Code simplification for Dubins path

kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Circle2D.kt

@@ -0,0 +1,18 @@
+/*
+ * Copyright 2018-2021 KMath contributors.
+ * Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
+ */
+
+package space.kscience.kmath.geometry
+
+import kotlin.math.PI
+
+/**
+ * A circle in 2D space
+ */
+public class Circle2D(
+    public val center: Vector2D,
+    public val radius: Double
+)
+
+public val Circle2D.circumference: Double get() = radius * 2 * PI

kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Line.kt

@@ -5,6 +5,10 @@
 
 package space.kscience.kmath.geometry
 
+/**
+ * A line formed by [base] vector of start and a [direction] vector. Direction vector is not necessarily normalized,
+ * but its length does not affect line properties
+ */
 public data class Line<out V : Vector>(val base: V, val direction: V)
 
 public typealias Line2D = Line<Vector2D>

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPath.kt

@@ -5,91 +5,95 @@
 
 package space.kscience.kmath.trajectory.dubins
 
+import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
 import space.kscience.kmath.geometry.Vector2D
-import space.kscience.kmath.trajectory.segments.Arc
+import space.kscience.kmath.trajectory.segments.ArcSegment
-import space.kscience.kmath.trajectory.segments.Segment
+import space.kscience.kmath.trajectory.segments.Pose2D
-import space.kscience.kmath.trajectory.segments.Straight
+import space.kscience.kmath.trajectory.segments.StraightSegment
-import space.kscience.kmath.trajectory.segments.components.Circle
+import space.kscience.kmath.trajectory.segments.Trajectory
-import space.kscience.kmath.trajectory.segments.components.Pose2D
 import kotlin.math.acos
 import kotlin.math.cos
 import kotlin.math.sin
 
 public class DubinsPath(
-    public val a: Arc,
+    public val a: ArcSegment,
-    public val b: Segment,
+    public val b: Trajectory,
-    public val c: Arc,
+    public val c: ArcSegment,
-) {
+) : Trajectory {
 
     public val type: TYPE = TYPE.valueOf(
         arrayOf(
             a.direction.name[0],
-            if (b is Arc) b.direction.name[0] else 'S',
+            if (b is ArcSegment) b.direction.name[0] else 'S',
             c.direction.name[0]
         ).toCharArray().concatToString()
     )
 
-    public val length: Double = a.length + b.length + c.length
+    override val length: Double get() = a.length + b.length + c.length
 
     public enum class TYPE {
         RLR, LRL, RSR, LSL, RSL, LSR
     }
 
     public companion object {
-        public fun all(start: Pose2D, end: Pose2D, turningRadius: Double): List<DubinsPath> =
+        public fun all(
-            listOfNotNull(
+            start: Pose2D,
-                rlr(start, end, turningRadius),
+            end: Pose2D,
-                lrl(start, end, turningRadius),
+            turningRadius: Double,
-                rsr(start, end, turningRadius),
+        ): List<DubinsPath> = listOfNotNull(
-                lsl(start, end, turningRadius),
+            rlr(start, end, turningRadius),
-                rsl(start, end, turningRadius),
+            lrl(start, end, turningRadius),
-                lsr(start, end, turningRadius)
+            rsr(start, end, turningRadius),
-            )
+            lsl(start, end, turningRadius),
+            rsl(start, end, turningRadius),
+            lsr(start, end, turningRadius)
+        )
+
         public fun shortest(start: Pose2D, end: Pose2D, turningRadius: Double): DubinsPath =
-            all(start, end, turningRadius).minByOrNull { it.length }!!
+            all(start, end, turningRadius).minBy { it.length }
 
         public fun rlr(start: Pose2D, end: Pose2D, turningRadius: Double): DubinsPath? {
             val c1 = start.getRightCircle(turningRadius)
             val c2 = end.getRightCircle(turningRadius)
-            val centers = Straight(c1.center, c2.center)
+            val centers = StraightSegment(c1.center, c2.center)
             if (centers.length > turningRadius * 4) return null
 
