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Merge branch 'dev-local' into mrfendel

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# Conflicts:
#	kmath-stat/src/commonMain/kotlin/space/kscience/kmath/series/SeriesAlgebra.kt
This commit is contained in:
mrFendel 2023-04-07 10:55:25 +03:00
commit 165dfd6c5d
35 changed files with 333 additions and 947 deletions
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23
.github/workflows/publish.yml vendored
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@ -15,7 +15,7 @@ jobs:
runs-on: ${{matrix.os}}
steps:
- uses: actions/checkout@v3.0.0
- uses: actions/setup-java@v3.0.0
- uses: actions/setup-java@v3.10.0
with:
java-version: 11
distribution: liberica
@ -26,26 +26,25 @@ jobs:
key: ${{ runner.os }}-gradle-${{ hashFiles('*.gradle.kts') }}
restore-keys: |
${{ runner.os }}-gradle-
- uses: gradle/wrapper-validation-action@v1.0.4
- name: Publish Windows Artifacts
if: matrix.os == 'windows-latest'
uses: gradle/gradle-build-action@v2.1.5
uses: gradle/gradle-build-action@v2.4.0
with:
arguments: |
releaseAll
-Ppublishing.enabled=true
-Ppublishing.sonatype=false
publishAllPublicationsToSpaceRepository
-Ppublishing.targets=all
-Ppublishing.space.user=${{ secrets.SPACE_APP_ID }}
-Ppublishing.space.token=${{ secrets.SPACE_APP_SECRET }}
- name: Publish Mac Artifacts
if: matrix.os == 'macOS-latest'
uses: gradle/gradle-build-action@v2.1.5
uses: gradle/gradle-build-action@v2.4.0
with:
arguments: |
releaseMacosX64
releaseIosArm64
releaseIosX64
-Ppublishing.enabled=true
-Ppublishing.sonatype=false
publishMacosX64PublicationToSpaceRepository
publishMacosArm64PublicationToSpaceRepository
publishIosX64PublicationToSpaceRepository
publishIosArm64PublicationToSpaceRepository
publishIosSimulatorArm64PublicationToSpaceRepository
-Ppublishing.targets=all
-Ppublishing.space.user=${{ secrets.SPACE_APP_ID }}
-Ppublishing.space.token=${{ secrets.SPACE_APP_SECRET }}

3
.gitignore vendored
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@ -18,4 +18,5 @@ out/
!/.idea/copyright/
!/.idea/scopes/
/kotlin-js-store/yarn.lock
/gradle/yarn.lock

2
CHANGELOG.md
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@ -2,6 +2,7 @@
## [Unreleased]
### Added
- Generic builders for `BufferND` and `MutableBufferND`
- `NamedMatrix` - matrix with symbol-based indexing
- `Expression` with default arguments
- Type-aliases for numbers like `Float64`
@ -23,6 +24,7 @@
### Deprecated
### Removed
- Trajectory moved to https://github.com/SciProgCentre/maps-kt
- Polynomials moved to https://github.com/SciProgCentre/kmath-polynomial
### Fixed

2
build.gradle.kts
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@ -15,7 +15,7 @@ allprojects {
}
group = "space.kscience"
version = "0.3.1-dev-10"
version = "0.3.1-dev-11"
}
subprojects {

23
examples/build.gradle.kts
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@ -1,3 +1,5 @@
import org.jetbrains.kotlin.gradle.tasks.KotlinJvmCompile
plugins {
kotlin("jvm")
}
@ -33,6 +35,8 @@ dependencies {
implementation(project(":kmath-multik"))
implementation("org.jetbrains.kotlinx:multik-default:$multikVersion")
//datetime
implementation("org.jetbrains.kotlinx:kotlinx-datetime:0.4.0")
implementation("org.nd4j:nd4j-native:1.0.0-beta7")
@ -46,25 +50,24 @@ dependencies {
// } else
implementation("org.nd4j:nd4j-native-platform:1.0.0-beta7")
// multik implementation
implementation("org.jetbrains.kotlinx:multik-default:0.1.0")
implementation("org.slf4j:slf4j-simple:1.7.32")
// plotting
implementation("space.kscience:plotlykt-server:0.5.0")
}
kotlin.sourceSets.all {
with(languageSettings) {
optIn("kotlin.contracts.ExperimentalContracts")
optIn("kotlin.ExperimentalUnsignedTypes")
optIn("space.kscience.kmath.misc.UnstableKMathAPI")
kotlin {
jvmToolchain(11)
sourceSets.all {
with(languageSettings) {
optIn("kotlin.contracts.ExperimentalContracts")
optIn("kotlin.ExperimentalUnsignedTypes")
optIn("space.kscience.kmath.misc.UnstableKMathAPI")
}
}
}
tasks.withType<org.jetbrains.kotlin.gradle.dsl.KotlinJvmCompile> {
tasks.withType<KotlinJvmCompile> {
kotlinOptions {
jvmTarget = "11"
freeCompilerArgs = freeCompilerArgs + "-Xjvm-default=all" + "-Xopt-in=kotlin.RequiresOptIn" + "-Xlambdas=indy"
}
}

19
examples/src/main/kotlin/space/kscience/kmath/stat/DateTimeSeries.kt Normal file
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@ -0,0 +1,19 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.stat
import kotlinx.datetime.Instant
import space.kscience.kmath.operations.algebra
import space.kscience.kmath.operations.bufferAlgebra
import space.kscience.kmath.series.MonotonicSeriesAlgebra
import space.kscience.kmath.series.SeriesAlgebra
import kotlin.time.Duration
fun SeriesAlgebra.Companion.time(zero: Instant, step: Duration) = MonotonicSeriesAlgebra(
bufferAlgebra = Double.algebra.bufferAlgebra,
offsetToLabel = { zero + step * it },
labelToOffset = { (it - zero) / step }
)

2
gradle.properties
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@ -9,7 +9,7 @@ kotlin.native.ignoreDisabledTargets=true
org.gradle.configureondemand=true
org.gradle.jvmargs=-Xmx4096m
toolsVersion=0.14.2-kotlin-1.8.10
toolsVersion=0.14.6-kotlin-1.8.20
org.gradle.parallel=true

2
kmath-core/src/commonMain/kotlin/space/kscience/kmath/misc/Featured.kt
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@ -9,7 +9,7 @@ import kotlin.jvm.JvmInline
import kotlin.reflect.KClass
/**
* A entity that contains a set of features defined by their types
* An entity that contains a set of features defined by their types
*/
public interface Featured<F : Any> {
public fun <T : F> getFeature(type: FeatureKey<T>): T?

