a/math: Improve word choice/clarity

src/xrt/auxiliary/math/m_documentation.hpp

@@ -2,7 +2,7 @@
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
- * @brief  Header with just documentation.
+ * @brief  Header with only documentation.
  * @author Ryan Pavlik <ryan.pavlik@collabora.com>
  * @ingroup aux_math
  */

src/xrt/auxiliary/math/m_filter_fifo.c

@@ -2,7 +2,7 @@
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
- * @brief  A fifo that also allows you to dynamically filter.
+ * @brief  A fifo that also lets you dynamically filter.
  * @author Jakob Bornecrantz <jakob@collabora.com>
  * @ingroup aux_math
  */

src/xrt/auxiliary/math/m_filter_fifo.h

@@ -2,7 +2,7 @@
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
- * @brief  A fifo that also allows you to dynamically filter.
+ * @brief  A fifo that also lets you dynamically filter.
  * @author Jakob Bornecrantz <jakob@collabora.com>
  * @ingroup aux_math
  */
@@ -94,8 +94,7 @@ void
 m_ff_f64_push(struct m_ff_f64 *ff, const double *sample, uint64_t timestamp_ns);
 
 /*!
- * Return the sample at the index, zero means the last sample push, one second
+ * Return the sample at the index, 0 means the last sample push, 1 second-to-last, etc.
- * last and so on.
  */
 bool
 m_ff_f64_get(struct m_ff_f64 *ff, size_t num, double *out_sample, uint64_t *out_timestamp_ns);

src/xrt/auxiliary/math/m_filter_one_euro.c

@@ -197,7 +197,8 @@ m_filter_euro_vec2_run_no_commit(struct m_filter_euro_vec2 *f,
 {
 
 	if (filter_one_euro_handle_first_sample(&f->base, ts, false)) {
-		// First sample - no filtering yet - and we're not committing anything to the filter so just return
+		// First sample - no filtering yet - and we're not committing anything to the filter so return right
+		// away
 		*out_y = *in_y;
 		return;
 	}

src/xrt/auxiliary/math/m_imu_pre.h

@@ -56,7 +56,7 @@ struct m_imu_pre_filter
 };
 
 /*!
- * A simple init function that just takes the two ticks_to_float values, all
+ * A simple init function that takes the two ticks_to_float values, all
  * other values are set to identity.
  */
 void

src/xrt/auxiliary/math/m_lowpass_float.h

@@ -51,7 +51,7 @@ void
 m_lowpass_float_add_sample(struct m_lowpass_float *mlf, float sample, timepoint_ns timestamp_ns);
 
 /*!
- * Access the filtered value.
+ * Get the filtered value.
  *
  * Probably 0 or other meaningless value if it's not initialized: see @ref m_lowpass_float_is_initialized
  *
@@ -63,7 +63,7 @@ float
 m_lowpass_float_get_state(const struct m_lowpass_float *mlf);
 
 /*!
- * Access the time of last update
+ * Get the time of last update
  *
  * @param mlf self-pointer
  *
@@ -73,7 +73,7 @@ timepoint_ns
 m_lowpass_float_get_timestamp_ns(const struct m_lowpass_float *mlf);
 
 /*!
- * Access whether we have initialized state.
+ * Get whether we have initialized state.
  *
  * @param mlf self-pointer
  *

src/xrt/auxiliary/math/m_lowpass_float.hpp

@@ -45,7 +45,7 @@ namespace detail {
 		 * blocked.
 		 *
 		 * @param val The value to initialize the filter with. Does not
-		 * affect the filter itself: only seen if you access state
+		 * affect the filter itself: only seen if you get state
 		 * before initializing the filter with the first sample.
 		 */
 		explicit LowPassIIR(Scalar cutoff_hz, Value const &val) noexcept
@@ -53,7 +53,7 @@ namespace detail {
 		{}
 
 		/*!
-		 * Reset the filter to just-created state.
+		 * Reset the filter to newly-created state.
 		 */
 		void
 		reset(Value const &val) noexcept
@@ -122,7 +122,7 @@ public:
 