             var theta = theta(centers.theta - acos(centers.length / (turningRadius * 4)))
             var dX = turningRadius * sin(theta)
             var dY = turningRadius * cos(theta)
             val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2)
-            val e = Circle(p, turningRadius)
+            val e = Circle2D(p, turningRadius)
             val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY)
             theta = theta(centers.theta + acos(centers.length / (turningRadius * 4)))
             dX = turningRadius * sin(theta)
             dY = turningRadius * cos(theta)
             val p2 = Vector2D(e.center.x + dX, e.center.y + dY)
-            val a1 = Arc.of(c1.center, start, p1, Arc.Direction.RIGHT)
+            val a1 = ArcSegment.of(c1.center, start, p1, ArcSegment.Direction.RIGHT)
-            val a2 = Arc.of(e.center, p1, p2, Arc.Direction.LEFT)
+            val a2 = ArcSegment.of(e.center, p1, p2, ArcSegment.Direction.LEFT)
-            val a3 = Arc.of(c2.center, p2, end, Arc.Direction.RIGHT)
+            val a3 = ArcSegment.of(c2.center, p2, end, ArcSegment.Direction.RIGHT)
             return DubinsPath(a1, a2, a3)
         }
 
         public fun lrl(start: Pose2D, end: Pose2D, turningRadius: Double): DubinsPath? {
             val c1 = start.getLeftCircle(turningRadius)
             val c2 = end.getLeftCircle(turningRadius)
-            val centers = Straight(c1.center, c2.center)
+            val centers = StraightSegment(c1.center, c2.center)
             if (centers.length > turningRadius * 4) return null
 
             var theta = theta(centers.theta + acos(centers.length / (turningRadius * 4)))
             var dX = turningRadius * sin(theta)
             var dY = turningRadius * cos(theta)
             val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2)
-            val e = Circle(p, turningRadius)
+            val e = Circle2D(p, turningRadius)
             val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY)
             theta = theta(centers.theta - acos(centers.length / (turningRadius * 4)))
             dX = turningRadius * sin(theta)
             dY = turningRadius * cos(theta)
             val p2 = Vector2D(e.center.x + dX, e.center.y + dY)
-            val a1 = Arc.of(c1.center, start, p1, Arc.Direction.LEFT)
+            val a1 = ArcSegment.of(c1.center, start, p1, ArcSegment.Direction.LEFT)
-            val a2 = Arc.of(e.center, p1, p2, Arc.Direction.RIGHT)
+            val a2 = ArcSegment.of(e.center, p1, p2, ArcSegment.Direction.RIGHT)
-            val a3 = Arc.of(c2.center, p2, end, Arc.Direction.LEFT)
+            val a3 = ArcSegment.of(c2.center, p2, end, ArcSegment.Direction.LEFT)
             return DubinsPath(a1, a2, a3)
         }
 
@@ -97,8 +101,8 @@ public class DubinsPath(
             val c1 = start.getRightCircle(turningRadius)
             val c2 = end.getRightCircle(turningRadius)
             val s = leftOuterTangent(c1, c2)
-            val a1 = Arc.of(c1.center, start, s.start, Arc.Direction.RIGHT)
+            val a1 = ArcSegment.of(c1.center, start, s.start, ArcSegment.Direction.RIGHT)
-            val a3 = Arc.of(c2.center, s.end, end, Arc.Direction.RIGHT)
+            val a3 = ArcSegment.of(c2.center, s.end, end, ArcSegment.Direction.RIGHT)
             return DubinsPath(a1, s, a3)
         }
 
@@ -106,8 +110,8 @@ public class DubinsPath(
             val c1 = start.getLeftCircle(turningRadius)
             val c2 = end.getLeftCircle(turningRadius)
             val s = rightOuterTangent(c1, c2)
-            val a1 = Arc.of(c1.center, start, s.start, Arc.Direction.LEFT)
+            val a1 = ArcSegment.of(c1.center, start, s.start, ArcSegment.Direction.LEFT)
-            val a3 = Arc.of(c2.center, s.end, end, Arc.Direction.LEFT)
+            val a3 = ArcSegment.of(c2.center, s.end, end, ArcSegment.Direction.LEFT)
             return DubinsPath(a1, s, a3)
         }
 
