From 4f88982734acfdfa5f771c3c9c3705801ab00781 Mon Sep 17 00:00:00 2001 From: Erik Schouten Date: Fri, 15 Jul 2022 22:13:50 +0200 Subject: [PATCH] Formatting --- .../trajectory/dubins/DubinsPathFactory.kt | 158 +++++++++--------- 1 file changed, 83 insertions(+), 75 deletions(-) diff --git a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt index 818735a96..91287b952 100644 --- a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt +++ b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt @@ -28,90 +28,95 @@ public class DubinsPathFactory( public val shortest: DubinsPath get() = all.minByOrNull { it.length }!! public operator fun get(type: DubinsPath.TYPE): DubinsPath? = all.find { it.type == type } - public val rlr: DubinsPath? get () { - val c1 = base.getRightCircle(turningRadius) - val c2 = direction.getRightCircle(turningRadius) - val centers = Line2D(c1.center, c2.center) - if (centers.length > turningRadius * 4) return null + public val rlr: DubinsPath? + get() { + val c1 = base.getRightCircle(turningRadius) + val c2 = direction.getRightCircle(turningRadius) + val centers = Line2D(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 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(c1.center, base, p1, Arc.Direction.RIGHT) - val a2 = Arc(e.center, p1, p2, Arc.Direction.LEFT) - val a3 = Arc(c2.center, p2, direction, Arc.Direction.RIGHT) - return DubinsPath(a1, a2, a3) - } + 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 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(c1.center, base, p1, Arc.Direction.RIGHT) + val a2 = Arc(e.center, p1, p2, Arc.Direction.LEFT) + val a3 = Arc(c2.center, p2, direction, Arc.Direction.RIGHT) + return DubinsPath(a1, a2, a3) + } - private val lrl: DubinsPath? get () { - val c1 = base.getLeftCircle(turningRadius) - val c2 = direction.getLeftCircle(turningRadius) - val centers = Line2D(c1.center, c2.center) - if (centers.length > turningRadius * 4) return null + private val lrl: DubinsPath? + get() { + val c1 = base.getLeftCircle(turningRadius) + val c2 = direction.getLeftCircle(turningRadius) + val centers = Line2D(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 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(c1.center, base, p1, Arc.Direction.LEFT) - val a2 = Arc(e.center, p1, p2, Arc.Direction.RIGHT) - val a3 = Arc(c2.center, p2, direction, Arc.Direction.LEFT) - return DubinsPath(a1, a2, a3) - } + 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 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(c1.center, base, p1, Arc.Direction.LEFT) + val a2 = Arc(e.center, p1, p2, Arc.Direction.RIGHT) + val a3 = Arc(c2.center, p2, direction, Arc.Direction.LEFT) + return DubinsPath(a1, a2, a3) + } - public val rsr: DubinsPath get () { - val c1 = base.getRightCircle(turningRadius) - val c2 = direction.getRightCircle(turningRadius) - val l = leftOuterTangent(c1, c2) - val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT) - val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) - return DubinsPath(a1, LineSegment(l), a3) - } + public val rsr: DubinsPath + get() { + val c1 = base.getRightCircle(turningRadius) + val c2 = direction.getRightCircle(turningRadius) + val l = leftOuterTangent(c1, c2) + val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT) + val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) + return DubinsPath(a1, LineSegment(l), a3) + } public val lsl: DubinsPath - get () { - val c1 = base.getLeftCircle(turningRadius) - val c2 = direction.getLeftCircle(turningRadius) - val l = rightOuterTangent(c1, c2) - val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT) - val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) - return DubinsPath(a1, LineSegment(l), a3) - } + get() { + val c1 = base.getLeftCircle(turningRadius) + val c2 = direction.getLeftCircle(turningRadius) + val l = rightOuterTangent(c1, c2) + val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT) + val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) + return DubinsPath(a1, LineSegment(l), a3) + } - public val rsl: DubinsPath? get () { - val c1 = base.getRightCircle(turningRadius) - val c2 = direction.getLeftCircle(turningRadius) - val l = rightInnerTangent(c1, c2) - if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null + public val rsl: DubinsPath? + get() { + val c1 = base.getRightCircle(turningRadius) + val c2 = direction.getLeftCircle(turningRadius) + val l = rightInnerTangent(c1, c2) + if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null - val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT) - val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) - return DubinsPath(a1, LineSegment(l), a3) - } + val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT) + val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) + return DubinsPath(a1, LineSegment(l), a3) + } - public val lsr: DubinsPath? get () { - val c1 = base.getLeftCircle(turningRadius) - val c2 = direction.getRightCircle(turningRadius) - val l = leftInnerTangent(c1, c2) - if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null + public val lsr: DubinsPath? + get() { + val c1 = base.getLeftCircle(turningRadius) + val c2 = direction.getRightCircle(turningRadius) + val l = leftInnerTangent(c1, c2) + if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null - val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT) - val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) - return DubinsPath(a1, LineSegment(l), a3) - } + val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT) + val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) + return DubinsPath(a1, LineSegment(l), a3) + } } private enum class SIDE { @@ -140,7 +145,10 @@ private fun outerTangent(a: Circle, b: Circle, side: SIDE): Line2D { a.center.y - a.radius * sin(centers.theta) ) } - return Line2D(p1, Vector2D(p1.x + (centers.direction.x - centers.base.x), p1.y + (centers.direction.y - centers.base.y))) + return Line2D( + p1, + Vector2D(p1.x + (centers.direction.x - centers.base.x), p1.y + (centers.direction.y - centers.base.y)) + ) } private fun leftInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.LEFT)