kscience/maps-kt
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Seems to be working... finally

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This commit is contained in:
Alexander Nozik 2023-05-01 21:25:38 +03:00
parent f0da3efd27
commit fcf0600d0c
6 changed files with 60 additions and 30 deletions
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18
demo/trajectory-playground/src/jvmMain/kotlin/Main.kt
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@ -57,6 +57,10 @@ fun FeatureGroup<XY>.obstacle(obstacle: Obstacle, colorPicker: (Trajectory2D) ->
polygon(obstacle.arcs.map { it.center.toXY() }).color(Color.Gray)
}
fun FeatureGroup<XY>.pose(pose2D: Pose2D) = with(Euclidean2DSpace){
line(pose2D.toXY(), (pose2D + Pose2D.bearingToVector(pose2D.bearing)).toXY() )
}
@Composable
@Preview
fun closePoints() {
@ -120,10 +124,14 @@ fun doubleObstacle() {
)
obstacles.forEach { obstacle(it) }
val enter = Pose2D(-5, -1, Angle.pi / 4)
val exit = Pose2D(20, 4, Angle.pi * 3 / 4)
pose(enter)
pose(exit)
Obstacles.avoidObstacles(
Pose2D(-5, -1, Angle.pi / 4),
Pose2D(20, 4, Angle.pi * 3 / 4),
enter,
exit,
0.5,
*obstacles
).forEach {
@ -137,7 +145,9 @@ fun doubleObstacle() {
@Preview
fun playground() {
val examples = listOf(
"Close starting points"
"Close starting points",
"Single obstacle",
"Two obstacles",
)
var currentExample by remember { mutableStateOf(examples.first()) }
@ -153,6 +163,8 @@ fun playground() {
}) {
when (currentExample) {
examples[0] -> closePoints()
examples[1] -> singleObstacle()
examples[2] -> doubleObstacle()
}
}
}

12
trajectory-kt/src/commonMain/kotlin/space/kscience/kmath/geometry/geometryExtensions.kt
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@ -2,6 +2,7 @@ package space.kscience.kmath.geometry
import space.kscience.kmath.operations.DoubleField.pow
import space.kscience.trajectory.*
import kotlin.math.abs
import kotlin.math.sign
public fun Euclidean2DSpace.circle(x: Number, y: Number, radius: Number): Circle2D =
@ -71,3 +72,14 @@ public fun Circle2D.tangent(bearing: Angle, direction: Trajectory2D.Direction):
Pose2D(coordinates, tangentAngle)
}
public fun CircleTrajectory2D.containsPoint(point: DoubleVector2D): Boolean = with(Euclidean2DSpace) {
val radiusVector = point - center
if (abs(norm(radiusVector) - circle.radius) > 1e-4 * circle.radius) error("Wrong radius")
val radiusVectorBearing = radiusVector.bearing
val offset = (radiusVectorBearing - arcStart).normalized()
when {
arcAngle >= Angle.zero -> offset < arcAngle
else -> arcAngle < offset - Angle.piTimes2
}
}

6
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/Obstacles.kt
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@ -101,7 +101,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
obstacleIndex: Int,
obstacleDirection: Trajectory2D.Direction,
arc: CircleTrajectory2D
): ObstacleTangent? = with(Euclidean2DSpace) {
): ObstacleTangent = with(Euclidean2DSpace) {
val obstacle = obstacles[obstacleIndex]
for (circleIndex in obstacle.arcs.indices) {
val obstacleArc = obstacle.arcs[circleIndex]
@ -118,7 +118,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
)
}
}
return null
error("Tangent from obstacle $obstacleIndex to circle ${arc.circle} not found")
}
@ -206,7 +206,7 @@ public class Obstacles(public val obstacles: List<Obstacle>) {
connection.obstacleIndex,
connection.direction,
endArc
) ?: return emptySet()
) ?: error("No tangents between obstacle and endpoint")
if (remainingObstacleIndices.none { obstacles[it].intersects(tangentToEnd.tangentTrajectory) }) return setOf(
TangentPath(tangents + tangentToEnd)