@@ -117,8 +121,8 @@ public class DubinsPath(
             val s = rightInnerTangent(c1, c2)
             if (c1.center.distanceTo(c2.center) < turningRadius * 2 || s == null) return null
 
-            val a1 = Arc.of(c1.center, start, s.start, Arc.Direction.RIGHT)
+            val a1 = ArcSegment.of(c1.center, start, s.start, ArcSegment.Direction.RIGHT)
-            val a3 = Arc.of(c2.center, s.end, end, Arc.Direction.LEFT)
+            val a3 = ArcSegment.of(c2.center, s.end, end, ArcSegment.Direction.LEFT)
             return DubinsPath(a1, s, a3)
         }
 
@@ -128,8 +132,8 @@ public class DubinsPath(
             val s = leftInnerTangent(c1, c2)
             if (c1.center.distanceTo(c2.center) < turningRadius * 2 || s == null) return null
 
-            val a1 = Arc.of(c1.center, start, s.start, Arc.Direction.LEFT)
+            val a1 = ArcSegment.of(c1.center, start, s.start, ArcSegment.Direction.LEFT)
-            val a3 = Arc.of(c2.center, s.end, end, Arc.Direction.RIGHT)
+            val a3 = ArcSegment.of(c2.center, s.end, end, ArcSegment.Direction.RIGHT)
             return DubinsPath(a1, s, a3)
         }
     }

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/trajectoryFunctions.kt

@@ -5,10 +5,10 @@
 
 package space.kscience.kmath.trajectory.dubins
 
+import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Vector2D
-import space.kscience.kmath.trajectory.segments.Straight
+import space.kscience.kmath.trajectory.segments.Pose2D
-import space.kscience.kmath.trajectory.segments.components.Circle
+import space.kscience.kmath.trajectory.segments.StraightSegment
-import space.kscience.kmath.trajectory.segments.components.Pose2D
 import kotlin.math.PI
 import kotlin.math.acos
 import kotlin.math.cos
@@ -18,18 +18,19 @@ private enum class SIDE {
     LEFT, RIGHT
 }
 
-internal fun Pose2D.getLeftCircle(radius: Double): Circle = getTangentCircles(radius).first
+internal fun Pose2D.getLeftCircle(radius: Double): Circle2D = getTangentCircles(radius).first
-internal fun Pose2D.getRightCircle(radius: Double): Circle = getTangentCircles(radius).second
+internal fun Pose2D.getRightCircle(radius: Double): Circle2D = getTangentCircles(radius).second
-internal fun Pose2D.getTangentCircles(radius: Double): Pair<Circle, Circle> {
+internal fun Pose2D.getTangentCircles(radius: Double): Pair<Circle2D, Circle2D> {
     val dX = radius * cos(theta)
     val dY = radius * sin(theta)
-    return Circle(Vector2D(x - dX, y + dY), radius) to Circle(Vector2D(x + dX, y - dY), radius)
+    return Circle2D(Vector2D(x - dX, y + dY), radius) to Circle2D(Vector2D(x + dX, y - dY), radius)
 }
 
-internal fun leftOuterTangent(a: Circle, b: Circle) = outerTangent(a, b, SIDE.LEFT)
+internal fun leftOuterTangent(a: Circle2D, b: Circle2D): StraightSegment = outerTangent(a, b, SIDE.LEFT)
-internal fun rightOuterTangent(a: Circle, b: Circle) = outerTangent(a, b, SIDE.RIGHT)
+internal fun rightOuterTangent(a: Circle2D, b: Circle2D): StraightSegment = outerTangent(a, b, SIDE.RIGHT)
-private fun outerTangent(a: Circle, b: Circle, side: SIDE): Straight {
+
-    val centers = Straight(a.center, b.center)
+private fun outerTangent(a: Circle2D, b: Circle2D, side: SIDE): StraightSegment {
+    val centers = StraightSegment(a.center, b.center)
     val p1 = when (side) {
         SIDE.LEFT -> Vector2D(
             a.center.x - a.radius * cos(centers.theta),
@@ -40,16 +41,20 @@ private fun outerTangent(a: Circle, b: Circle, side: SIDE): Straight {
             a.center.y - a.radius * sin(centers.theta)
         )
     }
-    return Straight(
+    return StraightSegment(
         p1,
         Vector2D(p1.x + (centers.end.x - centers.start.x), p1.y + (centers.end.y - centers.start.y))
     )
 }
 