22
kmath-core/src/commonMain/kotlin/space/kscience/kmath/misc/collections.kt Normal file
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@ -0,0 +1,22 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.misc
/**
* The same as [zipWithNext], but includes link between last and first element
*/
public inline fun <T, R> List<T>.zipWithNextCircular(transform: (a: T, b: T) -> R): List<R> {
if (isEmpty()) return emptyList()
return indices.map { i ->
if (i == size - 1) {
transform(last(), first())
} else {
transform(get(i), get(i + 1))
}
}
}
public inline fun <T> List<T>.zipWithNextCircular(): List<Pair<T,T>> = zipWithNextCircular { l, r -> l to r }

26
kmath-core/src/commonMain/kotlin/space/kscience/kmath/nd/BufferND.kt
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@ -7,7 +7,9 @@ package space.kscience.kmath.nd
import space.kscience.kmath.misc.PerformancePitfall
import space.kscience.kmath.structures.Buffer
import space.kscience.kmath.structures.BufferFactory
import space.kscience.kmath.structures.MutableBuffer
import space.kscience.kmath.structures.MutableBufferFactory
/**
* Represents [StructureND] over [Buffer].
@ -29,6 +31,18 @@ public open class BufferND<out T>(
override fun toString(): String = StructureND.toString(this)
}
/**
* Create a generic [BufferND] using provided [initializer]
*/
public fun <T> BufferND(
shape: ShapeND,
bufferFactory: BufferFactory<T> = BufferFactory.boxing(),
initializer: (IntArray) -> T,
): BufferND<T> {
val strides = Strides(shape)
return BufferND(strides, bufferFactory(strides.linearSize) { initializer(strides.index(it)) })
}
///**
// * Transform structure to a new structure using provided [BufferFactory] and optimizing if argument is [BufferND]
// */
@ -67,6 +81,18 @@ public open class MutableBufferND<T>(
}
}
/**
* Create a generic [BufferND] using provided [initializer]
*/
public fun <T> MutableBufferND(
shape: ShapeND,
bufferFactory: MutableBufferFactory<T> = MutableBufferFactory.boxing(),
initializer: (IntArray) -> T,
): MutableBufferND<T> {
val strides = Strides(shape)
return MutableBufferND(strides, bufferFactory(strides.linearSize) { initializer(strides.index(it)) })
}
///**
// * Transform structure to a new structure using provided [MutableBufferFactory] and optimizing if argument is [MutableBufferND]
// */

3
kmath-coroutines/src/commonMain/kotlin/space/kscience/kmath/coroutines/coroutinesExtra.kt
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@ -8,6 +8,7 @@
package space.kscience.kmath.coroutines
import kotlinx.coroutines.*
import kotlinx.coroutines.channels.ReceiveChannel
import kotlinx.coroutines.channels.produce
import kotlinx.coroutines.flow.*
@ -57,7 +58,7 @@ public suspend fun <T> AsyncFlow<T>.collect(concurrency: Int, collector: FlowCol
coroutineScope {
//Starting up to N deferred coroutines ahead of time
val channel = produce(capacity = concurrency - 1) {
val channel: ReceiveChannel<LazyDeferred<T>> = produce(capacity = concurrency - 1) {
deferredFlow.collect { value ->
value.start(this@coroutineScope)
send(value)

2
kmath-functions/src/commonMain/kotlin/space/kscience/kmath/integration/GaussIntegratorRuleFactory.kt
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@ -9,7 +9,6 @@ import space.kscience.kmath.operations.mapToBuffer
import space.kscience.kmath.structures.Buffer
import space.kscience.kmath.structures.DoubleBuffer
import space.kscience.kmath.structures.asBuffer
import kotlin.jvm.Synchronized
import kotlin.math.ulp
import kotlin.native.concurrent.ThreadLocal
@ -57,7 +56,6 @@ public object GaussLegendreRuleFactory : GaussIntegratorRuleFactory {
private val cache = HashMap<Int, Pair<Buffer<Double>, Buffer<Double>>>()
@Synchronized
private fun getOrBuildRule(numPoints: Int): Pair<Buffer<Double>, Buffer<Double>> =
cache.getOrPut(numPoints) { buildRule(numPoints) }

45
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Euclidean3DSpace.kt
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@ -78,8 +78,11 @@ public object Euclidean3DSpace : GeometrySpace<DoubleVector3D>, ScaleOperations<
}
}
public fun vector(x: Double, y: Double, z: Double): DoubleVector3D =
Vector3DImpl(x, y, z)
public fun vector(x: Number, y: Number, z: Number): DoubleVector3D =
Vector3DImpl(x.toDouble(), y.toDouble(), z.toDouble())
vector(x.toDouble(), y.toDouble(), z.toDouble())
override val zero: DoubleVector3D by lazy { vector(0.0, 0.0, 0.0) }
@ -100,6 +103,46 @@ public object Euclidean3DSpace : GeometrySpace<DoubleVector3D>, ScaleOperations<
override fun DoubleVector3D.dot(other: DoubleVector3D): Double =
x * other.x + y * other.y + z * other.z
private fun leviCivita(i: Int, j: Int, k: Int): Int = when {
// even permutation
i == 0 && j == 1 && k == 2 -> 1
i == 1 && j == 2 && k == 0 -> 1
i == 2 && j == 0 && k == 1 -> 1
// odd permutations
i == 2 && j == 1 && k == 0 -> -1
i == 0 && j == 2 && k == 1 -> -1
i == 1 && j == 0 && k == 2 -> -1
else -> 0
}
/**
* Compute vector product of [first] and [second]. The basis assumed to be right-handed.
*/
public fun vectorProduct(
first: DoubleVector3D,
second: DoubleVector3D,
): DoubleVector3D {
var x = 0.0
var y = 0.0
var z = 0.0
for (j in (0..2)) {
for (k in (0..2)) {
x += leviCivita(0, j, k) * first[j] * second[k]
y += leviCivita(1, j, k) * first[j] * second[k]
z += leviCivita(2, j, k) * first[j] * second[k]
}
}
return vector(x, y, z)
}
/**
* Vector product with right basis
*/
public infix fun DoubleVector3D.cross(other: DoubleVector3D): Vector3D<Double> = vectorProduct(this, other)
public val xAxis: DoubleVector3D = vector(1.0, 0.0, 0.0)
public val yAxis: DoubleVector3D = vector(0.0, 1.0, 0.0)
public val zAxis: DoubleVector3D = vector(0.0, 0.0, 1.0)

26
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Line.kt
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@ -5,14 +5,23 @@
package space.kscience.kmath.geometry
import kotlinx.serialization.SerialName
import kotlinx.serialization.Serializable
/**
* A line formed by [base] vector of start and a [direction] vector. Direction vector is not necessarily normalized,
* A line formed by [start] vector of start and a [direction] vector. Direction vector is not necessarily normalized,
* but its length does not affect line properties
*/
public interface Line<out V : Vector> {
public val start: V
public val direction: V
}
@Serializable
public data class Line<out V : Vector>(val base: V, val direction: V)
@SerialName("Line")
private data class LineImpl<out V : Vector>(override val start: V, override val direction: V): Line<V>
public fun <V : Vector> Line(base: V, direction: V): Line<V> = LineImpl(base, direction)
public typealias Line2D = Line<DoubleVector2D>
public typealias Line3D = Line<DoubleVector3D>
@ -20,8 +29,19 @@ public typealias Line3D = Line<DoubleVector3D>
/**
* A directed line segment between [begin] and [end]
*/
public interface LineSegment<out V : Vector> {
public val begin: V
public val end: V
}
/**
* Basic implementation for [LineSegment]
*/
@Serializable
public data class LineSegment<out V : Vector>(val begin: V, val end: V)
@SerialName("LineSegment")
private data class LineSegmentImpl<out V : Vector>(override val begin: V, override val end: V) : LineSegment<V>
public fun <V : Vector> LineSegment(begin: V, end: V): LineSegment<V> = LineSegmentImpl(begin, end)
public fun <V : Vector> LineSegment<V>.line(algebra: GeometrySpace<V>): Line<V> = with(algebra) {
Line(begin, end - begin)