27
trajectory-kt/src/commonMain/kotlin/space/kscience/trajectory/circumvention.kt
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@ -1,8 +1,6 @@
package space.kscience.trajectory
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.DoubleVector2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.*
import space.kscience.trajectory.DubinsPath.Type
import kotlin.math.*
@ -66,19 +64,8 @@ internal fun tangentsBetweenCircles(
internal fun tangentsBetweenArcs(
first: CircleTrajectory2D,
second: CircleTrajectory2D,
): Map<Type, StraightTrajectory2D> {
fun CircleTrajectory2D.containsPoint(point: DoubleVector2D): Boolean = with(Euclidean2DSpace){
val radiusVectorBearing = (point - center).bearing
return when(direction){
Trajectory2D.L -> radiusVectorBearing in arcEnd..arcStart
Trajectory2D.R -> radiusVectorBearing in arcStart..arcEnd
}
}
return tangentsBetweenCircles(first.circle, second.circle).filterValues {
first.containsPoint(it.begin) && second.containsPoint(it.end)
}
): Map<Type, StraightTrajectory2D> = tangentsBetweenCircles(first.circle, second.circle).filterValues {
first.containsPoint(it.begin) && second.containsPoint(it.end)
}
/**
@ -86,7 +73,7 @@ internal fun tangentsBetweenArcs(
*/
public fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex: Int): CompositeTrajectory2D {
require(fromIndex in arcs.indices) { "$fromIndex is not in ${arcs.indices}" }
val startCircle = arcs[fromIndex]
val startCircle = arcs[fromIndex].circle
val segments = buildList {
val reserve = mutableListOf<Trajectory2D>()
@ -96,7 +83,7 @@ public fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex:
}
var i = 0
while (sourceSegments[i] !== startCircle) {
while ((sourceSegments[i] as? CircleTrajectory2D)?.circle !== startCircle) {
//put all segments before target circle on the reserve
reserve.add(sourceSegments[i])
i++
@ -124,7 +111,7 @@ public fun Obstacle.circumvention(
toIndex: Int,
): CompositeTrajectory2D {
require(toIndex in arcs.indices) { "$toIndex is not in ${arcs.indices}" }
val toCircle = arcs[toIndex]
val toCircle = arcs[toIndex].circle
val fullCircumvention = circumvention(direction, fromIndex).segments
return CompositeTrajectory2D(
buildList {
@ -133,7 +120,7 @@ public fun Obstacle.circumvention(
val segment = fullCircumvention[i]
add(segment)
i++
} while (segment !== toCircle)
} while ((segment as? CircleTrajectory2D)?.circle !== toCircle)
}
)
}

21
trajectory-kt/src/commonTest/kotlin/space/kscience/kmath/geometry/ArcTests.kt
View File

@ -11,6 +11,8 @@ import space.kscience.trajectory.Trajectory2D
import kotlin.math.PI
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertFalse
import kotlin.test.assertTrue
class ArcTests {
@ -34,9 +36,26 @@ class ArcTests {
val arc = CircleTrajectory2D(
circle,
Pose2D(x = 2.0, y = 1.2246467991473532E-16, bearing = PI.radians),
Pose2D(x = 1.0, y = -1.0, bearing = (PI*3/2).radians)
Pose2D(x = 1.0, y = -1.0, bearing = (PI * 3 / 2).radians)
)
assertEquals(Trajectory2D.R, arc.direction)
assertEquals(PI / 2, arc.length, 1e-4)
}
@Test
fun arcContains() = with(Euclidean2DSpace) {
val circle = circle(0, 0, 1.0)
val arc1 = CircleTrajectory2D(circle, Angle.pi / 4, Angle.piDiv2)
assertTrue { arc1.containsPoint(vector(1, 0)) }
assertFalse { arc1.containsPoint(vector(0, 1)) }
assertFalse { arc1.containsPoint(vector(-1, 0)) }
val arc2 = CircleTrajectory2D(circle, Angle.pi / 4, -Angle.piDiv2 * 3)
assertEquals(Trajectory2D.L, arc2.direction)
assertFalse { arc2.containsPoint(vector(1, 0)) }
assertTrue { arc2.containsPoint(vector(0, 1)) }
assertTrue { arc2.containsPoint(vector(-1, 0)) }
}
}

6
trajectory-kt/src/commonTest/kotlin/space/kscience/trajectory/ObstacleTest.kt
View File

@ -36,7 +36,7 @@ class ObstacleTest {
)
assertTrue { outputTangents.isNotEmpty() }
val length = outputTangents.minOf { it.length }
assertEquals(27.2113183, length, 1e-6)
assertEquals(25.0, length, 2.0)
}
@Test
@ -59,7 +59,7 @@ class ObstacleTest {
)
assertTrue { paths.isNotEmpty() }
val length = paths.minOf { it.length }
assertEquals(28.9678224, length, 1e-6)
assertEquals(28.0, length, 2.0)
}
@Test
@ -94,7 +94,7 @@ class ObstacleTest {
obstacle
)
assertTrue { paths.isNotEmpty() }
assertEquals(18.37, paths.minOf { it.length }, 1e-2)
assertEquals(12.0, paths.minOf { it.length }, 2.0)
}
@Test