diff --git a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt
index 7e0a8c1c0..e5f60e025 100644
--- a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt
+++ b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt
@@ -100,9 +100,7 @@ public data class CircleTrajectory2D(
             val pose1 = calculatePose(start, s1.bearing, direction)
             val pose2 = calculatePose(end, s2.bearing, direction)
             val trajectory = CircleTrajectory2D(Circle2D(center, s1.length), pose1, pose2)
-            if (trajectory.direction != direction) {
-                error("Trajectory direction mismatch")
-            }
+            if (trajectory.direction != direction) error("Trajectory direction mismatch")
             return trajectory
         }
     }
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
index c1cf2f800..42442a55f 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
@@ -16,7 +16,7 @@ import kotlin.test.assertTrue
 
 class TangentTest {
     @Test
-    fun tangent() {
+    fun tangents() {
         val c1 = Circle2D(vector(0.0, 0.0), 1.0)
         val c2 = Circle2D(vector(4.0, 0.0), 1.0)
         val routes = listOf(
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt
index 0e14ae736..481ea4786 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt
@@ -6,6 +6,7 @@
 package space.kscience.kmath.trajectory.dubins
 
 import space.kscience.kmath.geometry.Euclidean2DSpace
+import space.kscience.kmath.geometry.equalsFloat
 import space.kscience.kmath.trajectory.*
 import kotlin.test.Test
 import kotlin.test.assertNotNull
@@ -39,7 +40,7 @@ class DubinsTests {
             val path = dubins.find { p -> DubinsPath.trajectoryTypeOf(p) === it.key }
             assertNotNull(path, "Path ${it.key} not found")
             println("${it.key}: ${path.length}")
-            assertTrue(it.value.equalFloat(path.length))
+            assertTrue(it.value.equalsFloat(path.length))
 
             val a = path.segments[0] as CircleTrajectory2D
             val b = path.segments[1]
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/math.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/math.kt
index c69ad24f1..24685f528 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/math.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/math.kt
@@ -6,20 +6,16 @@
 package space.kscience.kmath.trajectory
 
 import space.kscience.kmath.geometry.Euclidean2DSpace
+import space.kscience.kmath.geometry.equalsFloat
 import space.kscience.kmath.geometry.radians
 import space.kscience.kmath.geometry.sin
-import kotlin.math.PI
-import kotlin.math.abs
 
-const val maxFloatDelta = 0.000001
 
-fun Double.radiansToDegrees() = this * 180 / PI
-
-fun Double.equalFloat(other: Double) = abs(this - other) < maxFloatDelta
 fun DubinsPose2D.equalsFloat(other: DubinsPose2D) =
-    x.equalFloat(other.x) && y.equalFloat(other.y) && bearing.radians.equalFloat(other.bearing.radians)
+    x.equalsFloat(other.x) && y.equalsFloat(other.y) && bearing.radians.equalsFloat(other.bearing.radians)
 
 fun StraightTrajectory2D.inverse() = StraightTrajectory2D(end, start)
+
 fun StraightTrajectory2D.shift(shift: Int, width: Double): StraightTrajectory2D = with(Euclidean2DSpace) {
     val dX = width * sin(inverse().bearing)
     val dY = width * sin(bearing)
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt
index 643f9eaaa..7594aa046 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt
@@ -18,7 +18,12 @@ class ArcTests {
     @Test
     fun arcTest() = with(Euclidean2DSpace){
         val circle = Circle2D(vector(0.0, 0.0), 2.0)
-        val arc = CircleTrajectory2D.of(circle.center, vector(-2.0, 0.0), vector(0.0, 2.0), CircleTrajectory2D.Direction.RIGHT)
+        val arc = CircleTrajectory2D.of(
+            circle.center,
+            vector(-2.0, 0.0),
+            vector(0.0, 2.0),
+            CircleTrajectory2D.Direction.RIGHT
+        )
         assertEquals(circle.circumference / 4, arc.length, 1.0)
         assertEquals(0.0, arc.start.bearing.degrees)
         assertEquals(90.0, arc.end.bearing.degrees)
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt
index 5321fb1a1..27434b874 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt
@@ -8,7 +8,6 @@ package space.kscience.kmath.trajectory.segments
 import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Euclidean2DSpace
 import space.kscience.kmath.geometry.circumference
-import space.kscience.kmath.trajectory.maxFloatDelta
 import kotlin.test.Test
 import kotlin.test.assertEquals
 
@@ -20,6 +19,6 @@ class CircleTests {
         val radius = 2.0
         val expectedCircumference = 12.56637
         val circle = Circle2D(center, radius)
-        assertEquals(expectedCircumference, circle.circumference, maxFloatDelta)
+        assertEquals(expectedCircumference, circle.circumference)
     }
 }