 
 	/*!
-	 * Reset the filter to just-created state.
+	 * Reset the filter to newly-created state.
 	 */
 	void
 	reset() noexcept
@@ -146,7 +146,7 @@ public:
 	}
 
 	/*!
-	 * Access the filtered value.
+	 * Get the filtered value.
 	 */
 	Scalar
 	getState() const noexcept
@@ -155,7 +155,7 @@ public:
 	}
 
 	/*!
-	 * Access the time of last update.
+	 * Get the time of last update.
 	 */
 	timepoint_ns
 	getTimestampNs() const noexcept
@@ -164,7 +164,7 @@ public:
 	}
 
 	/*!
-	 * Access whether we have initialized state.
+	 * Get whether we have initialized state.
 	 */
 	bool
 	isInitialized() const noexcept

src/xrt/auxiliary/math/m_lowpass_float_vector.hpp

@@ -44,7 +44,7 @@ public:
 
 
 	/*!
-	 * Reset the filter to just-created state.
+	 * Reset the filter to newly-created state.
 	 */
 	void
 	reset() noexcept
@@ -68,7 +68,7 @@ public:
 	}
 
 	/*!
-	 * Access the filtered value.
+	 * Get the filtered value.
 	 */
 	Vector const &
 	getState() const noexcept
@@ -77,7 +77,7 @@ public:
 	}
 
 	/*!
-	 * Access the time of last update.
+	 * Get the time of last update.
 	 */
 	std::uint64_t
 	getTimestampNs() const noexcept
@@ -86,7 +86,7 @@ public:
 	}
 
 	/*!
-	 * Access whether we have initialized state.
+	 * Get whether we have initialized state.
 	 */
 	bool
 	isInitialized() const noexcept

src/xrt/auxiliary/math/m_lowpass_integer.h

@@ -53,7 +53,7 @@ void
 m_lowpass_integer_add_sample(struct m_lowpass_integer *mli, int64_t sample);
 
 /*!
- * Access the filtered value.
+ * Get the filtered value.
  *
  * Probably 0 or other meaningless value if it's not initialized: see @ref m_lowpass_integer_is_initialized
  *
@@ -65,7 +65,7 @@ int64_t
 m_lowpass_integer_get_state(const struct m_lowpass_integer *mli);
 
 /*!
- * Access whether we have initialized state.
+ * Get whether we have initialized state.
  *
  * @param mli self-pointer
  *

src/xrt/auxiliary/math/m_lowpass_integer.hpp

@@ -44,7 +44,7 @@ namespace detail {
 		 * more influence from new input. @p alpha_.isBetweenZeroAndOne() must be true.
 		 *
 		 * @param val The value to initialize the filter with. Does not
-		 * affect the filter itself: only seen if you access state
+		 * affect the filter itself: only seen if you get the state
 		 * before initializing the filter with the first sample.
 		 */
 		explicit IntegerLowPassIIR(math::Rational<Scalar> alpha_, Value const &val)
@@ -56,7 +56,7 @@ namespace detail {
 		}
 
 		/*!
-		 * Reset the filter to just-created state.
+		 * Reset the filter to newly-created state.
 		 */
 		void
 		reset(Value const &val) noexcept
@@ -100,7 +100,7 @@ namespace detail {
 
 /*!
  * A very simple integer low-pass filter, using a "one-pole infinite impulse response"
- * design (one-pole IIR), aka exponential filter.
+ * design (one-pole IIR), also known as an exponential filter.
  *
  * Configurable in scalar type.
  */
@@ -121,7 +121,7 @@ public:
 	}
 
 	/*!
-	 * Reset the filter to just-created state.
+	 * Reset the filter to newly-created state.
 	 */
 	void
 	reset() noexcept
@@ -144,7 +144,7 @@ public:
 	}
 
 	/*!
-	 * Access the filtered value.
+	 * Get the filtered value.
 	 */
 	Scalar
 	getState() const noexcept
@@ -154,7 +154,7 @@ public:
 
 
 	/*!
-	 * Access whether we have initialized state.
+	 * Get whether we have initialized state.
 	 */
 	bool
 	isInitialized() const noexcept

src/xrt/auxiliary/math/m_quatexpmap.cpp

@@ -88,7 +88,7 @@ quat_exp(Eigen::MatrixBase<Derived> const &vec)
 	return ret.normalized();
 }
 
