search for shortest path algorithm
This commit is contained in:
Artyom Degtyarev
parent
6288eb9d97
commit
61d43ae5fa
@ -276,7 +276,7 @@ public fun tangentsAlongTheObstacle(initialCircle: Circle2D,
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public fun allFinished(paths: List<List<DubinsTangent>>,
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finalObstacle: DubinsObstacle): Boolean {
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for (path in paths) {
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if (path[-1].endObstacle != finalObstacle) {
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if (path.last().endObstacle != finalObstacle) {
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return false
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}
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}
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@ -296,8 +296,8 @@ public fun pathLength(path: List<DubinsTangent>): Double {
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return tangentsLength + arcsLength
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}
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public fun shortestPath(path: List<List<DubinsTangent>>): List<List<DubinsTangent>> {
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return path.sortedBy { pathLength(it) }
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public fun shortestPath(path: List<List<DubinsTangent>>): List<DubinsTangent> {
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return path.sortedBy { pathLength(it) }[0]
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}
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public typealias Path = List<DubinsTangent>
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@ -309,7 +309,7 @@ public fun findAllPaths(
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finalDirection: DoubleVector2D,
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finalRadius: Double,
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obstacles: List<DubinsObstacle>
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) {
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): List<MutableList<DubinsTangent>> {
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val initialCircles = constructTangentCircles(
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startingPoint,
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startingDirection,
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@ -318,15 +318,15 @@ public fun findAllPaths(
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finalPoint,
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finalDirection,
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finalRadius)
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var outputTangents = mutableMapOf<PathTypes, List<Path>>()
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var outputTangents = mutableMapOf<PathTypes, MutableList<MutableList<DubinsTangent>>>()
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for (i in listOf(DubinsPath.SimpleType.L, DubinsPath.SimpleType.R)) {
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for (j in listOf(DubinsPath.SimpleType.L, DubinsPath.SimpleType.R)) {
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val finalCircle = finalCircles[j]!!
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val finalObstacle = DubinsObstacle(listOf(finalCircle))
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outputTangents[listOf(i,
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DubinsPath.SimpleType.S,
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j)] = listOf(
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listOf(DubinsTangent(
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j)] = mutableListOf(
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mutableListOf(DubinsTangent(
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initialCircles[i]!!,
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initialCircles[i]!!,
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DubinsObstacle(listOf(initialCircles[i]!!)),
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@ -338,13 +338,13 @@ public fun findAllPaths(
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while (!allFinished(outputTangents[listOf(i,
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DubinsPath.SimpleType.S,
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j)]!!, finalObstacle)) {
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var newOutputTangents = listOf<Path>()
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var newOutputTangents = mutableListOf<MutableList<DubinsTangent>>()
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for (line in outputTangents[listOf(i,
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DubinsPath.SimpleType.S,
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j)]!!) {
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var currentCircle = line[-1].endCircle
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var currentDirection = line[-1].route[-1]
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var currentObstacle = line[-1].endObstacle
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var currentCircle = line.last().endCircle
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var currentDirection = line.last().route.last()
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var currentObstacle = line.last().endObstacle
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var nextObstacle = DubinsObstacle(listOf())
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if (currentObstacle != finalObstacle) {
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var tangentToFinal = outerTangents(currentObstacle, finalObstacle)[DubinsPath.toType(listOf(
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@ -362,20 +362,7 @@ public fun findAllPaths(
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nextObstacle = finalObstacle
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}
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var nextTangents = outerTangents(currentObstacle, nextObstacle)
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// for (pathType in listOf(
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// listOf(DubinsPath.SimpleType.L,
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// DubinsPath.SimpleType.S,
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// DubinsPath.SimpleType.L),
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// listOf(DubinsPath.SimpleType.L,
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// DubinsPath.SimpleType.S,
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// DubinsPath.SimpleType.R),
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// listOf(DubinsPath.SimpleType.R,
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// DubinsPath.SimpleType.S,
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// DubinsPath.SimpleType.L),
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// listOf(DubinsPath.SimpleType.R,
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// DubinsPath.SimpleType.S,
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// DubinsPath.SimpleType.R)
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// )) {
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for (pathType in nextTangents.keys) {
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for (obstacle in obstacles) {
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// in Python code here try/except was used, but seems unneeded
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@ -396,12 +383,117 @@ public fun findAllPaths(
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nextTangents.filter {(DubinsPath.toSimpleTypes(it.key)[0] == currentDirection)}
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as MutableMap<DubinsPath.Type, DubinsTangent>
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}
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TODO("rewrite fragment from Python")
