refactor: rename plural namespaces to singular for alignment (#102)

README.md

@@ -36,8 +36,8 @@ Once the shell is up and running, playing with it is easy:
 ```py
 import numpy
 from ostk.mathematics.geometry import Angle
-from ostk.mathematics.geometry.d3.transformations.rotations import Quaternion
-from ostk.mathematics.geometry.d3.transformations.rotations import RotationVector
+from ostk.mathematics.geometry.d3.transformation.rotation import Quaternion
+from ostk.mathematics.geometry.d3.transformation.rotation import RotationVector
 
 rv = RotationVector(numpy.array([[0.0], [0.0], [1.0]], dtype=float), Angle.degrees(15.0)) # Construct rotation vector
 

bindings/python/docs/Reference/Geometry.ipynb

@@ -46,9 +46,9 @@
     "Sphere = mathematics.geometry.d3.objects.Sphere\n",
     "Ellipsoid = mathematics.geometry.d3.objects.Ellipsoid\n",
     "Transformation3d = mathematics.geometry.d3.Transformation\n",
-    "Quaternion = mathematics.geometry.d3.transformations.rotations.Quaternion\n",
-    "RotationVector = mathematics.geometry.d3.transformations.rotations.RotationVector\n",
-    "RotationMatrix = mathematics.geometry.d3.transformations.rotations.RotationMatrix"
+    "Quaternion = mathematics.geometry.d3.transformation.rotation.Quaternion\n",
+    "RotationVector = mathematics.geometry.d3.transformation.rotation.RotationVector\n",
+    "RotationMatrix = mathematics.geometry.d3.transformation.rotation.RotationMatrix"
    ]
   },
   {

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Objects/Composite.cpp

@@ -28,7 +28,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Objects_Composite(pybind11
     using ostk::math::geometry::d3::objects::Pyramid;
     using ostk::math::geometry::d3::objects::Composite;
     using ostk::math::geometry::d3::Intersection;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
     class_<Composite, Object>(aModule, "Composite")
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Objects/Cuboid.cpp

@@ -21,7 +21,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Objects_Cuboid(pybind11::m
     using ostk::math::geometry::d3::objects::Cuboid;
     using ostk::math::geometry::d3::objects::Pyramid;
     using ostk::math::geometry::d3::Intersection;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
     //     scope in_Cuboid = class_<Cuboid, Shared<Cuboid>, bases<Object>>("Cuboid", no_init)
     class_<Cuboid, Object>(aModule, "Cuboid")

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Objects/Ellipsoid.cpp

@@ -21,7 +21,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Objects_Ellipsoid(pybind11
     using ostk::math::geometry::d3::objects::Pyramid;
     using ostk::math::geometry::d3::objects::Cone;
     using ostk::math::geometry::d3::Intersection;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
     class_<Ellipsoid, Object>(aModule, "Ellipsoid")
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Objects/Pyramid.cpp

@@ -23,7 +23,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Objects_Pyramid(pybind11::
     using ostk::math::geometry::d3::objects::Ellipsoid;
     using ostk::math::geometry::d3::objects::Pyramid;
     using ostk::math::geometry::d3::Intersection;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
     class_<Pyramid, Object>(aModule, "Pyramid")
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp

@@ -10,8 +10,8 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation(pybind11::m
     using ostk::math::object::Matrix4d;
     using ostk::math::geometry::d3::objects::Point;
     using ostk::math::geometry::d3::Transformation;
-    using ostk::math::geometry::d3::transformations::rotations::RotationVector;
-    using ostk::math::geometry::d3::transformations::rotations::RotationMatrix;
+    using ostk::math::geometry::d3::transformation::rotation::RotationVector;
+    using ostk::math::geometry::d3::transformation::rotation::RotationMatrix;
 
     class_<Transformation> transformation(aModule, "Transformation");
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformations.cpp

@@ -4,12 +4,12 @@
 
 inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations(pybind11::module& aModule)
 {
-    // Create "transformations" python submodule
-    auto transformations = aModule.def_submodule("transformations");