14
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Polygon.kt Normal file
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@ -0,0 +1,14 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.geometry
/**
* A closed polygon in 2D space
*/
public interface Polygon<T> {
public val points: List<Vector2D<T>>
}

2
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/projections.kt
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@ -13,7 +13,7 @@ package space.kscience.kmath.geometry
* @param line line to which vector should be projected
*/
public fun <V : Vector> GeometrySpace<V>.projectToLine(vector: V, line: Line<V>): V = with(line) {
base + (direction dot (vector - base)) / (direction dot direction) * direction
start + (direction dot (vector - start)) / (direction dot direction) * direction
}
/**

45
kmath-geometry/src/commonTest/kotlin/space/kscience/kmath/geometry/Euclidean3DSpaceTest.kt
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@ -57,23 +57,38 @@ internal class Euclidean3DSpaceTest {
}
@Test
fun add() {
with(Euclidean3DSpace) {
assertVectorEquals(
vector(1.0, -2.0, 0.001),
vector(1.0, -2.0, 0.001) + zero
)
assertVectorEquals(
vector(8.0, -3.0, 3.001),
vector(1.0, 2.0, 3.0) + vector(7.0, -5.0, 0.001)
)
}
fun add() = with(Euclidean3DSpace) {
assertVectorEquals(
vector(1.0, -2.0, 0.001),
vector(1.0, -2.0, 0.001) + zero
)
assertVectorEquals(
vector(8.0, -3.0, 3.001),
vector(1.0, 2.0, 3.0) + vector(7.0, -5.0, 0.001)
)
}
@Test
fun multiply() {
with(Euclidean3DSpace) {
assertVectorEquals(vector(2.0, -4.0, 0.0), vector(1.0, -2.0, 0.0) * 2)
}
fun multiply() = with(Euclidean3DSpace) {
assertVectorEquals(vector(2.0, -4.0, 0.0), vector(1.0, -2.0, 0.0) * 2)
}
@Test
fun vectorProduct() = with(Euclidean3DSpace) {
assertVectorEquals(zAxis, vectorProduct(xAxis, yAxis))
assertVectorEquals(zAxis, xAxis cross yAxis)
assertVectorEquals(-zAxis, vectorProduct(yAxis, xAxis))
}
@Test
fun doubleVectorProduct() = with(Euclidean3DSpace) {
val a = vector(1, 2, -3)
val b = vector(-1, 0, 1)
val c = vector(4, 5, 6)
val res = a cross (b cross c)
val expected = b * (a dot c) - c * (a dot b)
assertVectorEquals(expected, res)
}
}

4
kmath-geometry/src/commonTest/kotlin/space/kscience/kmath/geometry/ProjectionOntoLineTest.kt
View File

@ -63,7 +63,7 @@ internal class ProjectionOntoLineTest {
@Test
fun projectionOntoLine3d() = with(Euclidean3DSpace) {
val line = Line3D(
val line = Line(
base = vector(1.0, 3.5, 0.07),
direction = vector(2.0, -0.0037, 11.1111)
)
@ -77,7 +77,7 @@ internal class ProjectionOntoLineTest {
val result = projectToLine(v, line)
// assert that result is on the line
assertTrue(isCollinear(result - line.base, line.direction))
assertTrue(isCollinear(result - line.start, line.direction))
// assert that PV vector is orthogonal to direction vector
assertTrue(isOrthogonal(v - result, line.direction))
}

47
kmath-stat/src/commonMain/kotlin/space/kscience/kmath/series/MonotonicSeriesAlgebra.kt Normal file
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@ -0,0 +1,47 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.series
import space.kscience.kmath.operations.BufferAlgebra
import space.kscience.kmath.operations.Ring
import space.kscience.kmath.structures.Buffer
import kotlin.math.ceil
import kotlin.math.floor
/**
* A [SeriesAlgebra] with reverse label to index transformation.
*
* @param [labelToOffset] returns floating point number that is used for index resolution.
*/
public class MonotonicSeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L : Comparable<L>>(
bufferAlgebra: BA,
offsetToLabel: (Int) -> L,
private val labelToOffset: (L) -> Double,
) : SeriesAlgebra<T, A, BA, L>(bufferAlgebra, offsetToLabel) {
public val Buffer<T>.labelRange: ClosedRange<L> get() = offsetToLabel(startOffset)..offsetToLabel(startOffset + size)
/**
* An offset of the given [label] rounded down
*/
public fun floorOffset(label: L): Int = floor(labelToOffset(label)).toInt()
/**
* An offset of the given [label] rounded up
*/
public fun ceilOffset(label: L): Int = ceil(labelToOffset(label)).toInt()
/**
* Get value by label (rounded down) or return null if the value is outside series boundaries.
*/
public fun Buffer<T>.getByLabelOrNull(label: L): T? = getByOffsetOrNull(floorOffset(label))
/**
* Get value by label (rounded down) or throw [IndexOutOfBoundsException] if the value is outside series boundaries.
*/
public fun Buffer<T>.getByLabel(label: L): T = getByLabelOrNull(label)
?: throw IndexOutOfBoundsException("Label $label is not in $labelRange")
}

116
kmath-stat/src/commonMain/kotlin/space/kscience/kmath/series/SeriesAlgebra.kt
View File