-internal fun leftInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.LEFT)
+internal fun leftInnerTangent(base: Circle2D, direction: Circle2D): StraightSegment? =
-internal fun rightInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.RIGHT)
+    innerTangent(base, direction, SIDE.LEFT)
-private fun innerTangent(base: Circle, direction: Circle, side: SIDE): Straight? {
+
-    val centers = Straight(base.center, direction.center)
+internal fun rightInnerTangent(base: Circle2D, direction: Circle2D): StraightSegment? =
+    innerTangent(base, direction, SIDE.RIGHT)
+
+private fun innerTangent(base: Circle2D, direction: Circle2D, side: SIDE): StraightSegment? {
+    val centers = StraightSegment(base.center, direction.center)
     if (centers.length < base.radius * 2) return null
     val angle = theta(
         when (side) {
@@ -61,7 +66,7 @@ private fun innerTangent(base: Circle, direction: Circle, side: SIDE): Straight?
     val dY = base.radius * cos(angle)
     val p1 = Vector2D(base.center.x + dX, base.center.y + dY)
     val p2 = Vector2D(direction.center.x - dX, direction.center.y - dY)
-    return Straight(p1, p2)
+    return StraightSegment(p1, p2)
 }
 
-internal fun theta(theta: Double) = (theta + (2 * PI)) % (2 * PI)
+internal fun theta(theta: Double): Double = (theta + (2 * PI)) % (2 * PI)

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/Arc.kt

@@ -1,59 +0,0 @@
-package space.kscience.kmath.trajectory.segments
-
-import space.kscience.kmath.geometry.Vector2D
-import space.kscience.kmath.trajectory.dubins.theta
-import space.kscience.kmath.trajectory.segments.components.Circle
-import space.kscience.kmath.trajectory.segments.components.Pose2D
-import kotlin.math.PI
-
-public data class Arc(
-    public val circle: Circle,
-    public val start: Pose2D,
-    public val end: Pose2D
-) : Segment {
-
-    internal companion object {
-        fun of(center: Vector2D, start: Vector2D, end: Vector2D, direction: Direction): Arc {
-            val s1 = Straight(center, start)
-            val s2 = Straight(center, end)
-            val pose1 = calculatePose(start, s1.theta, direction)
-            val pose2 = calculatePose(end, s2.theta, direction)
-            return Arc(Circle(center, s1.length), pose1, pose2)
-        }
-
-        private fun calculatePose(vector: Vector2D, theta: Double, direction: Direction): Pose2D =
-            Pose2D.of(
-                vector,
-                when (direction) {
-                    Direction.LEFT -> theta(theta - PI / 2)
-                    Direction.RIGHT -> theta(theta + PI / 2)
-                }
-            )
-    }
-
-    internal enum class Direction {
-        LEFT, RIGHT
-    }
-
-    override val length: Double
-        get() {
-            val angle: Double =
-                theta(if (direction == Direction.LEFT) start.theta - end.theta else end.theta - start.theta)
-            val proportion = angle / (2 * PI)
-            return circle.circumference * proportion
-        }
-
-    internal val direction: Direction
-        get() = if (start.y < circle.center.y) {
-            if (start.theta > PI) Direction.RIGHT else Direction.LEFT
-        } else if (start.y > circle.center.y) {
-            if (start.theta < PI) Direction.RIGHT else Direction.LEFT
-        } else {
-            if (start.theta == 0.0) {
-                if (start.x < circle.center.x) Direction.RIGHT else Direction.LEFT
-            } else {
-                if (start.x > circle.center.x) Direction.RIGHT else Direction.LEFT
-            }
-        }
-
-}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/Pose2D.kt