+    // Create "transformation" python submodule
+    auto transformation = aModule.def_submodule("transformation");
 
-    // Add __path__ attribute for "transformations" submodule
-    transformations.attr("__path__") = "ostk.mathematics.geometry.d3.transformations";
+    // Add __path__ attribute for "transformation" submodule
+    transformation.attr("__path__") = "ostk.mathematics.geometry.d3.transformation";
 
-    // Add objects to python "transformations" submodules
-    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations(transformations);
+    // Add objects to python "transformation" submodules
+    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations(transformation);
 }

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformations/Rotations.cpp

@@ -6,14 +6,14 @@
 
 inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations(pybind11::module& aModule)
 {
-    // Create "rotations" python submodule
-    auto rotations = aModule.def_submodule("rotations");
+    // Create "rotation" python submodule
+    auto rotation = aModule.def_submodule("rotation");
 
-    // Add __path__ attribute for "rotations" submodule
-    rotations.attr("__path__") = "ostk.mathematics.geometry.d3.transformations.rotations";
+    // Add __path__ attribute for "rotation" submodule
+    rotation.attr("__path__") = "ostk.mathematics.geometry.d3.transformation.rotation";
 
-    // Add objects to python "rotations" submodules
-    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_Quaternion(rotations);
-    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_RotationVector(rotations);
-    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_RotationMatrix(rotations);
+    // Add objects to python "rotation" submodules
+    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_Quaternion(rotation);
+    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_RotationVector(rotation);
+    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_RotationMatrix(rotation);
 }

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformations/Rotations/Quaternion.cpp

@@ -5,7 +5,7 @@
 #include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.hpp>
 
 using ostk::core::ctnr::Array;
-using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
 void set_quaternion_array(const Array<Quaternion>& anArray)
 {
@@ -21,7 +21,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_
 
     using ostk::math::object::Vector3d;
     using ostk::math::object::Vector4d;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
     class_<Quaternion> quaternion(aModule, "Quaternion");
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformations/Rotations/RotationMatrix.cpp

@@ -14,7 +14,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_
 
     using ostk::math::object::Vector3d;
     using ostk::math::object::Matrix3d;
-    using ostk::math::geometry::d3::transformations::rotations::RotationMatrix;
+    using ostk::math::geometry::d3::transformation::rotation::RotationMatrix;
 
     class_<RotationMatrix>(aModule, "RotationMatrix")
 

bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformations/Rotations/RotationVector.cpp

@@ -15,7 +15,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformations_Rotations_
 
     using ostk::math::object::Vector3d;
     using ostk::math::geometry::Angle;
-    using ostk::math::geometry::d3::transformations::rotations::RotationVector;
+    using ostk::math::geometry::d3::transformation::rotation::RotationVector;
 
     class_<RotationVector>(aModule, "RotationVector")
 

bindings/python/test/geometry/d3/transformations/rotations/test_quaternion.py

@@ -8,9 +8,9 @@
 
 
 Angle = geometry.Angle
-Quaternion = geometry.d3.transformations.rotations.Quaternion
-RotationVector = geometry.d3.transformations.rotations.RotationVector
-RotationMatrix = geometry.d3.transformations.rotations.RotationMatrix
+Quaternion = geometry.d3.transformation.rotation.Quaternion
+RotationVector = geometry.d3.transformation.rotation.RotationVector
+RotationMatrix = geometry.d3.transformation.rotation.RotationMatrix
 
 
 @pytest.fixture

bindings/python/test/geometry/d3/transformations/rotations/test_rotation_matrix.py

@@ -4,8 +4,8 @@
 
 
 Angle = geometry.Angle
-Quaternion = geometry.d3.transformations.rotations.Quaternion