@ -3,21 +3,17 @@ package space.kscience.kmath.series
import space.kscience.kmath.operations.BufferAlgebra
import space.kscience.kmath.operations.Ring
import space.kscience.kmath.operations.RingOps
import space.kscience.kmath.operations.reduce
import space.kscience.kmath.stat.StatisticalAlgebra
import space.kscience.kmath.structures.Buffer
import space.kscience.kmath.structures.BufferFactory
import space.kscience.kmath.structures.BufferView
import space.kscience.kmath.structures.getOrNull
import kotlin.math.max
import kotlin.math.min
// TODO: check if ranges are intersected
@PublishedApi
internal fun IntRange.intersect(other: IntRange): IntRange =
max(first, other.first)..min(last, other.last)
@PublishedApi
internal val IntRange.size: Int
get() = last - first + 1
@ -28,7 +24,9 @@ internal operator fun IntRange.contains(other: IntRange): Boolean = (other.first
//TODO add permutation sort
//TODO check rank statistics
/**
* A [Buffer] with an offset relative to the [SeriesAlgebra] zero.
*/
public interface Series<T> : Buffer<T> {
public val origin: Buffer<T>
@ -38,14 +36,9 @@ public interface Series<T> : Buffer<T> {
public val position: Int
}
public val <T> Series<T>.absoluteIndices: IntRange get() = position until position + size
/**
* A [BufferView] with index offset (both positive and negative) and possible size change
*/
private class SeriesImpl<T>(
override val origin: Buffer<T>,
override val position: Int,
@ -63,61 +56,75 @@ private class SeriesImpl<T>(
/**
* A scope to operation on series
*/
public class SeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L>(
public open class SeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L>(
override val bufferAlgebra: BA,
private val labelResolver: (Int) -> L,
public val offsetToLabel: (Int) -> L,
) : RingOps<Buffer<T>>, StatisticalAlgebra<T, A, BA> {
public val Buffer<T>.indices: IntRange
/**
* A range of valid offset indices. In general, does not start with zero.
*/
public val Buffer<T>.offsetIndices: IntRange
get() = if (this is Series) {
absoluteIndices
position until position + size
} else {
0 until size
}
/**
* Get the value by absolute index in the series algebra or return null if index is out of range
* Get the value by absolute offset in the series algebra or return null if index is out of range
*/
public fun Buffer<T>.getAbsoluteOrNull(index: Int): T? = when {
index !in indices -> null
this is Series -> origin[index - position]
else -> get(index)
public fun Buffer<T>.getByOffsetOrNull(index: Int): T? = when {
index !in offsetIndices -> null
this is Series -> origin.getOrNull(index - position)
else -> getOrNull(index)
}
/**
* Get the value by absolute index in the series algebra or throw [IndexOutOfBoundsException] if index is out of range
*/
public fun Buffer<T>.getAbsolute(index: Int): T =
getAbsoluteOrNull(index) ?: throw IndexOutOfBoundsException("Index $index is not in $indices")
public fun Buffer<T>.getByOffset(index: Int): T =
getByOffsetOrNull(index) ?: throw IndexOutOfBoundsException("Index $index is not in $offsetIndices")
/**
* Create an offset series with index starting point at [index]
* Zero-copy move [Buffer] or [Series] to given [position] ignoring series offset if it is present.
*/
public fun Buffer<T>.moveTo(index: Int): Series<T> = if (this is Series) {
SeriesImpl(origin, index, size)
public fun Buffer<T>.moveTo(position: Int): Series<T> = if (this is Series) {
SeriesImpl(origin, position, size)
} else {
SeriesImpl(this, index, size)
SeriesImpl(this, position, size)
}
public val Buffer<T>.offset: Int get() = if (this is Series) position else 0
/**
* Zero-copy move [Buffer] or [Series] by given [offset]. If it is [Series], sum intrinsic series position and the [offset].
*/
public fun Buffer<T>.moveBy(offset: Int): Series<T> = if (this is Series) {
SeriesImpl(origin, position + offset, size)
} else {
SeriesImpl(this, offset, size)
}
/**
* Build a new series
* An offset of the buffer start relative to [SeriesAlgebra] zero offset
*/
public fun series(size: Int, fromIndex: Int = 0, block: A.(label: L) -> T): Series<T> {
public val Buffer<T>.startOffset: Int get() = if (this is Series) position else 0
public val Buffer<T>.startLabel: L get() = offsetToLabel(startOffset)
/**
* Build a new series positioned at [startOffset].
*/
public fun series(size: Int, startOffset: Int = 0, block: A.(label: L) -> T): Series<T> {
return elementAlgebra.bufferFactory(size) {
val index = it + fromIndex
elementAlgebra.block(labelResolver(index))
}.moveTo(fromIndex)
val index = it + startOffset
elementAlgebra.block(offsetToLabel(index))
}.moveTo(startOffset)
}
/**
* Get a label buffer for given buffer.
*/
public val Buffer<T>.labels: List<L> get() = indices.map(labelResolver)
// TODO: there can be troubles with label consistency after moving position argument
// TODO: so offset should be reflected in the labelResolver also
public val Buffer<T>.labels: List<L> get() = offsetIndices.map(offsetToLabel)
/**
* Try to resolve element by label and return null if element with a given label is not found
@ -125,7 +132,7 @@ public class SeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L>(
public operator fun Buffer<T>.get(label: L): T? {
val index = labels.indexOf(label)
if (index == -1) return null
return getAbsolute(index + offset)
return getByOffset(index + startOffset)
}
/**
@ -133,9 +140,9 @@ public class SeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L>(
*/
public inline fun Buffer<T>.map(crossinline transform: A.(T) -> T): Series<T> {
val buf = elementAlgebra.bufferFactory(size) {
elementAlgebra.transform(getAbsolute(it))
elementAlgebra.transform(getByOffset(it))
}
return buf.moveTo(indices.first)
return buf.moveTo(offsetIndices.first)
}
/**
@ -144,59 +151,48 @@ public class SeriesAlgebra<T, out A : Ring<T>, out BA : BufferAlgebra<T, A>, L>(
public inline fun Buffer<T>.mapWithLabel(crossinline transform: A.(arg: T, label: L) -> T): Series<T> {
val labels = labels
val buf = elementAlgebra.bufferFactory(size) {
elementAlgebra.transform(getAbsolute(it), labels[it])
elementAlgebra.transform(getByOffset(it), labels[it])
}
return buf.moveTo(indices.first)
return buf.moveTo(offsetIndices.first)
}
public inline fun <R> Buffer<T>.fold(initial: R, operation: A.(acc: R, T) -> R): R {
var accumulator = initial
for (index in this.indices) accumulator = elementAlgebra.operation(accumulator, getAbsolute(index))
for (index in this.offsetIndices) accumulator = elementAlgebra.operation(accumulator, getByOffset(index))
return accumulator
}
public inline fun <R> Buffer<T>.foldWithLabel(initial: R, operation: A.(acc: R, arg: T, label: L) -> R): R {
val labels = labels
var accumulator = initial
for (index in this.indices) accumulator =
elementAlgebra.operation(accumulator, getAbsolute(index), labels[index])
for (index in this.offsetIndices) accumulator =
elementAlgebra.operation(accumulator, getByOffset(index), labels[index])
return accumulator
}
/**
* Zip two buffers in the range where they overlap
* Zip two buffers in the range whe they overlap
*/
public inline fun Buffer<T>.zip(
other: Buffer<T>,
crossinline operation: A.(left: T, right: T) -> T,
): Series<T> {
val newRange = indices.intersect(other.indices)
val newRange = offsetIndices.intersect(other.offsetIndices)
return elementAlgebra.bufferFactory(newRange.size) {
elementAlgebra.operation(
getAbsolute(it),
other.getAbsolute(it)
getByOffset(it),
other.getByOffset(it)
)
}.moveTo(newRange.first)
}
/**
* Zip buffer with itself, but shifted
* */
public inline fun Buffer<T>.shiftOp(
shift: Int = 1,
crossinline operation: A.(left: T, right: T) -> T
): Buffer<T> {
val shifted = this.moveTo(this.offset+shift)
return zip(shifted, operation)
}
override fun Buffer<T>.unaryMinus(): Buffer<T> = map { -it }
override fun add(left: Buffer<T>, right: Buffer<T>): Series<T> = left.zip(right) { l, r -> l + r }
override fun multiply(left: Buffer<T>, right: Buffer<T>): Buffer<T> = left.zip(right) { l, r -> l * r }
public inline fun Buffer<T>.diff(): Buffer<T> = this.shiftOp {l, r -> r - l}
public companion object
}
public fun <T, A : Ring<T>, BA : BufferAlgebra<T, A>, L> BA.seriesAlgebra(labels: Iterable<L>): SeriesAlgebra<T, A, BA, L> {

32
kmath-stat/src/commonMain/kotlin/space/kscience/kmath/series/seriesExtensions.kt
View File

