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Merge remote-tracking branch 'space/artdegt' into artdegt

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This commit is contained in:
Alexander Nozik 2023-03-28 08:37:26 +03:00
commit 93bc15f346
3 changed files with 6 additions and 29 deletions
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1
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt
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@ -255,7 +255,6 @@ private fun constructTangentCircles(point: DoubleVector2D,
val center1 = point + normalVectors(direction, r).first val center1 = point + normalVectors(direction, r).first
val center2 = point + normalVectors(direction, r).second val center2 = point + normalVectors(direction, r).second
val p1 = center1 - point val p1 = center1 - point
val p2 = center2 - point
return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) { return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) {
mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r), mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r),
DubinsPath.SimpleType.R to Circle2D(center2, r)) DubinsPath.SimpleType.R to Circle2D(center2, r))

19
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/DubinsTest.kt
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@ -7,7 +7,10 @@ package space.kscience.kmath.trajectory
import space.kscience.kmath.geometry.Circle2D import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace.vector import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.equalsFloat
import kotlin.test.Test import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
class DubinsTest { class DubinsTest {
@Test @Test
@ -31,7 +34,7 @@ class DubinsTest {
finalRadius, finalRadius,
obstacles) obstacles)
val length = pathLength(shortestPath(outputTangents)) val length = pathLength(shortestPath(outputTangents))
println(length) assertEquals(length, 27.2113183, 1e-6)
} }
@Test @Test
@ -65,19 +68,7 @@ class DubinsTest {
finalRadius, finalRadius,
obstacles) obstacles)
val length = pathLength(shortestPath(paths)) val length = pathLength(shortestPath(paths))
println(length) assertEquals(length,28.9678224, 1e-6)
for (path in paths) {
println(pathLength(path))
println(path.size)
for (tangent in path) {
// println(tangent.route)
// println(tangent.startCircle)
// println(tangent.endCircle)
// println(Euclidean2DSpace.norm(tangent.lineSegment.end - tangent.lineSegment.begin))
}
println()
println()
}
} }
@Test @Test
fun equalCircles() { fun equalCircles() {

15
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
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@ -12,6 +12,7 @@ import space.kscience.kmath.geometry.LineSegment
import space.kscience.kmath.geometry.equalsLine import space.kscience.kmath.geometry.equalsLine
import kotlin.test.Test import kotlin.test.Test
import kotlin.test.assertEquals import kotlin.test.assertEquals
import kotlin.test.assertFailsWith
import kotlin.test.assertTrue import kotlin.test.assertTrue
class TangentTest { class TangentTest {
@ -60,18 +61,4 @@ class TangentTest {
val c2 = Circle2D(vector(0.0, 0.0), 1.0) val c2 = Circle2D(vector(0.0, 0.0), 1.0)
assertEquals(emptyMap(), c1.tangentsToCircle(c2)) assertEquals(emptyMap(), c1.tangentsToCircle(c2))
} }
//
// @Test
// fun nonExistingTangents() {
// assertFailsWith<NotImplementedError> {
// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
// val c2 = Circle2D(vector(2.0, 0.0), 1.0)
// c1.tangentsToCircle(c2)
// }
// assertFailsWith<NotImplementedError> {
// val c1 = Circle2D(vector(0.0, 0.0), 1.0)
// val c2 = Circle2D(vector(0.5, 0.0), 1.0)
// c1.tangentsToCircle(c2)
// }
// }
} }