Make tolerance non configurable, use forward declare

Author: Ryan4253

include/RaidZeroLib/api/Geometry/Point.hpp

@@ -1,5 +1,5 @@
 #pragma once
-#include "RaidZeroLib/api/Geometry/Rotation.hpp"
+#include "au/au.hpp"
 #include <optional>
 
 namespace rz {
@@ -44,7 +44,7 @@ class Point {
 
     Point rotateBy(const Rotation& rhs) const noexcept;
 
-    bool isApprox(const Point& rhs, au::QuantityD<au::Meters> tol = au::meters(1e-12)) const noexcept;
+    bool isApprox(const Point& rhs) const noexcept;
 
     private:
     au::QuantityD<au::Meters> x = au::ZERO;

include/RaidZeroLib/api/Geometry/Rotation.hpp

@@ -11,6 +11,8 @@ class Rotation {
 
     Rotation(au::QuantityD<au::Meters> x, au::QuantityD<au::Meters> y) noexcept;
 
+    Rotation(double x, double y) noexcept;
+
     au::QuantityD<au::Radians> Theta() const noexcept;
 
     double Sin() const noexcept;
@@ -29,7 +31,7 @@ class Rotation {
 
     Rotation operator/(double scalar) const noexcept;
 
-    bool isApprox(const Rotation& rhs, au::QuantityD<au::Radians> tol = au::radians(1e-12)) const noexcept;
+    bool isApprox(const Rotation& rhs) const noexcept;
 
     private:
     au::QuantityD<au::Radians> theta = au::ZERO;

src/RaidZeroLib/api/Geometry/Point.cpp

@@ -1,5 +1,6 @@
 #include "RaidZeroLib/api/Geometry/Point.hpp"
 #include "RaidZeroLib/api/Utility/Math.hpp"
+#include "RaidZeroLib/api/Geometry/Rotation.hpp"
 
 namespace rz {
 
@@ -75,8 +76,8 @@ Point Point::rotateBy(const Rotation& rhs) const noexcept {
     return Point(x * c - y * s, x * s + y * c);
 }
 
-bool Point::isApprox(const Point& rhs, au::QuantityD<au::Meters> tol) const noexcept {
-    return this->distTo(rhs) <= tol;
+bool Point::isApprox(const Point& rhs) const noexcept {
+    return this->distTo(rhs) <= au::meters(1e-9);
 }
 
 au::QuantityD<au::Meters> circumradius(const Point& A, const Point& B, const Point& C) noexcept {

src/RaidZeroLib/api/Geometry/Rotation.cpp

@@ -8,6 +8,9 @@ Rotation::Rotation(au::QuantityD<au::Radians> theta) noexcept : theta(constrainA
 Rotation::Rotation(au::QuantityD<au::Meters> x, au::QuantityD<au::Meters> y) noexcept 
     : theta(x == au::ZERO && y == au::ZERO ? au::ZERO : au::arctan2(y, x)){}
 
+Rotation::Rotation(double x, double y) noexcept
+    : theta(x == 0 && y == 0 ? au::ZERO : au::radians(std::atan2(y, x))){}
+
 au::QuantityD<au::Radians> Rotation::Theta() const noexcept {
     return theta;
 }
@@ -44,9 +47,9 @@ Rotation Rotation::operator/(double scalar) const noexcept {
     return *this * (1.0 / scalar);
 }
 
-bool Rotation::isApprox(const Rotation& rhs, au::QuantityD<au::Radians> tol) const noexcept {
+bool Rotation::isApprox(const Rotation& rhs) const noexcept {
     const auto diff = constrainAngle180(theta - rhs.theta);
-    return au::abs(diff) <= tol;
+    return au::abs(diff) <= au::radians(1e-9);
 }
 
 } // namespace rz

test/test/Geometry/PointTest.cpp

@@ -1,4 +1,5 @@
 #include "RaidZeroLib/api/Geometry/Point.hpp"
+#include "RaidZeroLib/api/Geometry/Rotation.hpp"
 #include <cmath>
 #include <gtest/gtest.h>