@@ -0,0 +1,21 @@
+/*
+ * Copyright 2018-2021 KMath contributors.
+ * Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
+ */
+
+package space.kscience.kmath.trajectory.segments
+
+import space.kscience.kmath.geometry.Vector2D
+
+/**
+ * A [Vector2D] with view direction
+ */
+public data class Pose2D(
+    override val x: Double,
+    override val y: Double,
+    public val theta: Double
+) : Vector2D {
+    public companion object {
+        public fun of(vector: Vector2D, theta: Double): Pose2D = Pose2D(vector.x, vector.y, theta)
+    }
+}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/Segment.kt

@@ -1,5 +0,0 @@
-package space.kscience.kmath.trajectory.segments
-
-public interface Segment {
-    public val length: Double
-}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/Straight.kt

@@ -1,18 +0,0 @@
-package space.kscience.kmath.trajectory.segments
-
-import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
-import space.kscience.kmath.geometry.Vector2D
-import space.kscience.kmath.trajectory.dubins.theta
-import kotlin.math.PI
-import kotlin.math.atan2
-
-public data class Straight(
-    internal val start: Vector2D,
-    internal val end: Vector2D
-) : Segment {
-    override val length: Double
-        get() = start.distanceTo(end)
-
-    internal val theta: Double
-        get() = theta(atan2(end.x - start.x, end.y - start.y))
-}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/Trajectory.kt

@@ -0,0 +1,89 @@
+package space.kscience.kmath.trajectory.segments
+
+import space.kscience.kmath.geometry.Circle2D
+import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
+import space.kscience.kmath.geometry.Vector2D
+import space.kscience.kmath.geometry.circumference
+import space.kscience.kmath.trajectory.dubins.theta
+import kotlin.math.PI
+import kotlin.math.atan2
+
+public interface Trajectory {
+    public val length: Double
+}
+
+/**
+ * Straight path segment. The order of start and end defines the direction
+ */
+public data class StraightSegment(
+    internal val start: Vector2D,
+    internal val end: Vector2D,
+) : Trajectory {
+    override val length: Double get() = start.distanceTo(end)
+
+    internal val theta: Double get() = theta(atan2(end.x - start.x, end.y - start.y))
+}
+
+/**
+ * An arc segment
+ */
+public data class ArcSegment(
+    public val circle: Circle2D,
+    public val start: Pose2D,
+    public val end: Pose2D,
+) : Trajectory {
+
+    public enum class Direction {
+        LEFT, RIGHT
+    }
+
+    override val length: Double by lazy {
+        val angle: Double = theta(
+            if (direction == Direction.LEFT) {
+                start.theta - end.theta
+            } else {
+                end.theta - start.theta
+            }
+        )
+        val proportion = angle / (2 * PI)
+        circle.circumference * proportion
+    }
+
+    internal val direction: Direction by lazy {
+        if (start.y < circle.center.y) {
+            if (start.theta > PI) Direction.RIGHT else Direction.LEFT
+        } else if (start.y > circle.center.y) {
+            if (start.theta < PI) Direction.RIGHT else Direction.LEFT
+        } else {
+            if (start.theta == 0.0) {
+                if (start.x < circle.center.x) Direction.RIGHT else Direction.LEFT
+            } else {
+                if (start.x > circle.center.x) Direction.RIGHT else Direction.LEFT
+            }
+        }
+    }
+
+    public companion object {
+        public fun of(center: Vector2D, start: Vector2D, end: Vector2D, direction: Direction): ArcSegment {
+            fun calculatePose(
+                vector: Vector2D,
+                theta: Double,
+                direction: Direction,
+            ): Pose2D = Pose2D.of(
+                vector,
+                when (direction) {
+                    Direction.LEFT -> theta(theta - PI / 2)
+                    Direction.RIGHT -> theta(theta + PI / 2)
+                }
+            )
+
+            val s1 = StraightSegment(center, start)
+            val s2 = StraightSegment(center, end)
+            val pose1 = calculatePose(start, s1.theta, direction)
+            val pose2 = calculatePose(end, s2.theta, direction)
+            return ArcSegment(Circle2D(center, s1.length), pose1, pose2)
+        }
+    }
+
+}
+

