Move coordinate systems to Kinemat.Coordinates

lib/inspect/coordinates/cartesian.ex

@@ -1,5 +1,5 @@
-defimpl Inspect, for: Kinemat.Cartesian do
-  alias Kinemat.Cartesian
+defimpl Inspect, for: Kinemat.Coordinates.Cartesian do
+  alias Kinemat.Coordinates.Cartesian
   import Inspect.Algebra
 
   @spec inspect(Cartesian.t(), any) :: String.t()

lib/inspect/coordinates/cylindrical.ex

@@ -1,5 +1,5 @@
-defimpl Inspect, for: Kinemat.Cylindrical do
-  alias Kinemat.Cylindrical
+defimpl Inspect, for: Kinemat.Coordinates.Cylindrical do
+  alias Kinemat.Coordinates.Cylindrical
   import Inspect.Algebra
 
   @spec inspect(Cylindrical.t(), any) :: String.t()

lib/inspect/coordinates/spherical.ex

@@ -1,4 +1,4 @@
-defimpl Inspect, for: Kinemat.Spherical do
+defimpl Inspect, for: Kinemat.Coordinates.Spherical do
   import Inspect.Algebra
 
   @spec inspect(Angle.t(), any) :: String.t()

lib/kinemat.ex

@@ -3,18 +3,17 @@ defmodule Kinemat do
     quote do
       alias Kinemat.{
         Point,
-        Cartesian,
-        Cylindrical,
-        Spherical,
         Orientation,
         Euler,
         RotationMatrix,
         Quaternion,
+        Sperical,
         # Joint, Point, Prismatic, Radians, Revolute, Spherical,
         Frame
       }
 
       import Angle.Sigil
+      # import Kinemet.Sigil
     end
   end
 

lib/kinemat/coordiantes/cartesian.ex

@@ -1,4 +1,4 @@
-defmodule Kinemat.Cartesian do
+defmodule Kinemat.Coordinates.Cartesian do
   defstruct ~w(x y z)a
   alias __MODULE__
 
@@ -13,9 +13,8 @@ defmodule Kinemat.Cartesian do
 
   ## Examples
 
-      iex> use Kinemat
-      ...> Cartesian.init(3, 4, 5)
-      %Kinemat.Cartesian{x: 3, y: 4, z: 5}
+      iex> Cartesian.init(3, 4, 5)
+      %Kinemat.Coordinates.Cartesian{x: 3, y: 4, z: 5}
   """
   @spec init(number, number, number) :: t
   def init(x, y, z) do
@@ -27,8 +26,7 @@ defmodule Kinemat.Cartesian do
 
   ## Examples
 
-      iex> use Kinemat
-      ...> Cartesian.init(3, 4, 5)
+      iex> Cartesian.init(3, 4, 5)
       ...> |> Cartesian.x()
       3
   """
@@ -40,8 +38,7 @@ defmodule Kinemat.Cartesian do
 
   ## Examples
 
-      iex> use Kinemat
-      ...> Cartesian.init(3, 4, 5)
+      iex> Cartesian.init(3, 4, 5)
       ...> |> Cartesian.y()
       4
   """
@@ -53,8 +50,7 @@ defmodule Kinemat.Cartesian do
 
   ## Examples
 
-      iex> use Kinemat
-      ...> Cartesian.init(3, 4, 5)
+      iex> Cartesian.init(3, 4, 5)
       ...> |> Cartesian.z()
       5
   """

lib/kinemat/coordiantes/cylindrical.ex

@@ -1,6 +1,7 @@
-defmodule Kinemat.Cylindrical do
+defmodule Kinemat.Coordinates.Cylindrical do
   defstruct ~w(radial azimuth vertical)a
-  alias Kinemat.Cylindrical
+  use Kinemat.Coordinates
+  alias __MODULE__
 