@ -12,32 +12,32 @@ import space.kscience.kmath.structures.Buffer
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.sin(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.sin(arg).moveTo(arg.offset)
bufferAlgebra.sin(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.cos(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.cos(arg).moveTo(arg.offset)
bufferAlgebra.cos(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.tan(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.tan(arg).moveTo(arg.offset)
bufferAlgebra.tan(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.asin(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.asin(arg).moveTo(arg.offset)
bufferAlgebra.asin(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.acos(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.acos(arg).moveTo(arg.offset)
bufferAlgebra.acos(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.atan(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : TrigonometricOperations<Buffer<T>> =
bufferAlgebra.atan(arg).moveTo(arg.offset)
bufferAlgebra.atan(arg).moveTo(arg.startOffset)
//exponential
@ -45,42 +45,42 @@ public fun <T, BA> SeriesAlgebra<T, *, BA, *>.atan(
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.exp(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.exp(arg).moveTo(arg.offset)
bufferAlgebra.exp(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.ln(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.ln(arg).moveTo(arg.offset)
bufferAlgebra.ln(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.sinh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.sinh(arg).moveTo(arg.offset)
bufferAlgebra.sinh(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.cosh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.cosh(arg).moveTo(arg.offset)
bufferAlgebra.cosh(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.tanh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.tanh(arg).moveTo(arg.offset)
bufferAlgebra.tanh(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.asinh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.asinh(arg).moveTo(arg.offset)
bufferAlgebra.asinh(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.acosh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.acosh(arg).moveTo(arg.offset)
bufferAlgebra.acosh(arg).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.atanh(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : ExponentialOperations<Buffer<T>> =
bufferAlgebra.atanh(arg).moveTo(arg.offset)
bufferAlgebra.atanh(arg).moveTo(arg.startOffset)
//power
@ -89,9 +89,9 @@ public fun <T, BA> SeriesAlgebra<T, *, BA, *>.power(
arg: Buffer<T>,
pow: Number,
): Series<T> where BA : BufferAlgebra<T, *>, BA : PowerOperations<Buffer<T>> =
bufferAlgebra.power(arg, pow).moveTo(arg.offset)
bufferAlgebra.power(arg, pow).moveTo(arg.startOffset)
public fun <T, BA> SeriesAlgebra<T, *, BA, *>.sqrt(
arg: Buffer<T>,
): Series<T> where BA : BufferAlgebra<T, *>, BA : PowerOperations<Buffer<T>> =
bufferAlgebra.sqrt(arg).moveTo(arg.offset)
bufferAlgebra.sqrt(arg).moveTo(arg.startOffset)

34
kmath-trajectory/README.md
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@ -1,34 +0,0 @@
# kmath-trajectory
## Artifact:
The Maven coordinates of this project are `space.kscience:kmath-trajectory:0.3.1-dev-1`.
**Gradle Groovy:**
```groovy
repositories {
maven { url 'https://repo.kotlin.link' }
mavenCentral()
}
dependencies {
implementation 'space.kscience:kmath-trajectory:0.3.1-dev-1'
}
```
**Gradle Kotlin DSL:**
```kotlin
repositories {
maven("https://repo.kotlin.link")
mavenCentral()
}
dependencies {
implementation("space.kscience:kmath-trajectory:0.3.1-dev-1")
}
```
## Contributors
Erik Schouten (github: @ESchouten, email: erik-schouten@hotmail.nl)

21
kmath-trajectory/build.gradle.kts
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@ -1,21 +0,0 @@
plugins {
id("space.kscience.gradle.mpp")
}
kscience{
jvm()
js()
native()
useContextReceivers()
useSerialization()
dependencies {
api(projects.kmath.kmathGeometry)
}
}
readme {
description = "Path and trajectory optimization"
maturity = space.kscience.gradle.Maturity.PROTOTYPE
propertyByTemplate("artifact", rootProject.file("docs/templates/ARTIFACT-TEMPLATE.md"))
}

13
kmath-trajectory/docs/README-TEMPLATE.md
View File

@ -1,13 +0,0 @@
# kmath-trajectory
${features}
${artifact}
## Author
Erik Schouten
Github: ESchouten
Email: erik-schouten@hotmail.nl