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/components/Circle.kt

@@ -1,11 +0,0 @@
-package space.kscience.kmath.trajectory.segments.components
-
-import space.kscience.kmath.geometry.Vector2D
-import kotlin.math.PI
-
-public open class Circle(
-    internal val center: Vector2D,
-    internal val radius: Double
-) {
-    internal val circumference = radius * 2 * PI
-}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/segments/components/Pose2D.kt

@@ -1,13 +0,0 @@
-package space.kscience.kmath.trajectory.segments.components
-
-import space.kscience.kmath.geometry.Vector2D
-
-public data class Pose2D(
-    override val x: Double,
-    override val y: Double,
-    public val theta: Double
-) : Vector2D {
-    internal companion object {
-        internal fun of(vector: Vector2D, theta: Double) = Pose2D(vector.x, vector.y, theta)
-    }
-}

kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/Math.kt

@@ -1,8 +1,8 @@
 package space.kscience.kmath.trajectory
 
 import space.kscience.kmath.geometry.Vector2D
-import space.kscience.kmath.trajectory.segments.Straight
+import space.kscience.kmath.trajectory.segments.Pose2D
-import space.kscience.kmath.trajectory.segments.components.Pose2D
+import space.kscience.kmath.trajectory.segments.StraightSegment
 import kotlin.math.PI
 import kotlin.math.abs
 import kotlin.math.sin
@@ -14,12 +14,12 @@ fun Double.radiansToDegrees() = this * 180 / PI
 fun Double.equalFloat(other: Double) = abs(this - other) < maxFloatDelta
 fun Pose2D.equalsFloat(other: Pose2D) = x.equalFloat(other.x) && y.equalFloat(other.y) && theta.equalFloat(other.theta)
 
-fun Straight.inverse() = Straight(end, start)
+fun StraightSegment.inverse() = StraightSegment(end, start)
-fun Straight.shift(shift: Int, width: Double): Straight {
+fun StraightSegment.shift(shift: Int, width: Double): StraightSegment {
     val dX = width * sin(inverse().theta)
     val dY = width * sin(theta)
 
-    return Straight(
+    return StraightSegment(
         Vector2D(start.x - dX * shift, start.y - dY * shift),
         Vector2D(end.x - dX * shift, end.y - dY * shift)
     )

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

@@ -10,9 +10,9 @@ import space.kscience.kmath.geometry.Vector2D
 import space.kscience.kmath.trajectory.equalFloat
 import space.kscience.kmath.trajectory.equalsFloat
 import space.kscience.kmath.trajectory.inverse
-import space.kscience.kmath.trajectory.segments.Arc
+import space.kscience.kmath.trajectory.segments.ArcSegment
-import space.kscience.kmath.trajectory.segments.Straight
+import space.kscience.kmath.trajectory.segments.Pose2D
-import space.kscience.kmath.trajectory.segments.components.Pose2D
+import space.kscience.kmath.trajectory.segments.StraightSegment
 import space.kscience.kmath.trajectory.shift
 import kotlin.test.Test
 import kotlin.test.assertNotNull
@@ -23,7 +23,7 @@ class DubinsTests {
 
     @Test
     fun dubinsTest() {
-        val straight = Straight(Vector2D(0.0, 0.0), Vector2D(100.0, 100.0))
+        val straight = StraightSegment(Vector2D(0.0, 0.0), Vector2D(100.0, 100.0))
         val lineP1 = straight.shift(1, 10.0).inverse()
 
         val start = Pose2D.of(straight.end, straight.theta)
@@ -52,12 +52,12 @@ class DubinsTests {
             assertTrue(end.equalsFloat(path.c.end))
 
