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search for shortest path algorithm

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Artyom Degtyarev 2023-03-24 10:30:13 +03:00
parent ea5305c8d8
commit 24c39c97cd
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kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt
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@ -255,7 +255,6 @@ private fun constructTangentCircles(point: DoubleVector2D,
val center1 = point + normalVectors(direction, r).first val center1 = point + normalVectors(direction, r).first
val center2 = point + normalVectors(direction, r).second val center2 = point + normalVectors(direction, r).second
val p1 = center1 - point val p1 = center1 - point
val p2 = center2 - point
return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) { return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) {
mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r), mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r),
DubinsPath.SimpleType.R to Circle2D(center2, r)) DubinsPath.SimpleType.R to Circle2D(center2, r))