refactoring directions
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639a255aaf
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@ -229,6 +229,48 @@ public class Obstacle(
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}
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}
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internal fun nextTangent(circle: Circle2D, direction: Trajectory2D.Direction): Tangent {
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if (direction == boundaryRoute.first) {
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for (i in circles.indices) {
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if (circles[i] == circle) {
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return tangents[i]
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}
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}
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} else {
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for (i in circles.indices) {
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if (circles[i] == circle) {
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if (i > 0) {
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return Tangent(
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circles[i],
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circles[i - 1],
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this,
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this,
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LineSegment2D(
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tangents[i - 1].lineSegment.end,
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tangents[i - 1].lineSegment.begin
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),
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direction
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)
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} else {
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return Tangent(
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circles[0],
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circles.last(),
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this,
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this,
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LineSegment2D(
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tangents.last().lineSegment.end,
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tangents.last().lineSegment.begin
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),
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direction
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)
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}
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}
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}
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}
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error("next tangent not found")
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}
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override fun equals(other: Any?): Boolean {
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if (other == null || other !is Obstacle) return false
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return circles == other.circles
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@ -239,50 +281,6 @@ public class Obstacle(
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}
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}
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private fun Obstacle.nextTangent(circle: Circle2D, routeType: DubinsPath.Type): Tangent {
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if (routeType == boundaryRoute) {
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for (i in circles.indices) {
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if (circles[i] == circle) {
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return tangents[i]
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}
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}
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} else {
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for (i in circles.indices) {
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if (circles[i] == circle) {
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if (i > 0) {
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return Tangent(
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circles[i],
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circles[i - 1],
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this,
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this,
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LineSegment2D(
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tangents[i - 1].lineSegment.end,
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tangents[i - 1].lineSegment.begin
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),
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startDirection = routeType.first,
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endDirection = routeType.third
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)
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} else {
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return Tangent(
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circles[0],
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circles.last(),
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this,
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this,
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LineSegment2D(
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tangents.last().lineSegment.end,
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tangents.last().lineSegment.begin
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),
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startDirection = routeType.first,
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endDirection = routeType.third
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)
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}
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}
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}
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}
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error("next tangent not found")
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}
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public fun Obstacle(vararg circles: Circle2D): Obstacle = Obstacle(listOf(*circles))
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private fun LineSegment2D.intersectSegment(other: LineSegment2D): Boolean {
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@ -417,15 +415,15 @@ private fun sortedObstacles(
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private fun tangentsAlongTheObstacle(
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initialCircle: Circle2D,
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initialRoute: DubinsPath.Type,
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direction: Trajectory2D.Direction,
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finalCircle: Circle2D,
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obstacle: Obstacle,
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): List<Tangent> {
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val dubinsTangents = mutableListOf<Tangent>()
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var tangent = obstacle.nextTangent(initialCircle, initialRoute)
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var tangent = obstacle.nextTangent(initialCircle, direction)
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dubinsTangents.add(tangent)
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while (tangent.endCircle != finalCircle) {
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tangent = obstacle.nextTangent(tangent.endCircle, initialRoute)
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tangent = obstacle.nextTangent(tangent.endCircle, direction)
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dubinsTangents.add(tangent)
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}
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return dubinsTangents
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@ -471,7 +469,7 @@ internal fun findAllPaths(
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finalRadius: Double,
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obstacles: List<Obstacle>,
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): List<CompositeTrajectory2D> {
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fun DubinsPose2D.direction() = vector(cos(bearing),sin(bearing))
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fun DubinsPose2D.direction() = vector(cos(bearing), sin(bearing))
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val initialCircles = constructTangentCircles(
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start,
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@ -537,11 +535,7 @@ internal fun findAllPaths(
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tangentPath.last().lineSegment.end,
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tangent.startObstacle.nextTangent(
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tangent.startCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.S,
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currentDirection
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),
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currentDirection
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).lineSegment.begin,
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currentDirection
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)
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@ -554,11 +548,7 @@ internal fun findAllPaths(
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tangentsAlong = if (lengthCalculated > lengthMaxPossible) {
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tangentsAlongTheObstacle(
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currentCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.S,
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currentDirection
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),
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currentDirection,
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tangent.startCircle,
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currentObstacle
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)
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@ -568,11 +558,7 @@ internal fun findAllPaths(
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} else {
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tangentsAlong = tangentsAlongTheObstacle(
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currentCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.S,
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currentDirection
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),
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currentDirection,
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tangent.startCircle,
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currentObstacle
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)
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