-RotationMatrix = geometry.d3.transformations.rotations.RotationMatrix
+Quaternion = geometry.d3.transformation.rotation.Quaternion
+RotationMatrix = geometry.d3.transformation.rotation.RotationMatrix
 
 
 # isDefined

bindings/python/test/geometry/d3/transformations/rotations/test_rotation_vector.py

@@ -6,8 +6,8 @@
 
 
 Angle = geometry.Angle
-Quaternion = geometry.d3.transformations.rotations.Quaternion
-RotationVector = geometry.d3.transformations.rotations.RotationVector
+Quaternion = geometry.d3.transformation.rotation.Quaternion
+RotationVector = geometry.d3.transformation.rotation.RotationVector
 
 
 def test_geometry_d3_transformations_rotations_rotation_vector():

bindings/python/test/test_objects.py

@@ -19,6 +19,6 @@
 Sphere = mathematics.geometry.d3.objects.Sphere
 Ellipsoid = mathematics.geometry.d3.objects.Ellipsoid
 Transformation3d = mathematics.geometry.d3.Transformation
-Quaternion = mathematics.geometry.d3.transformations.rotations.Quaternion
-RotationVector = mathematics.geometry.d3.transformations.rotations.RotationVector
-RotationMatrix = mathematics.geometry.d3.transformations.rotations.RotationMatrix
+Quaternion = mathematics.geometry.d3.transformation.rotation.Quaternion
+RotationVector = mathematics.geometry.d3.transformation.rotation.RotationVector
+RotationMatrix = mathematics.geometry.d3.transformation.rotation.RotationMatrix

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Objects/Ellipsoid.hpp

@@ -26,7 +26,7 @@ using ostk::math::object::Matrix3d;
 using ostk::math::geometry::d3::Object;
 using ostk::math::geometry::d3::objects::Point;
 using ostk::math::geometry::d3::Intersection;
-using ostk::math::geometry::d3::transformations::rotations::Quaternion;
+using ostk::math::geometry::d3::transformation::rotation::Quaternion;
 
 #define DEFAULT_ORIENTATION Quaternion::Unit()
 

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation.hpp

@@ -32,8 +32,8 @@ using ostk::math::object::Matrix4d;
 using ostk::math::geometry::Angle;
 using ostk::math::geometry::d3::Object;
 using ostk::math::geometry::d3::objects::Point;
-using ostk::math::geometry::d3::transformations::rotations::RotationVector;
-using ostk::math::geometry::d3::transformations::rotations::RotationMatrix;
+using ostk::math::geometry::d3::transformation::rotation::RotationVector;
+using ostk::math::geometry::d3::transformation::rotation::RotationMatrix;
 
 class Transformation
 {
@@ -77,7 +77,7 @@ class Transformation
     /// @brief              Returns true if transformation is rigid
     ///
     ///                     A rigid transformation preserves the Euclidean distance between every pair of points.
-    ///                     The rigid transformations include rotations, translations, reflections, or their
+    ///                     The rigid transformation include rotation, translations, reflections, or their
     ///                     combination.
     ///
     /// @ref                https://en.wikipedia.org/wiki/Rigid_transformation

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/EulerAngle.hpp

@@ -11,13 +11,13 @@ namespace geometry
 {
 namespace d3
 {
-namespace transformations
+namespace transformation
 {
-namespace rotations
+namespace rotation
 {
 
 }
-}  // namespace transformations
+}  // namespace transformation
 }  // namespace d3
 }  // namespace geometry
 }  // namespace math

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/Quaternion.hpp

@@ -18,9 +18,9 @@ namespace geometry
 {
 namespace d3
 {
-namespace transformations
+namespace transformation
 {
-namespace rotations
+namespace rotation
 {
 
 using ostk::core::types::Integer;
@@ -36,7 +36,7 @@ class RotationMatrix;
 
 /// @brief                      Quaternion
 ///
-///                             Provide a convenient mathematical notation for representing orientations and rotations
+///                             Provide a convenient mathematical notation for representing orientations and rotation
 ///                             of objects in three dimensions. Compared to Euler angles they are simpler to compose and
 ///                             avoid the problem of gimbal lock. Compared to rotation matrices they are more compact,
 ///                             more numerically stable, and more efficient.
