Cleanup after circle tangent changes
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8998a394b3
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@ -85,13 +85,6 @@ public object Euclidean2DSpace : GeometrySpace<DoubleVector2D>,
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override fun scale(a: DoubleVector2D, value: Double): DoubleVector2D = vector(a.x * value, a.y * value)
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override fun DoubleVector2D.dot(other: DoubleVector2D): Double = x * other.x + y * other.y
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public fun equalLineSegments(line1: LineSegment<DoubleVector2D>, line2: LineSegment<DoubleVector2D>): Boolean {
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val maxFloatDelta = 0.000001
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return line1.begin.x.equalFloat(line2.begin.x) && line1.begin.y.equalFloat(line2.begin.y) &&
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line1.end.x.equalFloat(line2.end.x) && line1.end.y.equalFloat(line2.end.y)
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}
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public val xAxis: DoubleVector2D = vector(1.0, 0.0)
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public val yAxis: DoubleVector2D = vector(0.0, 1.0)
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}
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@ -27,8 +27,5 @@ public fun <V : Vector> LineSegment<V>.line(algebra: GeometrySpace<V>): Line<V>
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Line(begin, end - begin)
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}
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public fun Double.equalFloat(other: Double, maxFloatDelta: Double = 0.000001):
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Boolean = kotlin.math.abs(this - other) < maxFloatDelta
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public typealias LineSegment2D = LineSegment<DoubleVector2D>
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public typealias LineSegment3D = LineSegment<DoubleVector3D>
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@ -0,0 +1,38 @@
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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.geometry
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internal const val defaultPrecision = 1e-6
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public fun Double.equalsFloat(other: Double, precision: Double = defaultPrecision): Boolean =
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kotlin.math.abs(this - other) < precision
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public fun Double.equalsFloat(other: Float, precision: Double = defaultPrecision): Boolean =
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kotlin.math.abs(this - other) < precision
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public fun <V : Vector> V.equalsVector(
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space: GeometrySpace<V>,
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other: V,
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precision: Double = defaultPrecision,
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): Boolean = with(space) {
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norm(this@equalsVector - other) < precision
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}
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public fun Float64Vector2D.equalsVector(
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other: Float64Vector2D,
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precision: Double = defaultPrecision,
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): Boolean = equalsVector(Euclidean2DSpace, other, precision)
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public fun Float64Vector3D.equalsVector(
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other: Float64Vector3D,
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precision: Double = defaultPrecision,
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): Boolean = equalsVector(Euclidean3DSpace, other, precision)
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public fun <V : Vector> LineSegment<V>.equalsLine(
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space: GeometrySpace<V>,
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other: LineSegment<V>,
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precision: Double = defaultPrecision,
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): Boolean = begin.equalsVector(space, other.begin, precision) && end.equalsVector(space, other.end, precision)
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@ -1,55 +0,0 @@
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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
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import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
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import space.kscience.kmath.geometry.LineSegment
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import kotlin.math.*
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public enum class DubinsRoutes {
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RSR, RSL, LSR, LSL
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}
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public fun Circle2D.tangentsToCircle(other: Circle2D): Map<DubinsRoutes, LineSegment<DoubleVector2D>> {
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val R1 = this.radius
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val R2 = other.radius
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val line = LineSegment(this.center, other.center)
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val d = line.begin.distanceTo(line.end)
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val angle1 = atan2(other.center.x - this.center.x, other.center.y - this.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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DubinsRoutes.RSR to Pair(R1, R2),
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DubinsRoutes.RSL to Pair(R1, -R2),
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DubinsRoutes.LSR to Pair(-R1, R2),
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DubinsRoutes.LSL to Pair(-R1, -R2)
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)
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val segments = mutableMapOf<DubinsRoutes, LineSegment<DoubleVector2D>>()
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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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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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segments[route] = LineSegment(
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Euclidean2DSpace.add(this.center, Euclidean2DSpace.scale(W, r1)),
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Euclidean2DSpace.add(other.center, Euclidean2DSpace.scale(W, r2))
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)
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}
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return segments
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}
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@ -0,0 +1,53 @@
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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
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import space.kscience.kmath.geometry.LineSegment
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import kotlin.math.*
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public fun Circle2D.tangentsToCircle(
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other: Circle2D,
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): Map<DubinsPath.Type, LineSegment<DoubleVector2D>> = with(Euclidean2DSpace) {
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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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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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DubinsPath.Type.RSL to Pair(radius, -other.radius),
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DubinsPath.Type.LSR to Pair(-radius, other.radius),
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DubinsPath.Type.LSL to Pair(-radius, -other.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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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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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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}
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}
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@ -0,0 +1,56 @@
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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.Euclidean2DSpace
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import space.kscience.kmath.geometry.LineSegment
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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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class TangentTest {
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@Test
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fun tangent() {
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val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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val c2 = Circle2D(vector(4.0, 0.0), 1.0)
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val routes = listOf(
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DubinsPath.Type.RSR,
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DubinsPath.Type.RSL,
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DubinsPath.Type.LSR,
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DubinsPath.Type.LSL
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)
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val segments = listOf(
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LineSegment(
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begin = vector(0.0, 1.0),
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end = vector(4.0, 1.0)
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),
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LineSegment(
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begin = vector(0.5, 0.8660254),
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end = vector(3.5, -0.8660254)
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),
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LineSegment(
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begin = vector(0.5, -0.8660254),
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end = vector(3.5, 0.8660254)
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),
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LineSegment(
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begin = vector(0.0, -1.0),
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end = vector(4.0, -1.0)
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)
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)
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val tangentMap = c1.tangentsToCircle(c2)
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val tangentMapKeys = tangentMap.keys.toList()
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val tangentMapValues = tangentMap.values.toList()
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assertEquals(routes, tangentMapKeys)
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for (i in segments.indices) {
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assertTrue(segments[i].equalsLine(Euclidean2DSpace, tangentMapValues[i]))
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}
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}
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}
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@ -1,48 +0,0 @@
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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.equalLineSegments
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import space.kscience.kmath.geometry.LineSegment
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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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class TangentTest {
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@Test
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fun tangent() {
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val c1 = Circle2D(vector(0.0, 0.0), 1.0)
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val c2 = Circle2D(vector(4.0, 0.0), 1.0)
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val routes = arrayListOf<DubinsRoutes>(
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DubinsRoutes.RSR,
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DubinsRoutes.RSL,
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DubinsRoutes.LSR,
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DubinsRoutes.LSL
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)
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val segments = arrayListOf<LineSegment<DoubleVector2D>>(
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LineSegment<DoubleVector2D>(begin = vector(0.0, 1.0),
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end = vector(4.0, 1.0)),
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LineSegment<DoubleVector2D>(begin = vector(0.5, 0.8660254),
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end = vector(3.5, -0.8660254)),
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LineSegment<DoubleVector2D>(begin = vector(0.5, -0.8660254),
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end = vector(3.5, 0.8660254)),
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LineSegment<DoubleVector2D>(begin = vector(0.0, -1.0),
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end = vector(4.0, -1.0))
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)
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val tangentMap = c1.tangentsToCircle(c2)
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val tangentMapKeys = tangentMap.keys.toList()
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val tangentMapValues = tangentMap.values.toList()
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assertEquals(routes, tangentMapKeys)
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for (i in segments.indices) {
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assertTrue(equalLineSegments(segments[i], tangentMapValues[i]))
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}
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}
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}
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