);
         void rotateY(double rad);
         void rotateZ(double rad);
 
-        Vector3D operator+(const Vector3D& vec) const;  //!< Standard addition
-        Vector3D operator-(const Vector3D& vec) const;  //!< Standard subtraction
-        double operator*(const Vector3D& vec) const;    //!< Dot product
-        Vector3D operator%(const Vector3D& vec) const;  //!< Cross product
+        Vector3D operator+(const Vector3D& vec) const;
+        Vector3D operator-(const Vector3D& vec) const;
+        double operator*(const Vector3D& vec) const;
+        Vector3D operator%(const Vector3D& vec) const;
 
         void setX(double newX);
         void setY(double newY);

src/control/Path.cpp

@@ -74,7 +74,7 @@ namespace ADBLib
 			dir.setZ(startPos[rpsDir::Z] - rps->getPosition(rpsDir::Z));
 		}
 
-		if (dir.getMag() <= tolerance)
+		if (dir.mag() <= tolerance)
 		{
 			currentWP++;
 			return false; //Distance within tolerance; advance waypoints.