search for shortest path algorithm
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@ -255,7 +255,6 @@ private fun constructTangentCircles(point: DoubleVector2D,
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val center1 = point + normalVectors(direction, r).first
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val center1 = point + normalVectors(direction, r).first
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val center2 = point + normalVectors(direction, r).second
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val center2 = point + normalVectors(direction, r).second
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val p1 = center1 - point
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val p1 = center1 - point
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val p2 = center2 - point
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return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) {
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return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) {
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mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r),
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mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r),
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DubinsPath.SimpleType.R to Circle2D(center2, r))
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DubinsPath.SimpleType.R to Circle2D(center2, r))
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