255
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsPath.kt
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@ -1,255 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
import kotlin.math.acos
internal fun DubinsPose2D.getLeftCircle(radius: Double): Circle2D = getTangentCircles(radius).first
internal fun DubinsPose2D.getRightCircle(radius: Double): Circle2D = getTangentCircles(radius).second
internal fun DubinsPose2D.getTangentCircles(radius: Double): Pair<Circle2D, Circle2D> = with(Euclidean2DSpace) {
val dX = radius * cos(bearing)
val dY = radius * sin(bearing)
return Circle2D(vector(x - dX, y + dY), radius) to Circle2D(vector(x + dX, y - dY), radius)
}
internal fun leftOuterTangent(a: Circle2D, b: Circle2D): StraightTrajectory2D =
outerTangent(a, b, CircleTrajectory2D.Direction.LEFT)
internal fun rightOuterTangent(a: Circle2D, b: Circle2D): StraightTrajectory2D = outerTangent(
a, b,
CircleTrajectory2D.Direction.RIGHT
)
private fun outerTangent(a: Circle2D, b: Circle2D, side: CircleTrajectory2D.Direction): StraightTrajectory2D =
with(Euclidean2DSpace) {
val centers = StraightTrajectory2D(a.center, b.center)
val p1 = when (side) {
CircleTrajectory2D.Direction.LEFT -> vector(
a.center.x - a.radius * cos(centers.bearing),
a.center.y + a.radius * sin(centers.bearing)
)
CircleTrajectory2D.Direction.RIGHT -> vector(
a.center.x + a.radius * cos(centers.bearing),
a.center.y - a.radius * sin(centers.bearing)
)
}
return StraightTrajectory2D(
p1,
vector(p1.x + (centers.end.x - centers.start.x), p1.y + (centers.end.y - centers.start.y))
)
}
internal fun leftInnerTangent(base: Circle2D, direction: Circle2D): StraightTrajectory2D? =
innerTangent(base, direction, CircleTrajectory2D.Direction.LEFT)
internal fun rightInnerTangent(base: Circle2D, direction: Circle2D): StraightTrajectory2D? =
innerTangent(base, direction, CircleTrajectory2D.Direction.RIGHT)
private fun innerTangent(
base: Circle2D,
direction: Circle2D,
side: CircleTrajectory2D.Direction,
): StraightTrajectory2D? =
with(Euclidean2DSpace) {
val centers = StraightTrajectory2D(base.center, direction.center)
if (centers.length < base.radius * 2) return null
val angle = when (side) {
CircleTrajectory2D.Direction.LEFT -> centers.bearing + acos(base.radius * 2 / centers.length).radians
CircleTrajectory2D.Direction.RIGHT -> centers.bearing - acos(base.radius * 2 / centers.length).radians
}.normalized()
val dX = base.radius * sin(angle)
val dY = base.radius * cos(angle)
val p1 = vector(base.center.x + dX, base.center.y + dY)
val p2 = vector(direction.center.x - dX, direction.center.y - dY)
return StraightTrajectory2D(p1, p2)
}
@Suppress("DuplicatedCode")
public object DubinsPath {
public enum class Type {
RLR, LRL, RSR, LSL, RSL, LSR
}
/**
* Return Dubins trajectory type or null if trajectory is not a Dubins path
*/
public fun trajectoryTypeOf(trajectory2D: CompositeTrajectory2D): Type? {
if (trajectory2D.segments.size != 3) return null
val a = trajectory2D.segments.first() as? CircleTrajectory2D ?: return null
val b = trajectory2D.segments[1]
val c = trajectory2D.segments.last() as? CircleTrajectory2D ?: return null
return Type.valueOf(
arrayOf(
a.direction.name[0],
if (b is CircleTrajectory2D) b.direction.name[0] else 'S',
c.direction.name[0]
).toCharArray().concatToString()
)
}
public fun all(
start: DubinsPose2D,
end: DubinsPose2D,
turningRadius: Double,
): List<CompositeTrajectory2D> = listOfNotNull(
rlr(start, end, turningRadius),
lrl(start, end, turningRadius),
rsr(start, end, turningRadius),
lsl(start, end, turningRadius),
rsl(start, end, turningRadius),
lsr(start, end, turningRadius)
)
public fun shortest(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D =
all(start, end, turningRadius).minBy { it.length }
public fun rlr(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D? =
with(Euclidean2DSpace) {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val centers = StraightTrajectory2D(c1.center, c2.center)
if (centers.length > turningRadius * 4) return null
val firstVariant = run {
var theta = (centers.bearing - acos(centers.length / (turningRadius * 4)).radians).normalized()
var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta)
val p = vector(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle2D(p, turningRadius)
val p1 = vector(c1.center.x + dX, c1.center.y + dY)
theta = (centers.bearing + acos(centers.length / (turningRadius * 4)).radians).normalized()
dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta)
val p2 = vector(e.center.x + dX, e.center.y + dY)
val a1 = CircleTrajectory2D.of(c1.center, start, p1, CircleTrajectory2D.Direction.RIGHT)
val a2 = CircleTrajectory2D.of(e.center, p1, p2, CircleTrajectory2D.Direction.LEFT)
val a3 = CircleTrajectory2D.of(c2.center, p2, end, CircleTrajectory2D.Direction.RIGHT)
CompositeTrajectory2D(a1, a2, a3)
}
val secondVariant = run {
var theta = (centers.bearing + acos(centers.length / (turningRadius * 4)).radians).normalized()
var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta)
val p = vector(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle2D(p, turningRadius)
val p1 = vector(c1.center.x + dX, c1.center.y + dY)
theta = (centers.bearing - acos(centers.length / (turningRadius * 4)).radians).normalized()
dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta)
val p2 = vector(e.center.x + dX, e.center.y + dY)
val a1 = CircleTrajectory2D.of(c1.center, start, p1, CircleTrajectory2D.Direction.RIGHT)
val a2 = CircleTrajectory2D.of(e.center, p1, p2, CircleTrajectory2D.Direction.LEFT)
val a3 = CircleTrajectory2D.of(c2.center, p2, end, CircleTrajectory2D.Direction.RIGHT)
CompositeTrajectory2D(a1, a2, a3)
}
return if (firstVariant.length < secondVariant.length) firstVariant else secondVariant
}
public fun lrl(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D? =
with(Euclidean2DSpace) {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val centers = StraightTrajectory2D(c1.center, c2.center)
if (centers.length > turningRadius * 4) return null
val firstVariant = run {
var theta = (centers.bearing + acos(centers.length / (turningRadius * 4)).radians).normalized()
var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta)
val p = vector(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle2D(p, turningRadius)
val p1 = vector(c1.center.x + dX, c1.center.y + dY)
theta = (centers.bearing - acos(centers.length / (turningRadius * 4)).radians).normalized()
dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta)
val p2 = vector(e.center.x + dX, e.center.y + dY)
val a1 = CircleTrajectory2D.of(c1.center, start, p1, CircleTrajectory2D.Direction.LEFT)
val a2 = CircleTrajectory2D.of(e.center, p1, p2, CircleTrajectory2D.Direction.RIGHT)
val a3 = CircleTrajectory2D.of(c2.center, p2, end, CircleTrajectory2D.Direction.LEFT)
CompositeTrajectory2D(a1, a2, a3)
}
val secondVariant = run {
var theta = (centers.bearing - acos(centers.length / (turningRadius * 4)).radians).normalized()
var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta)
val p = vector(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle2D(p, turningRadius)
val p1 = vector(c1.center.x + dX, c1.center.y + dY)
theta = (centers.bearing + acos(centers.length / (turningRadius * 4)).radians).normalized()
dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta)
val p2 = vector(e.center.x + dX, e.center.y + dY)
val a1 = CircleTrajectory2D.of(c1.center, start, p1, CircleTrajectory2D.Direction.LEFT)
val a2 = CircleTrajectory2D.of(e.center, p1, p2, CircleTrajectory2D.Direction.RIGHT)
val a3 = CircleTrajectory2D.of(c2.center, p2, end, CircleTrajectory2D.Direction.LEFT)
CompositeTrajectory2D(a1, a2, a3)
}
return if (firstVariant.length < secondVariant.length) firstVariant else secondVariant
}
public fun rsr(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val s = leftOuterTangent(c1, c2)
val a1 = CircleTrajectory2D.of(c1.center, start, s.start, CircleTrajectory2D.Direction.RIGHT)
val a3 = CircleTrajectory2D.of(c2.center, s.end, end, CircleTrajectory2D.Direction.RIGHT)
return CompositeTrajectory2D(a1, s, a3)
}
public fun lsl(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val s = rightOuterTangent(c1, c2)
val a1 = CircleTrajectory2D.of(c1.center, start, s.start, CircleTrajectory2D.Direction.LEFT)
val a3 = CircleTrajectory2D.of(c2.center, s.end, end, CircleTrajectory2D.Direction.LEFT)
return CompositeTrajectory2D(a1, s, a3)
}
public fun rsl(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D? {
val c1 = start.getRightCircle(turningRadius)
val c2 = end.getLeftCircle(turningRadius)
val s = rightInnerTangent(c1, c2)
if (s == null || c1.center.distanceTo(c2.center) < turningRadius * 2) return null
val a1 = CircleTrajectory2D.of(c1.center, start, s.start, CircleTrajectory2D.Direction.RIGHT)
val a3 = CircleTrajectory2D.of(c2.center, s.end, end, CircleTrajectory2D.Direction.LEFT)
return CompositeTrajectory2D(a1, s, a3)
}
public fun lsr(start: DubinsPose2D, end: DubinsPose2D, turningRadius: Double): CompositeTrajectory2D? {
val c1 = start.getLeftCircle(turningRadius)
val c2 = end.getRightCircle(turningRadius)
val s = leftInnerTangent(c1, c2)
if (s == null || c1.center.distanceTo(c2.center) < turningRadius * 2) return null
val a1 = CircleTrajectory2D.of(c1.center, start, s.start, CircleTrajectory2D.Direction.LEFT)
val a3 = CircleTrajectory2D.of(c2.center, s.end, end, CircleTrajectory2D.Direction.RIGHT)
return CompositeTrajectory2D(a1, s, a3)
}
}
public fun interface MaxCurvature {
public fun compute(startPoint: PhaseVector2D): Double
}
public fun DubinsPath.shortest(
start: PhaseVector2D,
end: PhaseVector2D,
maxCurvature: MaxCurvature,
): CompositeTrajectory2D = shortest(start, end, maxCurvature.compute(start))

