Fix visibility in Trajectory2D
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fb0d016aa8
commit
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@ -1,3 +1,4 @@
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import space.kscience.gradle.isInDevelopment
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import space.kscience.gradle.useApache2Licence
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import space.kscience.gradle.useApache2Licence
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import space.kscience.gradle.useSPCTeam
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import space.kscience.gradle.useSPCTeam
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@ -77,12 +78,11 @@ ksciencePublish {
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}
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}
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github("kmath", "SciProgCentre")
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github("kmath", "SciProgCentre")
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space(
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space(
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if (isInDevelopment) {
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"https://maven.pkg.jetbrains.space/spc/p/sci/dev"
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} else {
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"https://maven.pkg.jetbrains.space/spc/p/sci/maven"
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"https://maven.pkg.jetbrains.space/spc/p/sci/maven"
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// if (isInDevelopment) {
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}
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// "https://maven.pkg.jetbrains.space/spc/p/sci/dev"
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// } else {
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// "https://maven.pkg.jetbrains.space/spc/p/sci/release"
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// }
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)
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)
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sonatype()
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sonatype()
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}
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}
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6
docs/templates/ARTIFACT-TEMPLATE.md
vendored
6
docs/templates/ARTIFACT-TEMPLATE.md
vendored
@ -3,10 +3,12 @@
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The Maven coordinates of this project are `${group}:${name}:${version}`.
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The Maven coordinates of this project are `${group}:${name}:${version}`.
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**Gradle:**
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**Gradle:**
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```gradle
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```groovy
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repositories {
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repositories {
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maven { url 'https://repo.kotlin.link' }
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maven { url 'https://repo.kotlin.link' }
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mavenCentral()
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mavenCentral()
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// development and snapshot versions
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maven { url 'https://maven.pkg.jetbrains.space/spc/p/sci/dev' }
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}
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}
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dependencies {
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dependencies {
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@ -18,6 +20,8 @@ dependencies {
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repositories {
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repositories {
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maven("https://repo.kotlin.link")
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maven("https://repo.kotlin.link")
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mavenCentral()
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mavenCentral()
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// development and snapshot versions
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maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
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}
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}
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dependencies {
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dependencies {
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@ -24,7 +24,7 @@ public class PhaseVector2D(
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override val bearing: Double get() = atan2(velocity.x, velocity.y)
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override val bearing: Double get() = atan2(velocity.x, velocity.y)
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}
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}
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internal class Pose2DImpl(
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private class DubinsPose2DImpl(
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override val coordinate: DoubleVector2D,
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override val coordinate: DoubleVector2D,
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override val bearing: Double,
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override val bearing: Double,
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) : DubinsPose2D, DoubleVector2D by coordinate{
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) : DubinsPose2D, DoubleVector2D by coordinate{
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@ -33,4 +33,4 @@ internal class Pose2DImpl(
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}
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}
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public fun Pose2D(coordinate: DoubleVector2D, theta: Double): DubinsPose2D = Pose2DImpl(coordinate, theta)
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public fun DubinsPose2D(coordinate: DoubleVector2D, theta: Double): DubinsPose2D = DubinsPose2DImpl(coordinate, theta)
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@ -19,12 +19,12 @@ public sealed interface Trajectory2D {
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* Straight path segment. The order of start and end defines the direction
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* Straight path segment. The order of start and end defines the direction
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*/
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*/
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public data class StraightTrajectory2D(
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public data class StraightTrajectory2D(
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internal val start: DoubleVector2D,
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public val start: DoubleVector2D,
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internal val end: DoubleVector2D,
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public val end: DoubleVector2D,
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) : Trajectory2D {
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) : Trajectory2D {
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override val length: Double get() = start.distanceTo(end)
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override val length: Double get() = start.distanceTo(end)
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internal val bearing: Double get() = theta(atan2(end.x - start.x, end.y - start.y))
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public val bearing: Double get() = theta(atan2(end.x - start.x, end.y - start.y))
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}
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}
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/**
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/**
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@ -56,7 +56,7 @@ public data class CircleTrajectory2D(
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circle.radius * arcLength
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circle.radius * arcLength
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}
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}
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internal val direction: Direction by lazy {
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public val direction: Direction by lazy {
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if (start.y < circle.center.y) {
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if (start.y < circle.center.y) {
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if (start.bearing > PI) Direction.RIGHT else Direction.LEFT
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if (start.bearing > PI) Direction.RIGHT else Direction.LEFT
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} else if (start.y > circle.center.y) {
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} else if (start.y > circle.center.y) {
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@ -81,7 +81,7 @@ public data class CircleTrajectory2D(
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vector: DoubleVector2D,
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vector: DoubleVector2D,
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theta: Double,
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theta: Double,
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direction: Direction,
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direction: Direction,
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): DubinsPose2D = Pose2D(
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): DubinsPose2D = DubinsPose2D(
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vector,
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vector,
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when (direction) {
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when (direction) {
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Direction.LEFT -> theta(theta - PI / 2)
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Direction.LEFT -> theta(theta - PI / 2)
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@ -19,8 +19,8 @@ class DubinsTests {
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val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
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val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
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val lineP1 = straight.shift(1, 10.0).inverse()
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val lineP1 = straight.shift(1, 10.0).inverse()
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val start = Pose2D(straight.end, straight.bearing)
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val start = DubinsPose2D(straight.end, straight.bearing)
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val end = Pose2D(lineP1.start, lineP1.bearing)
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val end = DubinsPose2D(lineP1.start, lineP1.bearing)
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val radius = 2.0
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val radius = 2.0
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val dubins = DubinsPath.all(start, end, radius)
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val dubins = DubinsPath.all(start, end, radius)
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@ -51,8 +51,8 @@ class DubinsTests {
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assertTrue(path.c.start.equalsFloat(b.end))
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assertTrue(path.c.start.equalsFloat(b.end))
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} else if (path.b is StraightTrajectory2D) {
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} else if (path.b is StraightTrajectory2D) {
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val b = path.b as StraightTrajectory2D
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val b = path.b as StraightTrajectory2D
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assertTrue(path.a.end.equalsFloat(Pose2D(b.start, b.bearing)))
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assertTrue(path.a.end.equalsFloat(DubinsPose2D(b.start, b.bearing)))
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assertTrue(path.c.start.equalsFloat(Pose2D(b.end, b.bearing)))
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assertTrue(path.c.start.equalsFloat(DubinsPose2D(b.end, b.bearing)))
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}
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}
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}
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}
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}
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}
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