-/// Taylor series expansion of theta over sin(theta), aka cosecant, for
+/// Taylor series expansion of theta over sin(theta), also known as cosecant, for
 /// use near 0 when you want continuity and validity at 0.
 template <typename Scalar>
 inline Scalar
@@ -112,7 +112,7 @@ quat_ln(Eigen::Quaternion<Scalar> const &quat)
 {
 	// ln q = ( (phi)/(norm of vec) vec, ln(norm of quat))
 	// When we assume a unit quaternion, ln(norm of quat) = 0
-	// so then we just scale the vector part by phi/sin(phi) to get the
+	// so then we scale the vector part by phi/sin(phi) to get the
 	// result (i.e., ln(qv, qw) = (phi/sin(phi)) * qv )
 	Scalar vecnorm = quat.vec().norm();
 

src/xrt/auxiliary/math/m_relation_history.cpp

@@ -68,7 +68,7 @@ m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation
 		// if we aren't empty, we can compare against the latest timestamp.
 		if (rh->impl.empty() || rhe.timestamp > rh->impl.back().timestamp) {
 			// Everything explodes if the timestamps in relation_history aren't monotonically increasing. If
-			// we get a timestamp that's before the most recent timestamp in the buffer, just don't put it
+			// we get a timestamp that's before the most recent timestamp in the buffer, don't put it
 			// in the history.
 			rh->impl.push_back(rhe);
 			ret = true;
@@ -103,7 +103,7 @@ m_relation_history_get(struct m_relation_history *rh, uint64_t at_timestamp_ns,
 		if (it == e) {
 			// lower bound is at the end:
 			// The desired timestamp is after what our buffer contains.
-			// Aka pose-prediction.
+			// (pose-prediction)
 			int64_t diff_prediction_ns = static_cast<int64_t>(at_timestamp_ns) - rh->impl.back().timestamp;
 			double delta_s = time_ns_to_s(diff_prediction_ns);
 
@@ -121,7 +121,7 @@ m_relation_history_get(struct m_relation_history *rh, uint64_t at_timestamp_ns,
 		if (it == b) {
 			// lower bound is at the beginning (and it's not an exact match):
 			// The desired timestamp is before what our buffer contains.
-			// Aka a weird edge case where somebody asks for a really old pose and we do our best.
+			// (an edge case where somebody asks for a really old pose and we do our best)
 			int64_t diff_prediction_ns = static_cast<int64_t>(at_timestamp_ns) - rh->impl.front().timestamp;
 			double delta_s = time_ns_to_s(diff_prediction_ns);
 			U_LOG_T("Extrapolating %f s before the front of the buffer!", delta_s);
@@ -145,7 +145,7 @@ m_relation_history_get(struct m_relation_history *rh, uint64_t at_timestamp_ns,
 		xrt_space_relation result{};
 		result.relation_flags = (enum xrt_space_relation_flags)(predecessor.relation.relation_flags &
 		                                                        successor.relation.relation_flags);
-		// First-order implementation - just lerp between the before and after
+		// First-order implementation - lerp between the before and after
 		if (0 != (result.relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT)) {
 			result.pose.position = m_vec3_lerp(predecessor.relation.pose.position,
 			                                   successor.relation.pose.position, amount_to_lerp);

src/xrt/auxiliary/math/m_space.cpp

@@ -251,13 +251,13 @@ apply_relation(const struct xrt_space_relation *a,
 	 */
 
 	int new_flags = 0;
-	// Make sure to not drop a orientation, even if just one is valid.
+	// Make sure to not drop a orientation, even if only one is valid.
 	if (af.has_orientation || bf.has_orientation) {
 		new_flags |= XRT_SPACE_RELATION_ORIENTATION_VALID_BIT;
 	}
 
 	/*
-	 * Make sure to not drop a position, even if just one is valid.
+	 * Make sure to not drop a position, even if only one is valid.
 	 *
 	 * When position is valid, always set orientation valid to "upgrade"
 	 * poses with valid position but invalid orientation to fully valid