   @moduledoc """
   Describes a point in cylindrical coordinates.
@@ -14,14 +15,14 @@ defmodule Kinemat.Cylindrical do
   ## Examples
 
       iex> Cylindrical.init(10, ~a(20)d, 30)
-      %Kinemat.Cylindrical{radial:   10,
-                           azimuth:  ~a(20)d,
-                           vertical: 30}
+      %Cylindrical{radial:   10,
+                   azimuth:  ~a(20)d,
+                   vertical: 30}
 
       iex> Cylindrical.init(10, ~a(0.5)r, 30)
-      %Kinemat.Cylindrical{radial:   10,
-                           azimuth:  ~a(0.5)r,
-                           vertical: 30}
+      %Cylindrical{radial:   10,
+                   azimuth:  ~a(0.5)r,
+                   vertical: 30}
   """
   @spec init(number, Angle.t(), number) :: t
   def init(rho, %Angle{} = theta, z) do

lib/kinemat/coordiantes/spherical.ex

@@ -1,5 +1,5 @@
-defmodule Kinemat.Spherical do
-  alias Kinemat.Spherical
+defmodule Kinemat.Coordinates.Spherical do
+  alias __MODULE__
   defstruct ~w(radial azimuth polar)a
 
   @moduledoc """
@@ -14,9 +14,9 @@ defmodule Kinemat.Spherical do
   ## Examples
 
       iex> Spherical.init(10, ~a(20)d, ~a(30)d)
-      %Kinemat.Spherical{radial:  10,
-                         azimuth: ~a(20)d,
-                         polar:   ~a(30)d}
+      %Kinemat.Coordinates.Spherical{radial:  10,
+                                    azimuth: ~a(20)d,
+                                    polar:   ~a(30)d}
   """
   @spec init(number, Angle.t(), Angle.t()) :: t
   def init(rho, %Angle{} = theta, %Angle{} = phi) do

lib/kinemat/coordinates.ex

@@ -0,0 +1,11 @@
+defmodule Kinemat.Coordinates do
+  @moduledoc """
+  Container module for Kinemat's coodinate representations.
+  """
+
+  defmacro __using__(_opts) do
+    quote do
+      alias Kinemat.Coordinates.{Cartesian, Cylindrical, Spherical}
+    end
+  end
+end

lib/kinemat/frame.ex

@@ -1,5 +1,6 @@
 defmodule Kinemat.Frame do
   use Kinemat
+  use Kinemat.Coordinates
   defstruct ~w(point orientation)a
 
   @moduledoc """

lib/kinemat/helical.ex

@@ -1,6 +0,0 @@
-defmodule Kinemat.Helical do
-  @moduledoc """
-  Describes a helical joint.
-  FIXME Not yet done.
-  """
-end

lib/kinemat/homogeneous_transformation.ex

@@ -17,8 +17,7 @@ defmodule Kinemat.HomogeneousTransformation do
       Creating a homogeneous transformation from a nil rotation and nil offset
       returns the identity matrix.
 
-      iex> use Kinemat
-      ...> point = Cartesian.init(0.0, 0.0, 0.0)
+      iex> point = Cartesian.init(0.0, 0.0, 0.0)
       ...> orientation = Euler.init(:xyz, ~a(0), ~a(0), ~a(0))
       ...> Frame.init(point, orientation)
       ...> |> Kinemat.HomogeneousTransformation.to_homogeneous_transformation()

lib/kinemat/point/cartesian.ex

@@ -1,6 +1,6 @@
-defimpl Kinemat.Point, for: Kinemat.Cartesian do
+defimpl Kinemat.Point, for: Kinemat.Coordinates.Cartesian do
   import :math, only: [pow: 2, sqrt: 1, atan: 1, acos: 1]
-  alias Kinemat.{Cartesian, Cylindrical, Spherical}
+  use Kinemat.Coordinates
   alias Angle.Radian
 
   @doc """
@@ -8,9 +8,9 @@ defimpl Kinemat.Point, for: Kinemat.Cartesian do
 
   ## Examples
 
-      iex> Kinemat.Cartesian.init(1,2,3)
+      iex> Cartesian.init(1,2,3)
       ...> |> Kinemat.Point.to_cartesian()
-      %Kinemat.Cartesian{x: 1, y: 2, z: 3}
+      %Cartesian{x: 1, y: 2, z: 3}
   """
   @spec to_cartesian(Cartesian.t()) :: Cartesian.t()
   def to_cartesian(%Cartesian{} = point), do: point
@@ -20,9 +20,9 @@ defimpl Kinemat.Point, for: Kinemat.Cartesian do
 