61
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsPose2D.kt
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@ -1,61 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
@file:UseSerializers(Euclidean2DSpace.VectorSerializer::class)
package space.kscience.kmath.trajectory
import kotlinx.serialization.KSerializer
import kotlinx.serialization.SerialName
import kotlinx.serialization.Serializable
import kotlinx.serialization.UseSerializers
import kotlinx.serialization.descriptors.SerialDescriptor
import kotlinx.serialization.encoding.Decoder
import kotlinx.serialization.encoding.Encoder
import space.kscience.kmath.geometry.*
import kotlin.math.atan2
/**
* Combination of [Vector] and its view angle (clockwise from positive y-axis direction)
*/
@Serializable(DubinsPose2DSerializer::class)
public interface DubinsPose2D : DoubleVector2D {
public val coordinates: DoubleVector2D
public val bearing: Angle
}
@Serializable
public class PhaseVector2D(
override val coordinates: DoubleVector2D,
public val velocity: DoubleVector2D,
) : DubinsPose2D, DoubleVector2D by coordinates {
override val bearing: Angle get() = atan2(velocity.x, velocity.y).radians
}
@Serializable
@SerialName("DubinsPose2D")
private class DubinsPose2DImpl(
override val coordinates: DoubleVector2D,
override val bearing: Angle,
) : DubinsPose2D, DoubleVector2D by coordinates{
override fun toString(): String = "DubinsPose2D(x=$x, y=$y, bearing=$bearing)"
}
public object DubinsPose2DSerializer: KSerializer<DubinsPose2D>{
private val proxySerializer = DubinsPose2DImpl.serializer()
override val descriptor: SerialDescriptor
get() = proxySerializer.descriptor
override fun deserialize(decoder: Decoder): DubinsPose2D {
return decoder.decodeSerializableValue(proxySerializer)
}
override fun serialize(encoder: Encoder, value: DubinsPose2D) {
val pose = value as? DubinsPose2DImpl ?: DubinsPose2DImpl(value.coordinates, value.bearing)
encoder.encodeSerializableValue(proxySerializer, pose)
}
}
public fun DubinsPose2D(coordinate: DoubleVector2D, theta: Angle): DubinsPose2D = DubinsPose2DImpl(coordinate, theta)

117
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt
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@ -1,117 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
@file:UseSerializers(Euclidean2DSpace.VectorSerializer::class)
package space.kscience.kmath.trajectory
import kotlinx.serialization.SerialName
import kotlinx.serialization.Serializable
import kotlinx.serialization.UseSerializers
import space.kscience.kmath.geometry.*
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
import kotlin.math.atan2
@Serializable
public sealed interface Trajectory2D {
public val length: Double
}
/**
* Straight path segment. The order of start and end defines the direction
*/
@Serializable
@SerialName("straight")
public data class StraightTrajectory2D(
public val start: DoubleVector2D,
public val end: DoubleVector2D,
) : Trajectory2D {
override val length: Double get() = start.distanceTo(end)
public val bearing: Angle get() = (atan2(end.x - start.x, end.y - start.y).radians).normalized()
}
/**
* An arc segment
*/
@Serializable
@SerialName("arc")
public data class CircleTrajectory2D(
public val circle: Circle2D,
public val start: DubinsPose2D,
public val end: DubinsPose2D,
) : Trajectory2D {
public enum class Direction {
LEFT, RIGHT
}
/**
* Arc length in radians
*/
val arcLength: Angle
get() = if (direction == Direction.LEFT) {
start.bearing - end.bearing
} else {
end.bearing - start.bearing
}.normalized()
override val length: Double by lazy {
circle.radius * arcLength.radians
}
public val direction: Direction by lazy {
if (start.y < circle.center.y) {
if (start.bearing > Angle.pi) Direction.RIGHT else Direction.LEFT
} else if (start.y > circle.center.y) {
if (start.bearing < Angle.pi) Direction.RIGHT else Direction.LEFT
} else {
if (start.bearing == Angle.zero) {
if (start.x < circle.center.x) Direction.RIGHT else Direction.LEFT
} else {
if (start.x > circle.center.x) Direction.RIGHT else Direction.LEFT
}
}
}
public companion object {
public fun of(
center: DoubleVector2D,
start: DoubleVector2D,
end: DoubleVector2D,
direction: Direction,
): CircleTrajectory2D {
fun calculatePose(
vector: DoubleVector2D,
theta: Angle,
direction: Direction,
): DubinsPose2D = DubinsPose2D(
vector,
when (direction) {
Direction.LEFT -> (theta - Angle.piDiv2).normalized()
Direction.RIGHT -> (theta + Angle.piDiv2).normalized()
}
)
val s1 = StraightTrajectory2D(center, start)
val s2 = StraightTrajectory2D(center, end)
val pose1 = calculatePose(start, s1.bearing, direction)
val pose2 = calculatePose(end, s2.bearing, direction)
val trajectory = CircleTrajectory2D(Circle2D(center, s1.length), pose1, pose2)
if (trajectory.direction != direction) error("Trajectory direction mismatch")
return trajectory
}
}
}
@Serializable
@SerialName("composite")
public class CompositeTrajectory2D(public val segments: List<Trajectory2D>) : Trajectory2D {
override val length: Double get() = segments.sumOf { it.length }
}
public fun CompositeTrajectory2D(vararg segments: Trajectory2D): CompositeTrajectory2D =
CompositeTrajectory2D(segments.toList())

60
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/tangent.kt
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@ -1,60 +0,0 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory
import space.kscience.kmath.geometry.*
import kotlin.math.*
/**
* Create inner and outer tangents between two circles.
* This method returns a map of segments using [DubinsPath] connection type notation.
*/
public fun Circle2D.tangentsToCircle(
other: Circle2D,
): Map<DubinsPath.Type, LineSegment<DoubleVector2D>> = with(Euclidean2DSpace) {
//return empty map for concentric circles
if(center.equalsVector(other.center)) return@tangentsToCircle emptyMap()
// A line connecting centers
val line = LineSegment(center, other.center)
// Distance between centers
val distance = line.begin.distanceTo(line.end)
val angle1 = atan2(other.center.x - center.x, other.center.y - center.y)
var angle2: Double
val routes = mapOf(
DubinsPath.Type.RSR to Pair(radius, other.radius),
DubinsPath.Type.RSL to Pair(radius, -other.radius),
DubinsPath.Type.LSR to Pair(-radius, other.radius),
DubinsPath.Type.LSL to Pair(-radius, -other.radius)
)
return buildMap {
for ((route, r1r2) in routes) {
val r1 = r1r2.first
val r2 = r1r2.second
val r = if (r1.sign == r2.sign) {
r1.absoluteValue - r2.absoluteValue
} else {
r1.absoluteValue + r2.absoluteValue
}
if (distance <= r) TODO("Intersecting circles are not supported yet")
val l = sqrt(distance * distance - r * r)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, l)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, l)
}
val w = vector(-cos(angle2), sin(angle2))
put(
route,
LineSegment(
center + w * r1,
other.center + w * r2
)
)
}
}
}

