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0.3.1-dev-11 #510

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altavir merged 80 commits from dev into master 2023-04-05 18:46:36 +03:00
Conversation 0 Commits 80 Files Changed 264 +16 -14
1 changed files with 16 additions and 14 deletions
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kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Obstacle.kt
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@ -21,7 +21,8 @@ internal data class Tangent(
val startObstacle: Obstacle,
val endObstacle: Obstacle,
val lineSegment: LineSegment2D,
val trajectoryType: List<Trajectory2D.Type>,
val startDirection: Trajectory2D.Direction,
val endDirection: Trajectory2D.Direction = startDirection
)
private class TangentPath(val tangents: List<Tangent>) {
@ -131,7 +132,8 @@ private fun dubinsTangentsToCircles(
firstCircle.center + w * r1,
secondCircle.center + w * r2
),
trajectoryType = route.toList()
startDirection = route.first,
endDirection = route.third
)
)
} else {
@ -194,7 +196,8 @@ public class Obstacle(
center + w * r1,
other.center + w * r2
),
routeType.toList()
startDirection = routeType.first,
endDirection = routeType.third
)
)
} else {
@ -256,7 +259,8 @@ private fun Obstacle.nextTangent(circle: Circle2D, routeType: DubinsPath.Type):
tangents[i - 1].lineSegment.end,
tangents[i - 1].lineSegment.begin
),
routeType.toList()
startDirection = routeType.first,
endDirection = routeType.third
)
} else {
return Tangent(
@ -268,7 +272,8 @@ private fun Obstacle.nextTangent(circle: Circle2D, routeType: DubinsPath.Type):
tangents.last().lineSegment.end,
tangents.last().lineSegment.begin
),
routeType.toList()
startDirection = routeType.first,
endDirection = routeType.third
)
}
}
@ -450,7 +455,7 @@ private fun TangentPath.toTrajectory(): CompositeTrajectory2D = CompositeTraject
right.startCircle.center,
left.lineSegment.end,
right.lineSegment.begin,
right.trajectoryType.first()
right.startDirection
)
)
}
@ -491,7 +496,7 @@ internal fun findAllPaths(
Obstacle(listOf(initialCircles[i]!!)),
Obstacle(listOf(initialCircles[i]!!)),
LineSegment2D(startingPoint, startingPoint),
listOf(i, Trajectory2D.S, i)
i
)
)
)
@ -499,7 +504,7 @@ internal fun findAllPaths(
val newPaths = mutableListOf<TangentPath>()
for (tangentPath: TangentPath in currentPaths) {
val currentCircle = tangentPath.last().endCircle
val currentDirection: Trajectory2D.Direction = tangentPath.last().trajectoryType.last()
val currentDirection: Trajectory2D.Direction = tangentPath.last().endDirection
val currentObstacle = tangentPath.last().endObstacle
var nextObstacle: Obstacle? = null
if (currentObstacle != finalObstacle) {
@ -583,7 +588,7 @@ internal fun findAllPaths(
}
trajectories += currentPaths.map { tangentPath ->
val lastDirection: Trajectory2D.Type = tangentPath.last().trajectoryType[2]
val lastDirection: Trajectory2D.Direction = tangentPath.last().endDirection
val end = finalCircles[j]!!
TangentPath(
tangentPath.tangents +
@ -593,11 +598,8 @@ internal fun findAllPaths(
Obstacle(end),
Obstacle(end),
LineSegment2D(finalPoint, finalPoint),
listOf(
lastDirection,
Trajectory2D.S,
j
)
startDirection = lastDirection,
endDirection = j
)
)
}.map { it.toTrajectory() }