build.gradle.kts

@@ -1,3 +1,4 @@
+import space.kscience.gradle.isInDevelopment
 import space.kscience.gradle.useApache2Licence
 import space.kscience.gradle.useSPCTeam
 
@@ -77,12 +78,11 @@ ksciencePublish {
     }
     github("kmath", "SciProgCentre")
     space(
+        if (isInDevelopment) {
+            "https://maven.pkg.jetbrains.space/spc/p/sci/dev"
+        } else {
             "https://maven.pkg.jetbrains.space/spc/p/sci/maven"
-//        if (isInDevelopment) {
-//            "https://maven.pkg.jetbrains.space/spc/p/sci/dev"
-//        } else {
-//            "https://maven.pkg.jetbrains.space/spc/p/sci/release"
-//        }
+        }
     )
     sonatype()
 }

docs/templates/ARTIFACT-TEMPLATE.md

@@ -3,10 +3,12 @@
 The Maven coordinates of this project are `${group}:${name}:${version}`.
 
 **Gradle:**
-```gradle
+```groovy
 repositories {
     maven { url 'https://repo.kotlin.link' }
     mavenCentral()
+    // development and snapshot versions
+    maven { url 'https://maven.pkg.jetbrains.space/spc/p/sci/dev' }
 }
 
 dependencies {
@@ -18,6 +20,8 @@ dependencies {
 repositories {
     maven("https://repo.kotlin.link")
     mavenCentral()
+    // development and snapshot versions
+    maven("https://maven.pkg.jetbrains.space/spc/p/sci/dev")
 }
 
 dependencies {

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsPose2D.kt

@@ -24,7 +24,7 @@ public class PhaseVector2D(
     override val bearing: Double get() = atan2(velocity.x, velocity.y)
 }
 
-internal class Pose2DImpl(
+private class DubinsPose2DImpl(
     override val coordinate: DoubleVector2D,
     override val bearing: Double,
 ) : DubinsPose2D, DoubleVector2D by coordinate{
@@ -33,4 +33,4 @@ internal class Pose2DImpl(
 }
 
 
-public fun Pose2D(coordinate: DoubleVector2D, theta: Double): DubinsPose2D = Pose2DImpl(coordinate, theta)
+public fun DubinsPose2D(coordinate: DoubleVector2D, theta: Double): DubinsPose2D = DubinsPose2DImpl(coordinate, theta)

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Trajectory2D.kt

@@ -19,12 +19,12 @@ public sealed interface Trajectory2D {
  * Straight path segment. The order of start and end defines the direction
  */
 public data class StraightTrajectory2D(
-    internal val start: DoubleVector2D,
-    internal val end: DoubleVector2D,
+    public val start: DoubleVector2D,
+    public val end: DoubleVector2D,
 ) : Trajectory2D {
     override val length: Double get() = start.distanceTo(end)
 
-    internal val bearing: Double get() = theta(atan2(end.x - start.x, end.y - start.y))
+    public val bearing: Double get() = theta(atan2(end.x - start.x, end.y - start.y))
 }
 
 /**
@@ -56,7 +56,7 @@ public data class CircleTrajectory2D(
         circle.radius * arcLength
     }
 
-    internal val direction: Direction by lazy {
+    public val direction: Direction by lazy {
         if (start.y < circle.center.y) {
             if (start.bearing > PI) Direction.RIGHT else Direction.LEFT
         } else if (start.y > circle.center.y) {
@@ -81,7 +81,7 @@ public data class CircleTrajectory2D(
                 vector: DoubleVector2D,
                 theta: Double,
                 direction: Direction,
-            ): DubinsPose2D = Pose2D(
+            ): DubinsPose2D = DubinsPose2D(
                 vector,
                 when (direction) {
                     Direction.LEFT -> theta(theta - PI / 2)

kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/dubins/DubinsTests.kt

@@ -19,8 +19,8 @@ class DubinsTests {
         val straight = StraightTrajectory2D(vector(0.0, 0.0), vector(100.0, 100.0))
         val lineP1 = straight.shift(1, 10.0).inverse()
 
-        val start = Pose2D(straight.end, straight.bearing)
-        val end = Pose2D(lineP1.start, lineP1.bearing)
+        val start = DubinsPose2D(straight.end, straight.bearing)
+        val end = DubinsPose2D(lineP1.start, lineP1.bearing)
         val radius = 2.0
         val dubins = DubinsPath.all(start, end, radius)
 
@@ -51,8 +51,8 @@ class DubinsTests {
                 assertTrue(path.c.start.equalsFloat(b.end))
             } else if (path.b is StraightTrajectory2D) {
                 val b = path.b as StraightTrajectory2D
-                assertTrue(path.a.end.equalsFloat(Pose2D(b.start, b.bearing)))
-                assertTrue(path.c.start.equalsFloat(Pose2D(b.end, b.bearing)))
+                assertTrue(path.a.end.equalsFloat(DubinsPose2D(b.start, b.bearing)))
+                assertTrue(path.c.start.equalsFloat(DubinsPose2D(b.end, b.bearing)))
             }
         }
     }