   ## Examples
 
-      iex> Kinemat.Cartesian.init(3, 4, 7)
+      iex> Cartesian.init(3, 4, 7)
       ...> |> Kinemat.Point.to_cylindrical()
-      %Kinemat.Cylindrical{
+      %Cylindrical{
         radial:   5.0,
         azimuth:  %Angle{r: 0.9272952180016122},
         vertical: 7}
@@ -39,9 +39,9 @@ defimpl Kinemat.Point, for: Kinemat.Cartesian do
 
   ## Examples
 
-      iex> Kinemat.Cartesian.init(2,3,8)
+      iex> Cartesian.init(2,3,8)
       ...> |> Kinemat.Point.to_spherical()
-      %Kinemat.Spherical{
+      %Spherical{
         radial:  8.774964387392123,
         azimuth: %Angle{r: 0.4234308319224211},
         polar:   %Angle{r: 0.982793723247329}}

lib/kinemat/point/cylindrical.ex

@@ -1,5 +1,5 @@
-defimpl Kinemat.Point, for: Kinemat.Cylindrical do
-  alias Kinemat.{Cylindrical, Cartesian, Spherical}
+defimpl Kinemat.Point, for: Kinemat.Coordinates.Cylindrical do
+  use Kinemat.Coordinates
   alias Angle.Radian
   import :math, only: [atan: 1, pow: 2, sqrt: 1]
   import Kinemat.Trig, only: [sin: 1, cos: 1]
@@ -15,7 +15,7 @@ defimpl Kinemat.Point, for: Kinemat.Cylindrical do
 
       iex> Cylindrical.init(3, ~a(10)d, 9)
       ...> |> Point.to_cylindrical()
-      %Kinemat.Cylindrical{
+      %Cylindrical{
         azimuth:  ~a(10)d,
         radial:   3,
         vertical: 9}
@@ -30,7 +30,7 @@ defimpl Kinemat.Point, for: Kinemat.Cylindrical do
 
       iex> Cylindrical.init(3, ~a(10)d, 9)
       ...> |> Point.to_cartesian()
-      %Kinemat.Cartesian{x: 2.954423259036624, y: 0.520944533000791, z: 9}
+      %Cartesian{x: 2.954423259036624, y: 0.520944533000791, z: 9}
   """
   @spec to_cartesian(Cylindrical.t()) :: Cartesian.t()
   def to_cartesian(%Cylindrical{radial: r, azimuth: theta, vertical: z}) do
@@ -44,9 +44,9 @@ defimpl Kinemat.Point, for: Kinemat.Cylindrical do
 
   ## Examples
 
-      iex> Kinemat.Cylindrical.init(3, ~a(20)d, 4)
-      ...> |> Kinemat.Point.to_spherical()
-      %Kinemat.Spherical{
+      iex> Cylindrical.init(3, ~a(20)d, 4)
+      ...> |> Point.to_spherical()
+      %Spherical{
         azimuth: ~a(0.6435011087932844)r,
         polar:   ~a(20)d,
         radial:  5.0}

lib/kinemat/point/sperical.ex

@@ -1,5 +1,5 @@
-defimpl Kinemat.Point, for: Kinemat.Spherical do
-  alias Kinemat.{Spherical, Cylindrical, Cartesian}
+defimpl Kinemat.Point, for: Kinemat.Coordinates.Spherical do
+  use Kinemat.Coordinates
   import Kinemat.Trig, only: [sin: 1, cos: 1]
 
   @moduledoc """
@@ -11,9 +11,9 @@ defimpl Kinemat.Point, for: Kinemat.Spherical do
 
   ## Examples
 
-      iex> Kinemat.Spherical.init(8, ~a(30)d, ~a(20)d)
+      iex> Spherical.init(8, ~a(30)d, ~a(20)d)
       ...> |> Kinemat.Point.to_cylindrical()
-      %Kinemat.Cylindrical{
+      %Cylindrical{
         azimuth: ~a(20)d,
         radial:  3.9999999999999996,
         vertical: 6.92820323027551}
@@ -33,9 +33,9 @@ defimpl Kinemat.Point, for: Kinemat.Spherical do
 