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val tangentsAlong = mutableListOf<DubinsTangent>()
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for (tangent in nextTangents.values) {
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if (tangent.startCircle == line.last().endCircle) {
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val lengthMaxPossible = arcLength(
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tangent.startCircle,
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line.last().lineSegment.end,
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tangent.startObstacle.nextTangent(
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tangent.startCircle,
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DubinsPath.toType(listOf(currentDirection, DubinsPath.SimpleType.S, currentDirection)),
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).lineSegment.begin,
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currentDirection
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)
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val lengthCalculated = arcLength(
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tangent.startCircle,
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line.last().lineSegment.end,
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tangent.lineSegment.begin,
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currentDirection)
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if (lengthCalculated > lengthMaxPossible) {
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val tangentsAlong = tangentsAlongTheObstacle(
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currentCircle,
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DubinsPath.toType(listOf(
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currentDirection,
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DubinsPath.SimpleType.S,
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currentDirection)),
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tangent.startCircle,
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currentObstacle
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)
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}
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else {
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val tangentsAlong = mutableListOf<DubinsTangent>()
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}
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}
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else {
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val tangentsAlong = tangentsAlongTheObstacle(
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currentCircle,
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DubinsPath.toType(listOf(
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currentDirection,
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DubinsPath.SimpleType.S,
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currentDirection)),
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tangent.startCircle,
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currentObstacle
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)
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}
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newOutputTangents.add((line + tangentsAlong + listOf(tangent)).toMutableList())
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}
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outputTangents[listOf(
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i,
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DubinsPath.SimpleType.S,
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j
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)] = newOutputTangents
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}
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else {
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// minor changes from Python code
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newOutputTangents.add(line)
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outputTangents[listOf(
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i,
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DubinsPath.SimpleType.S,
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j
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)] = newOutputTangents
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}
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}
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}
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for (lineId in outputTangents[listOf(
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i,
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DubinsPath.SimpleType.S,
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j
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)]!!.indices) {
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val lastDirection = outputTangents[listOf(
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i,
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DubinsPath.SimpleType.S,
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j
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)]!![lineId].last().route[2]
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outputTangents[listOf(
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i,
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DubinsPath.SimpleType.S,
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j
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)]!![lineId].add(DubinsTangent(
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finalCircles[j]!!,
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finalCircles[j]!!,
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DubinsObstacle(
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listOf(finalCircles[j]!!)
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),
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DubinsObstacle(
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listOf(finalCircles[j]!!)
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),
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LineSegment2D(finalPoint, finalPoint),
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listOf(
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lastDirection,
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DubinsPath.SimpleType.S,
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j
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)
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))
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}
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}
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}
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return outputTangents[listOf(
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DubinsPath.SimpleType.L,
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DubinsPath.SimpleType.S,
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DubinsPath.SimpleType.L
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)]!! + outputTangents[listOf(
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DubinsPath.SimpleType.L,
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DubinsPath.SimpleType.S,
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DubinsPath.SimpleType.R
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)]!! + outputTangents[listOf(
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DubinsPath.SimpleType.R,
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DubinsPath.SimpleType.S,
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DubinsPath.SimpleType.L
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)]!! + outputTangents[listOf(
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DubinsPath.SimpleType.R,
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DubinsPath.SimpleType.S,
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DubinsPath.SimpleType.L)]!!