@@ -616,7 +616,7 @@ class Quaternion
     /// @param              [in] aRotationVector A rotation vector
     /// @return             Quaternion
 
-    static Quaternion RotationVector(const rotations::RotationVector& aRotationVector);
+    static Quaternion RotationVector(const rotation::RotationVector& aRotationVector);
 
     /// @brief              Constructs a rquaternion from a rotation matrix
     ///
@@ -627,7 +627,7 @@ class Quaternion
     /// @param              [in] aRotationMatrix A rotation matrix
     /// @return             Quaternion
 
-    static Quaternion RotationMatrix(const rotations::RotationMatrix& aRotationMatrix);
+    static Quaternion RotationMatrix(const rotation::RotationMatrix& aRotationMatrix);
 
     /// @brief              Constructs a quaternion from a string
     ///
@@ -713,8 +713,8 @@ class Quaternion
     Real s_;
 };
 
-}  // namespace rotations
-}  // namespace transformations
+}  // namespace rotation
+}  // namespace transformation
 }  // namespace d3
 }  // namespace geometry
 }  // namespace math

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationMatrix.hpp

@@ -18,9 +18,9 @@ namespace geometry
 {
 namespace d3
 {
-namespace transformations
+namespace transformation
 {
-namespace rotations
+namespace rotation
 {
 
 using ostk::core::types::Index;
@@ -302,7 +302,7 @@ class RotationMatrix
     /// @param              [in] aQuaternion A quaternion
     /// @return             Rotation matrix
 
-    static RotationMatrix Quaternion(const rotations::Quaternion& aQuaternion);
+    static RotationMatrix Quaternion(const rotation::Quaternion& aQuaternion);
 
     /// @brief              Constructs a rotation matrix from a rotation vector
     ///
@@ -314,16 +314,16 @@ class RotationMatrix
     /// @param              [in] aRotationVector A rotation vector
     /// @return             Rotation matrix
 
-    static RotationMatrix RotationVector(const rotations::RotationVector& aRotationVector);
+    static RotationMatrix RotationVector(const rotation::RotationVector& aRotationVector);
 
    private:
     Matrix3d matrix_;
 
     RotationMatrix();
 };
 
-}  // namespace rotations
-}  // namespace transformations
+}  // namespace rotation
+}  // namespace transformation
 }  // namespace d3
 }  // namespace geometry
 }  // namespace math

include/OpenSpaceToolkit/Mathematics/Geometry/3D/Transformations/Rotations/RotationVector.hpp

@@ -17,9 +17,9 @@ namespace geometry
 {
 namespace d3
 {
-namespace transformations
+namespace transformation
 {
-namespace rotations
+namespace rotation
 {
 
 using ostk::core::types::Real;
@@ -178,7 +178,7 @@ class RotationVector
     /// @param              [in] aQuaternion A quaternion
     /// @return             Rotation vector
 
-    static RotationVector Quaternion(const rotations::Quaternion& aQuaternion);
+    static RotationVector Quaternion(const rotation::Quaternion& aQuaternion);
 
     /// @brief              Constructs a rotation vector from a rotation matrix
     ///
@@ -189,7 +189,7 @@ class RotationVector
     /// @param              [in] aRotationMatrix A rotation matrix
     /// @return             Rotation vector
 
-    static RotationVector RotationMatrix(const rotations::RotationMatrix& aRotationMatrix);
+    static RotationVector RotationMatrix(const rotation::RotationMatrix& aRotationMatrix);
 
    private:
     Vector3d axis_;
@@ -198,8 +198,8 @@ class RotationVector
     RotationVector();
 };
 
-}  // namespace rotations
-}  // namespace transformations
+}  // namespace rotation
+}  // namespace transformation
 }  // namespace d3
 }  // namespace geometry
 }  // namespace math

src/OpenSpaceToolkit/Mathematics/Geometry/3D/Objects/Composite.cpp

@@ -434,7 +434,7 @@ void Composite::print(std::ostream& anOutputStream, bool displayDecorators) cons
 
 void Composite::applyTransformation(const Transformation& aTransformation)
 {
-    using ostk::math::geometry::d3::transformations::rotations::RotationMatrix;
+    using ostk::math::geometry::d3::transformation::rotation::RotationMatrix;
 
     if (!aTransformation.isDefined())
     {

src/OpenSpaceToolkit/Mathematics/Geometry/3D/Objects/Cone.cpp

@@ -242,8 +242,8 @@ Angle Cone::getAngle() const
 Array<Ray> Cone::getRaysOfLateralSurface(const Size aRayCount) const
 {
     using ostk::math::object::Interval;
-    using ostk::math::geometry::d3::transformations::rotations::Quaternion;
-    using ostk::math::geometry::d3::transformations::rotations::RotationVector;
+    using ostk::math::geometry::d3::transformation::rotation::Quaternion;
+    using ostk::math::geometry::d3::transformation::rotation::RotationVector;
 
     if (aRayCount == 0)
     {