Merge remote-tracking branch 'space/artdegt' into artdegt
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commit
93bc15f346
@ -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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@ -7,7 +7,10 @@ package space.kscience.kmath.trajectory
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import space.kscience.kmath.geometry.Circle2D
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import space.kscience.kmath.geometry.Circle2D
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import space.kscience.kmath.geometry.equalsFloat
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import kotlin.test.Test
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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 DubinsTest {
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class DubinsTest {
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@Test
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@Test
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@ -31,7 +34,7 @@ class DubinsTest {
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finalRadius,
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finalRadius,
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obstacles)
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obstacles)
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val length = pathLength(shortestPath(outputTangents))
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val length = pathLength(shortestPath(outputTangents))
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println(length)
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assertEquals(length, 27.2113183, 1e-6)
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}
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}
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@Test
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@Test
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@ -65,19 +68,7 @@ class DubinsTest {
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finalRadius,
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finalRadius,
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obstacles)
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obstacles)
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val length = pathLength(shortestPath(paths))
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val length = pathLength(shortestPath(paths))
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println(length)
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assertEquals(length,28.9678224, 1e-6)
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for (path in paths) {
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println(pathLength(path))
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println(path.size)
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for (tangent in path) {
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// println(tangent.route)
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// println(tangent.startCircle)
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// println(tangent.endCircle)
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// println(Euclidean2DSpace.norm(tangent.lineSegment.end - tangent.lineSegment.begin))
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}
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println()
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println()
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}
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}
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}
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@Test
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@Test
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fun equalCircles() {
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fun equalCircles() {
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@ -12,6 +12,7 @@ import space.kscience.kmath.geometry.LineSegment
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import space.kscience.kmath.geometry.equalsLine
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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.Test
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import kotlin.test.assertEquals
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import kotlin.test.assertEquals
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import kotlin.test.assertFailsWith
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import kotlin.test.assertTrue
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import kotlin.test.assertTrue
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class TangentTest {
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class TangentTest {
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@ -60,18 +61,4 @@ class TangentTest {
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val c2 = Circle2D(vector(0.0, 0.0), 1.0)
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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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assertEquals(emptyMap(), c1.tangentsToCircle(c2))
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}
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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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}
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