Merge branch 'dev' of https://git.jetbrains.space/spc/sci/kmath into artdegt
# Conflicts: # kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/tangent.kt
This commit is contained in:
commit
6288eb9d97
@ -9,7 +9,7 @@ kotlin.native.ignoreDisabledTargets=true
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org.gradle.configureondemand=true
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org.gradle.jvmargs=-Xmx4096m
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toolsVersion=0.14.0-kotlin-1.8.10
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toolsVersion=0.14.2-kotlin-1.8.10
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org.gradle.parallel=true
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@ -6,9 +6,6 @@
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package space.kscience.kmath.trajectory
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import space.kscience.kmath.geometry.*
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import space.kscience.kmath.geometry.Euclidean2DSpace.plus
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import space.kscience.kmath.geometry.Euclidean2DSpace.times
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import space.kscience.kmath.operations.DoubleField.pow
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import kotlin.math.*
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/**
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@ -17,11 +14,15 @@ import kotlin.math.*
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*/
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public fun Circle2D.tangentsToCircle(
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other: Circle2D,
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): Map<DubinsPath.Type, LineSegment2D> = with(Euclidean2DSpace) {
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): Map<DubinsPath.Type, LineSegment<DoubleVector2D>> = with(Euclidean2DSpace) {
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//return empty map for concentric circles
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if(center.equalsVector(other.center)) return@tangentsToCircle emptyMap()
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// A line connecting centers
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val line = LineSegment(center, other.center)
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val d = line.begin.distanceTo(line.end)
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// Distance between centers
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val distance = line.begin.distanceTo(line.end)
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val angle1 = atan2(other.center.x - center.x, other.center.y - 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(radius, other.radius),
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@ -33,82 +34,27 @@ public fun Circle2D.tangentsToCircle(
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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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val 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 (d * d > r * r) {
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val l = (d * d - r * r).pow(0.5)
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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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LineSegment2D(
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center + w * r1,
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other.center + w * r2
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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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)
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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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)
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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 d = 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 (d * d > r * r) {
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val l = (d * d - r * r).pow(0.5)
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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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@ -13,7 +13,6 @@ import space.kscience.kmath.geometry.equalsLine
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import kotlin.test.Test
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import kotlin.test.assertEquals
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import kotlin.test.assertTrue
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import kotlin.test.assertFailsWith
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class TangentTest {
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@Test
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@ -56,26 +55,23 @@ class TangentTest {
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}
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@Test
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fun nonExistingTangents() {
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assertFailsWith<Exception> {
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val c1 = Circle2D(vector(0.0, 0.0), 10.0)
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val c2 = Circle2D(vector(0.0, 0.0), 1.0)
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val segments = c1.tangentsToCircle(c2)
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}
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assertFailsWith<Exception> {
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val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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val c2 = Circle2D(vector(0.0, 0.0), 10.0)
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val segments = c1.tangentsToCircle(c2)
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}
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assertFailsWith<Exception> {
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val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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val c2 = Circle2D(vector(2.0, 0.0), 1.0)
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val segments = c1.tangentsToCircle(c2)
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}
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assertFailsWith<Exception> {
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val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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val c2 = Circle2D(vector(0.5, 0.0), 1.0)
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val segments = c1.tangentsToCircle(c2)
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}
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fun concentric(){
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val c1 = Circle2D(vector(0.0, 0.0), 10.0)
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val c2 = Circle2D(vector(0.0, 0.0), 1.0)
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assertEquals(emptyMap(), c1.tangentsToCircle(c2))
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}
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//
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// @Test
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// fun nonExistingTangents() {
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// assertFailsWith<NotImplementedError> {
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// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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// val c2 = Circle2D(vector(2.0, 0.0), 1.0)
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// c1.tangentsToCircle(c2)
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// }
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// assertFailsWith<NotImplementedError> {
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// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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// val c2 = Circle2D(vector(0.5, 0.0), 1.0)
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// c1.tangentsToCircle(c2)
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// }
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// }
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}
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@ -19,6 +19,6 @@ class CircleTests {
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val radius = 2.0
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val expectedCircumference = 12.56637
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val circle = Circle2D(center, radius)
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assertEquals(expectedCircumference, circle.circumference)
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assertEquals(expectedCircumference, circle.circumference, 1e-4)
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}
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}
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