77
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
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@ -1,77 +0,0 @@
/*
* Copyright 2018-2023 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.LineSegment
import space.kscience.kmath.geometry.equalsLine
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
class TangentTest {
@Test
fun tangents() {
val c1 = Circle2D(vector(0.0, 0.0), 1.0)
val c2 = Circle2D(vector(4.0, 0.0), 1.0)
val routes = listOf(
DubinsPath.Type.RSR,
DubinsPath.Type.RSL,
DubinsPath.Type.LSR,
DubinsPath.Type.LSL
)
val segments = listOf(
LineSegment(
begin = vector(0.0, 1.0),
end = vector(4.0, 1.0)
),
LineSegment(
begin = vector(0.5, 0.8660254),
end = vector(3.5, -0.8660254)
),
LineSegment(
begin = vector(0.5, -0.8660254),
end = vector(3.5, 0.8660254)
),
LineSegment(
begin = vector(0.0, -1.0),
end = vector(4.0, -1.0)
)
)
val tangentMap = c1.tangentsToCircle(c2)
val tangentMapKeys = tangentMap.keys.toList()
val tangentMapValues = tangentMap.values.toList()
assertEquals(routes, tangentMapKeys)
for (i in segments.indices) {
assertTrue(segments[i].equalsLine(Euclidean2DSpace, tangentMapValues[i]))
}
}
@Test
fun concentric(){
val c1 = Circle2D(vector(0.0, 0.0), 10.0)
val c2 = Circle2D(vector(0.0, 0.0), 1.0)
assertEquals(emptyMap(), c1.tangentsToCircle(c2))
}
//
// @Test
// fun nonExistingTangents() {
// assertFailsWith<NotImplementedError> {
// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
// val c2 = Circle2D(vector(2.0, 0.0), 1.0)
// c1.tangentsToCircle(c2)
// }
// assertFailsWith<NotImplementedError> {
// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
// val c2 = Circle2D(vector(0.5, 0.0), 1.0)
// c1.tangentsToCircle(c2)
// }
// }
}

62
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt
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@ -1,62 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory.dubins
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.equalsFloat
import space.kscience.kmath.trajectory.*
import kotlin.test.Test
import kotlin.test.assertNotNull
import kotlin.test.assertTrue
class DubinsTests {
@Test
fun dubinsTest() = with(Euclidean2DSpace){
val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
val lineP1 = straight.shift(1, 10.0).inverse()
val start = DubinsPose2D(straight.end, straight.bearing)
val end = DubinsPose2D(lineP1.start, lineP1.bearing)
val radius = 2.0
val dubins = DubinsPath.all(start, end, radius)
val absoluteDistance = start.distanceTo(end)
println("Absolute distance: $absoluteDistance")
val expectedLengths = mapOf(
DubinsPath.Type.RLR to 13.067681939031397,
DubinsPath.Type.RSR to 12.28318530717957,
DubinsPath.Type.LSL to 32.84955592153878,
DubinsPath.Type.RSL to 23.37758938854081,
DubinsPath.Type.LSR to 23.37758938854081
)
expectedLengths.forEach {
val path = dubins.find { p -> DubinsPath.trajectoryTypeOf(p) === it.key }
assertNotNull(path, "Path ${it.key} not found")
println("${it.key}: ${path.length}")
assertTrue(it.value.equalsFloat(path.length))
val a = path.segments[0] as CircleTrajectory2D
val b = path.segments[1]
val c = path.segments[2] as CircleTrajectory2D
assertTrue(start.equalsFloat(a.start))
assertTrue(end.equalsFloat(c.end))
// Not working, theta double precision inaccuracy
if (b is CircleTrajectory2D) {
assertTrue(a.end.equalsFloat(b.start))
assertTrue(c.start.equalsFloat(b.end))
} else if (b is StraightTrajectory2D) {
assertTrue(a.end.equalsFloat(DubinsPose2D(b.start, b.bearing)))
assertTrue(c.start.equalsFloat(DubinsPose2D(b.end, b.bearing)))
}
}
}
}

27
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/math.kt
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@ -1,27 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.equalsFloat
import space.kscience.kmath.geometry.radians
import space.kscience.kmath.geometry.sin
fun DubinsPose2D.equalsFloat(other: DubinsPose2D) =
x.equalsFloat(other.x) && y.equalsFloat(other.y) && bearing.radians.equalsFloat(other.bearing.radians)
fun StraightTrajectory2D.inverse() = StraightTrajectory2D(end, start)
fun StraightTrajectory2D.shift(shift: Int, width: Double): StraightTrajectory2D = with(Euclidean2DSpace) {
val dX = width * sin(inverse().bearing)
val dY = width * sin(bearing)
return StraightTrajectory2D(
vector(start.x - dX * shift, start.y - dY * shift),
vector(end.x - dX * shift, end.y - dY * shift)
)
}

31
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt
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@ -1,31 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory.segments
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.circumference
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.trajectory.CircleTrajectory2D
import kotlin.test.Test
import kotlin.test.assertEquals
class ArcTests {
@Test
fun arcTest() = with(Euclidean2DSpace){
val circle = Circle2D(vector(0.0, 0.0), 2.0)
val arc = CircleTrajectory2D.of(
circle.center,
vector(-2.0, 0.0),
vector(0.0, 2.0),
CircleTrajectory2D.Direction.RIGHT
)
assertEquals(circle.circumference / 4, arc.length, 1.0)
assertEquals(0.0, arc.start.bearing.degrees)
assertEquals(90.0, arc.end.bearing.degrees)
}
}

24
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt
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@ -1,24 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory.segments
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.circumference
import kotlin.test.Test
import kotlin.test.assertEquals
class CircleTests {
@Test
fun arcTest() {
val center = Euclidean2DSpace.vector(0.0, 0.0)
val radius = 2.0
val expectedCircumference = 12.56637
val circle = Circle2D(center, radius)
assertEquals(expectedCircumference, circle.circumference, 1e-4)
}
}

37
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/LineTests.kt
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@ -1,37 +0,0 @@
/*
* Copyright 2018-2022 KMath contributors.
* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
*/
package space.kscience.kmath.trajectory.segments
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.degrees
import space.kscience.kmath.trajectory.StraightTrajectory2D
import kotlin.math.pow
import kotlin.math.sqrt
import kotlin.test.Test
import kotlin.test.assertEquals
class LineTests {
@Test
fun lineTest() = with(Euclidean2DSpace){
val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
assertEquals(sqrt(100.0.pow(2) + 100.0.pow(2)), straight.length)
assertEquals(45.0, straight.bearing.degrees)
}
@Test
fun lineAngleTest() = with(Euclidean2DSpace){
//val zero = Vector2D(0.0, 0.0)
val north = StraightTrajectory2D(zero, vector(0.0, 2.0))
assertEquals(0.0, north.bearing.degrees)
val east = StraightTrajectory2D(zero, vector(2.0, 0.0))
assertEquals(90.0, east.bearing.degrees)
val south = StraightTrajectory2D(zero, vector(0.0, -2.0))
assertEquals(180.0, south.bearing.degrees)
val west = StraightTrajectory2D(zero, vector(-2.0, 0.0))
assertEquals(270.0, west.bearing.degrees)
}
}

1
settings.gradle.kts
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@ -44,7 +44,6 @@ include(
":kmath-jupyter",
":kmath-symja",
":kmath-jafama",
":kmath-trajectory",
":examples",
":benchmarks",
)