   ## Examples
 
-      iex> Kinemat.Spherical.init(12, ~a(20)d, ~a(60)d)
+      iex> Spherical.init(12, ~a(20)d, ~a(60)d)
       ...> |> Kinemat.Point.to_cartesian()
-      %Kinemat.Cartesian{
+      %Cartesian{
         x: 2.052120859954013,
         y: 3.554377592712286,
         z: 11.276311449430901}
@@ -53,9 +53,9 @@ defimpl Kinemat.Point, for: Kinemat.Spherical do
 
   ## Examples
 
-      iex> Kinemat.Spherical.init(12, ~a(20)d, ~a(60)d)
+      iex> Spherical.init(12, ~a(20)d, ~a(60)d)
       ...> |> Kinemat.Point.to_spherical()
-      %Kinemat.Spherical{
+      %Spherical{
         azimuth: ~a(20)d,
         polar: ~a(60)d,
         radial: 12}

lib/kinemat/prismatic.ex

@@ -1,6 +0,0 @@
-defmodule Kinemat.Prismatic do
-  @moduledoc """
-  Describes a kinematic joint.
-  FIXME Not yet done.
-  """
-end

test/kinemat/coordinates/cartesian_test.exs

@@ -0,0 +1,6 @@
+defmodule KinematCoordinatesCartesianTest do
+  use ExUnit.Case
+  use Kinemat
+  use Kinemat.Coordinates
+  doctest Kinemat.Coordinates.Cartesian
+end

test/kinemat/coordinates/cylindrical_test.exs

@@ -0,0 +1,6 @@
+defmodule KinematCoordinatesCylindricalTest do
+  use ExUnit.Case
+  use Kinemat
+  use Kinemat.Coordinates
+  doctest Kinemat.Coordinates.Cylindrical
+end

test/kinemat/coordinates/spherical_test.exs

@@ -0,0 +1,6 @@
+defmodule KinematCoordinatesSphericalTest do
+  use ExUnit.Case
+  use Kinemat
+  use Kinemat.Coordinates
+  doctest Kinemat.Coordinates.Spherical
+end

test/kinemat/cylindrical_test.exs

@@ -1,5 +0,0 @@
-defmodule KinematCylindricalTest do
-  use ExUnit.Case
-  use Kinemat
-  doctest Kinemat.Cylindrical
-end

test/kinemat/frame_test.exs

@@ -1,5 +1,6 @@
 defmodule KinematFrameTest do
   use ExUnit.Case
   use Kinemat
+  use Kinemat.Coordinates
   doctest Kinemat.Frame
 end

test/kinemat/homogeneous_transformation_test.exs

@@ -1,5 +1,6 @@
 defmodule KinematHomogeneousTransformationTest do
   use ExUnit.Case
   use Kinemat
+  use Kinemat.Coordinates
   doctest Kinemat.HomogeneousTransformation
 end

test/kinemat/point/cartesian_test.exs

@@ -1,5 +1,6 @@
 defmodule Kinemat.Point.CartesianTest do
   use ExUnit.Case
   use Kinemat
-  doctest Kinemat.Point.Kinemat.Cartesian
+  use Kinemat.Coordinates
+  doctest Kinemat.Point.Kinemat.Coordinates.Cartesian
 end

test/kinemat/point/cylindrical_test.exs

@@ -1,5 +1,6 @@
 defmodule Kinemat.Point.CylindricalTest do
   use ExUnit.Case
   use Kinemat
-  doctest Kinemat.Point.Kinemat.Cylindrical
+  use Kinemat.Coordinates
+  doctest Kinemat.Point.Kinemat.Coordinates.Cylindrical
 end

test/kinemat/point/spherical_test.exs

@@ -1,5 +1,6 @@
 defmodule Kinemat.Point.SphericalTest do
   use ExUnit.Case
   use Kinemat
-  doctest Kinemat.Point.Kinemat.Spherical
+  use Kinemat.Coordinates
+  doctest Kinemat.Point.Kinemat.Coordinates.Spherical
 end

test/kinemat/point_test.exs

@@ -1,5 +1,6 @@
 defmodule KinematPointTest do
   use Kinemat
+  use Kinemat.Coordinates
   use ExUnit.Case
 
   defp pretty_much_equal(lhs, rhs) when is_number(lhs) and is_number(rhs) do

test/kinemat/spherical_test.exs

@@ -1,5 +0,0 @@
-defmodule KinematSphericalTest do
-  use ExUnit.Case
-  use Kinemat
-  doctest Kinemat.Spherical
-end