forked from kscience/kmath
Formatting
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@ -28,7 +28,8 @@ public class DubinsPathFactory(
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public val shortest: DubinsPath get() = all.minByOrNull { it.length }!!
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public val shortest: DubinsPath get() = all.minByOrNull { it.length }!!
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public operator fun get(type: DubinsPath.TYPE): DubinsPath? = all.find { it.type == type }
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public operator fun get(type: DubinsPath.TYPE): DubinsPath? = all.find { it.type == type }
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public val rlr: DubinsPath? get () {
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public val rlr: DubinsPath?
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get() {
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val c1 = base.getRightCircle(turningRadius)
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val c1 = base.getRightCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val centers = Line2D(c1.center, c2.center)
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val centers = Line2D(c1.center, c2.center)
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@ -50,7 +51,8 @@ public class DubinsPathFactory(
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return DubinsPath(a1, a2, a3)
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return DubinsPath(a1, a2, a3)
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}
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}
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private val lrl: DubinsPath? get () {
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private val lrl: DubinsPath?
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get() {
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val c1 = base.getLeftCircle(turningRadius)
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val c1 = base.getLeftCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val centers = Line2D(c1.center, c2.center)
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val centers = Line2D(c1.center, c2.center)
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@ -72,7 +74,8 @@ public class DubinsPathFactory(
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return DubinsPath(a1, a2, a3)
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return DubinsPath(a1, a2, a3)
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}
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}
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public val rsr: DubinsPath get () {
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public val rsr: DubinsPath
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get() {
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val c1 = base.getRightCircle(turningRadius)
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val c1 = base.getRightCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val l = leftOuterTangent(c1, c2)
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val l = leftOuterTangent(c1, c2)
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@ -82,7 +85,7 @@ public class DubinsPathFactory(
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}
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}
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public val lsl: DubinsPath
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public val lsl: DubinsPath
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get () {
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get() {
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val c1 = base.getLeftCircle(turningRadius)
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val c1 = base.getLeftCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val l = rightOuterTangent(c1, c2)
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val l = rightOuterTangent(c1, c2)
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@ -91,7 +94,8 @@ public class DubinsPathFactory(
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return DubinsPath(a1, LineSegment(l), a3)
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return DubinsPath(a1, LineSegment(l), a3)
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}
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}
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public val rsl: DubinsPath? get () {
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public val rsl: DubinsPath?
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get() {
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val c1 = base.getRightCircle(turningRadius)
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val c1 = base.getRightCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val c2 = direction.getLeftCircle(turningRadius)
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val l = rightInnerTangent(c1, c2)
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val l = rightInnerTangent(c1, c2)
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@ -102,7 +106,8 @@ public class DubinsPathFactory(
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return DubinsPath(a1, LineSegment(l), a3)
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return DubinsPath(a1, LineSegment(l), a3)
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}
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}
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public val lsr: DubinsPath? get () {
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public val lsr: DubinsPath?
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get() {
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val c1 = base.getLeftCircle(turningRadius)
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val c1 = base.getLeftCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val c2 = direction.getRightCircle(turningRadius)
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val l = leftInnerTangent(c1, c2)
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val l = leftInnerTangent(c1, c2)
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@ -140,7 +145,10 @@ private fun outerTangent(a: Circle, b: Circle, side: SIDE): Line2D {
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a.center.y - a.radius * sin(centers.theta)
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a.center.y - a.radius * sin(centers.theta)
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)
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)
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}
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}
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return Line2D(p1, Vector2D(p1.x + (centers.direction.x - centers.base.x), p1.y + (centers.direction.y - centers.base.y)))
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return Line2D(
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p1,
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Vector2D(p1.x + (centers.direction.x - centers.base.x), p1.y + (centers.direction.y - centers.base.y))
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)
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}
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}
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private fun leftInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.LEFT)
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private fun leftInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.LEFT)
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