             // Not working, theta double precision inaccuracy
-            if (path.b is Arc) {
+            if (path.b is ArcSegment) {
-                val b = path.b as Arc
+                val b = path.b as ArcSegment
                 assertTrue(path.a.end.equalsFloat(b.start))
                 assertTrue(path.c.start.equalsFloat(b.end))
-            } else if (path.b is Straight) {
+            } else if (path.b is StraightSegment) {
-                val b = path.b as Straight
+                val b = path.b as StraightSegment
                 assertTrue(path.a.end.equalsFloat(Pose2D.of(b.start, b.theta)))
                 assertTrue(path.c.start.equalsFloat(Pose2D.of(b.end, b.theta)))
             }

kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/ArcTests.kt

@@ -1,8 +1,9 @@
 package space.kscience.kmath.trajectory.segments
 
+import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Vector2D
+import space.kscience.kmath.geometry.circumference
 import space.kscience.kmath.trajectory.radiansToDegrees
-import space.kscience.kmath.trajectory.segments.components.Circle
 import kotlin.test.Test
 import kotlin.test.assertEquals
 
@@ -10,8 +11,8 @@ class ArcTests {
 
     @Test
     fun arcTest() {
-        val circle = Circle(Vector2D(0.0, 0.0), 2.0)
+        val circle = Circle2D(Vector2D(0.0, 0.0), 2.0)
-        val arc = Arc.of(circle.center, Vector2D(-2.0, 0.0), Vector2D(0.0, 2.0), Arc.Direction.RIGHT)
+        val arc = ArcSegment.of(circle.center, Vector2D(-2.0, 0.0), Vector2D(0.0, 2.0), ArcSegment.Direction.RIGHT)
         assertEquals(circle.circumference / 4, arc.length, 1.0)
         assertEquals(0.0, arc.start.theta.radiansToDegrees())
         assertEquals(90.0, arc.end.theta.radiansToDegrees())

kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/CircleTests.kt

@@ -3,9 +3,11 @@
  * Use of this source code is governed by the Apache 2.0 license that can be found in the license/LICENSE.txt file.
  */
 
-package space.kscience.kmath.trajectory.segments.components
+package space.kscience.kmath.trajectory.segments
 
+import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Vector2D
+import space.kscience.kmath.geometry.circumference
 import space.kscience.kmath.trajectory.maxFloatDelta
 import kotlin.test.Test
 import kotlin.test.assertEquals
@@ -17,7 +19,7 @@ class CircleTests {
         val center = Vector2D(0.0, 0.0)
         val radius = 2.0
         val expectedCircumference = 12.56637
-        val circle = Circle(center, radius)
+        val circle = Circle2D(center, radius)
         assertEquals(expectedCircumference, circle.circumference, maxFloatDelta)
     }
 }

kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/LineTests.kt

@@ -12,21 +12,21 @@ class LineTests {
 
     @Test
     fun lineTest() {
-        val straight = Straight(Vector2D(0.0, 0.0), Vector2D(100.0, 100.0))
+        val straight = StraightSegment(Vector2D(0.0, 0.0), Vector2D(100.0, 100.0))
         assertEquals(sqrt(100.0.pow(2) + 100.0.pow(2)), straight.length)
         assertEquals(45.0, straight.theta.radiansToDegrees())
     }
 
     @Test
     fun lineAngleTest() {
-        val zero = Vector2D(0.0, 0.0)
+        //val zero = Vector2D(0.0, 0.0)
-        val north = Straight(Euclidean2DSpace.zero, Vector2D(0.0, 2.0))
+        val north = StraightSegment(Euclidean2DSpace.zero, Vector2D(0.0, 2.0))
         assertEquals(0.0, north.theta.radiansToDegrees())
-        val east = Straight(Euclidean2DSpace.zero, Vector2D(2.0, 0.0))
+        val east = StraightSegment(Euclidean2DSpace.zero, Vector2D(2.0, 0.0))
         assertEquals(90.0, east.theta.radiansToDegrees())
-        val south = Straight(Euclidean2DSpace.zero, Vector2D(0.0, -2.0))
+        val south = StraightSegment(Euclidean2DSpace.zero, Vector2D(0.0, -2.0))
         assertEquals(180.0, south.theta.radiansToDegrees())
-        val west = Straight(Euclidean2DSpace.zero, Vector2D(-2.0, 0.0))
+        val west = StraightSegment(Euclidean2DSpace.zero, Vector2D(-2.0, 0.0))
         assertEquals(270.0, west.theta.radiansToDegrees())
     }
 }