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}
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@ -39,22 +39,76 @@ public fun Circle2D.tangentsToCircle(
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} else {
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r1.absoluteValue + r2.absoluteValue
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}
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if (distance <= r) TODO("Intersecting circles are not supported yet")
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val l = sqrt(distance * distance - r * r)
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angle2 = if (r1.absoluteValue > r2.absoluteValue) {
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angle1 + r1.sign * atan2(r.absoluteValue, l)
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} else {
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angle1 - r2.sign * atan2(r.absoluteValue, l)
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}
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val w = vector(-cos(angle2), sin(angle2))
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put(
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route,
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LineSegment(
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center + w * r1,
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other.center + w * r2
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if (distance * distance >= r * r) {
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val l = sqrt(distance * distance - r * r)
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angle2 = if (r1.absoluteValue > r2.absoluteValue) {
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angle1 + r1.sign * atan2(r.absoluteValue, l)
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} else {
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angle1 - r2.sign * atan2(r.absoluteValue, l)
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}
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val w = Euclidean2DSpace.vector(-cos(angle2), sin(angle2))
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put(
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route,
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LineSegment(
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center + w * r1,
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other.center + w * r2
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)
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)
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)
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} else {
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throw Exception("Circles should not intersect")
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}
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}
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}
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}
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public fun dubinsTangentsToCircles(
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firstCircle: Circle2D,
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secondCircle: Circle2D,
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firstObstacle: DubinsObstacle,
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secondObstacle: DubinsObstacle
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): Map<DubinsPath.Type, DubinsTangent> = with(Euclidean2DSpace) {
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val line = LineSegment(firstCircle.center, secondCircle.center)
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val distance = line.begin.distanceTo(line.end)
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val angle1 = atan2(secondCircle.center.x - firstCircle.center.x,
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secondCircle.center.y - firstCircle.center.y)
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var r: Double
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var angle2: Double
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val routes = mapOf(
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DubinsPath.Type.RSR to Pair(firstCircle.radius, secondCircle.radius),
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DubinsPath.Type.RSL to Pair(firstCircle.radius, -secondCircle.radius),
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DubinsPath.Type.LSR to Pair(-firstCircle.radius, secondCircle.radius),
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DubinsPath.Type.LSL to Pair(-firstCircle.radius, -secondCircle.radius)
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)
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return buildMap {
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for ((route, r1r2) in routes) {
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val r1 = r1r2.first
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val r2 = r1r2.second
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r = if (r1.sign == r2.sign) {
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r1.absoluteValue - r2.absoluteValue
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} else {
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r1.absoluteValue + r2.absoluteValue
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}
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if (distance * distance >= r * r) {
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val l = sqrt(distance * distance - r * r)
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angle2 = if (r1.absoluteValue > r2.absoluteValue) {
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angle1 + r1.sign * atan2(r.absoluteValue, l)
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} else {
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angle1 - r2.sign * atan2(r.absoluteValue, l)
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}
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val w = Euclidean2DSpace.vector(-cos(angle2), sin(angle2))
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put(route, DubinsTangent(Circle2D(firstCircle.center, firstCircle.radius),
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secondCircle,
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firstObstacle,
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secondObstacle,
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LineSegment2D(
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firstCircle.center + w * r1,
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secondCircle.center + w * r2
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),
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DubinsPath.toSimpleTypes(route))
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)
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} else {
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throw Exception("Circles should not intersect")
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}
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}
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}
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}
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@ -0,0 +1,39 @@
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/*
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* Copyright 2018-2023 KMath contributors.
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* Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
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*/
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package space.kscience.kmath.trajectory
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import space.kscience.kmath.geometry.Circle2D
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import space.kscience.kmath.geometry.DoubleVector2D
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import kotlin.test.Test
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import kotlin.test.assertTrue
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class DubinsTest {
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@Test
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fun firstPath() {
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val startPoint = vector(-5.0, -1.0)
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val startDirection = vector(1.0, 1.0)
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val startRadius = 0.5
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val finalPoint = vector(20.0, 4.0)
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val finalDirection = vector(1.0, -1.0)
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val finalRadius = 0.5
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val obstacles = listOf(DubinsObstacle(listOf(
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Circle2D(vector(7.0, 1.0), 5.0))))
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val outputTangents = findAllPaths(
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startPoint,
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startDirection,
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startRadius,
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finalPoint,
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finalDirection,
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finalRadius,
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obstacles)
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val length = pathLength(shortestPath(outputTangents))
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TODO("fix negative indices in boundaryTangents and accomplish test")
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assertTrue(false)
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}
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}
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