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Erik Schouten 2022-07-15 22:13:50 +02:00
parent fa6d741869
commit 4f88982734
1 changed files with 83 additions and 75 deletions
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kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt
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@ -28,90 +28,95 @@ public class DubinsPathFactory(
public val shortest: DubinsPath get() = all.minByOrNull { it.length }!! public val shortest: DubinsPath get() = all.minByOrNull { it.length }!!
public operator fun get(type: DubinsPath.TYPE): DubinsPath? = all.find { it.type == type } public operator fun get(type: DubinsPath.TYPE): DubinsPath? = all.find { it.type == type }
public val rlr: DubinsPath? get () { public val rlr: DubinsPath?
val c1 = base.getRightCircle(turningRadius) get() {
val c2 = direction.getRightCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val centers = Line2D(c1.center, c2.center) val c2 = direction.getRightCircle(turningRadius)
if (centers.length > turningRadius * 4) return null 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 theta = theta(centers.theta - acos(centers.length / (turningRadius * 4)))
var dX = turningRadius * sin(theta) var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta) var dY = turningRadius * cos(theta)
val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2) val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle(p, turningRadius) val e = Circle(p, turningRadius)
val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY) val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY)
theta = theta(centers.theta + acos(centers.length / (turningRadius * 4))) theta = theta(centers.theta + acos(centers.length / (turningRadius * 4)))
dX = turningRadius * sin(theta) dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta) dY = turningRadius * cos(theta)
val p2 = Vector2D(e.center.x + dX, e.center.y + dY) val p2 = Vector2D(e.center.x + dX, e.center.y + dY)
val a1 = Arc(c1.center, base, p1, Arc.Direction.RIGHT) val a1 = Arc(c1.center, base, p1, Arc.Direction.RIGHT)
val a2 = Arc(e.center, p1, p2, Arc.Direction.LEFT) val a2 = Arc(e.center, p1, p2, Arc.Direction.LEFT)
val a3 = Arc(c2.center, p2, direction, Arc.Direction.RIGHT) val a3 = Arc(c2.center, p2, direction, Arc.Direction.RIGHT)
return DubinsPath(a1, a2, a3) return DubinsPath(a1, a2, a3)
} }
private val lrl: DubinsPath? get () { private val lrl: DubinsPath?
val c1 = base.getLeftCircle(turningRadius) get() {
val c2 = direction.getLeftCircle(turningRadius) val c1 = base.getLeftCircle(turningRadius)
val centers = Line2D(c1.center, c2.center) val c2 = direction.getLeftCircle(turningRadius)
if (centers.length > turningRadius * 4) return null 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 theta = theta(centers.theta + acos(centers.length / (turningRadius * 4)))
var dX = turningRadius * sin(theta) var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta) var dY = turningRadius * cos(theta)
val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2) val p = Vector2D(c1.center.x + dX * 2, c1.center.y + dY * 2)
val e = Circle(p, turningRadius) val e = Circle(p, turningRadius)
val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY) val p1 = Vector2D(c1.center.x + dX, c1.center.y + dY)
theta = theta(centers.theta - acos(centers.length / (turningRadius * 4))) theta = theta(centers.theta - acos(centers.length / (turningRadius * 4)))
dX = turningRadius * sin(theta) dX = turningRadius * sin(theta)
dY = turningRadius * cos(theta) dY = turningRadius * cos(theta)
val p2 = Vector2D(e.center.x + dX, e.center.y + dY) val p2 = Vector2D(e.center.x + dX, e.center.y + dY)
val a1 = Arc(c1.center, base, p1, Arc.Direction.LEFT) val a1 = Arc(c1.center, base, p1, Arc.Direction.LEFT)
val a2 = Arc(e.center, p1, p2, Arc.Direction.RIGHT) val a2 = Arc(e.center, p1, p2, Arc.Direction.RIGHT)
val a3 = Arc(c2.center, p2, direction, Arc.Direction.LEFT) val a3 = Arc(c2.center, p2, direction, Arc.Direction.LEFT)
return DubinsPath(a1, a2, a3) return DubinsPath(a1, a2, a3)
} }
public val rsr: DubinsPath get () { public val rsr: DubinsPath
val c1 = base.getRightCircle(turningRadius) get() {
val c2 = direction.getRightCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val l = leftOuterTangent(c1, c2) val c2 = direction.getRightCircle(turningRadius)
val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT) val l = leftOuterTangent(c1, c2)
val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) val a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT)
return DubinsPath(a1, LineSegment(l), a3) val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT)
} return DubinsPath(a1, LineSegment(l), a3)
}
public val lsl: DubinsPath public val lsl: DubinsPath
get () { get() {
val c1 = base.getLeftCircle(turningRadius) val c1 = base.getLeftCircle(turningRadius)
val c2 = direction.getLeftCircle(turningRadius) val c2 = direction.getLeftCircle(turningRadius)
val l = rightOuterTangent(c1, c2) val l = rightOuterTangent(c1, c2)
val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT) val a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT)
val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT)
return DubinsPath(a1, LineSegment(l), a3) return DubinsPath(a1, LineSegment(l), a3)
} }
public val rsl: DubinsPath? get () { public val rsl: DubinsPath?
val c1 = base.getRightCircle(turningRadius) get() {
val c2 = direction.getLeftCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val l = rightInnerTangent(c1, c2) val c2 = direction.getLeftCircle(turningRadius)
if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null 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 a1 = Arc(c1.center, base, l.base, Arc.Direction.RIGHT)
val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT) val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.LEFT)
return DubinsPath(a1, LineSegment(l), a3) return DubinsPath(a1, LineSegment(l), a3)
} }
public val lsr: DubinsPath? get () { public val lsr: DubinsPath?
val c1 = base.getLeftCircle(turningRadius) get() {
val c2 = direction.getRightCircle(turningRadius) val c1 = base.getLeftCircle(turningRadius)
val l = leftInnerTangent(c1, c2) val c2 = direction.getRightCircle(turningRadius)
if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null 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 a1 = Arc(c1.center, base, l.base, Arc.Direction.LEFT)
val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT) val a3 = Arc(c2.center, l.direction, direction, Arc.Direction.RIGHT)
return DubinsPath(a1, LineSegment(l), a3) return DubinsPath(a1, LineSegment(l), a3)
} }
} }
private enum class SIDE { 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) 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) private fun leftInnerTangent(base: Circle, direction: Circle) = innerTangent(base, direction, SIDE.LEFT)