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Cleanup after circle tangent changes

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This commit is contained in:
Alexander Nozik 2023-02-16 10:29:12 +03:00
parent 8998a394b3
commit 7d897ad8cb
7 changed files with 147 additions and 113 deletions
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7
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Euclidean2DSpace.kt
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@ -85,13 +85,6 @@ public object Euclidean2DSpace : GeometrySpace<DoubleVector2D>,
override fun scale(a: DoubleVector2D, value: Double): DoubleVector2D = vector(a.x * value, a.y * value)
override fun DoubleVector2D.dot(other: DoubleVector2D): Double = x * other.x + y * other.y
public fun equalLineSegments(line1: LineSegment<DoubleVector2D>, line2: LineSegment<DoubleVector2D>): Boolean {
val maxFloatDelta = 0.000001
return line1.begin.x.equalFloat(line2.begin.x) && line1.begin.y.equalFloat(line2.begin.y) &&
line1.end.x.equalFloat(line2.end.x) && line1.end.y.equalFloat(line2.end.y)
}
public val xAxis: DoubleVector2D = vector(1.0, 0.0)
public val yAxis: DoubleVector2D = vector(0.0, 1.0)
}

3
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Line.kt
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@ -27,8 +27,5 @@ public fun <V : Vector> LineSegment<V>.line(algebra: GeometrySpace<V>): Line<V>
Line(begin, end - begin)
}
public fun Double.equalFloat(other: Double, maxFloatDelta: Double = 0.000001):
Boolean = kotlin.math.abs(this - other) < maxFloatDelta
public typealias LineSegment2D = LineSegment<DoubleVector2D>
public typealias LineSegment3D = LineSegment<DoubleVector3D>

38
kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/floatPrecision.kt Normal file
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@ -0,0 +1,38 @@
/*
* Copyright 2018-2023 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
internal const val defaultPrecision = 1e-6
public fun Double.equalsFloat(other: Double, precision: Double = defaultPrecision): Boolean =
kotlin.math.abs(this - other) < precision
public fun Double.equalsFloat(other: Float, precision: Double = defaultPrecision): Boolean =
kotlin.math.abs(this - other) < precision
public fun <V : Vector> V.equalsVector(
space: GeometrySpace<V>,
other: V,
precision: Double = defaultPrecision,
): Boolean = with(space) {
norm(this@equalsVector - other) < precision
}
public fun Float64Vector2D.equalsVector(
other: Float64Vector2D,
precision: Double = defaultPrecision,
): Boolean = equalsVector(Euclidean2DSpace, other, precision)
public fun Float64Vector3D.equalsVector(
other: Float64Vector3D,
precision: Double = defaultPrecision,
): Boolean = equalsVector(Euclidean3DSpace, other, precision)
public fun <V : Vector> LineSegment<V>.equalsLine(
space: GeometrySpace<V>,
other: LineSegment<V>,
precision: Double = defaultPrecision,
): Boolean = begin.equalsVector(space, other.begin, precision) && end.equalsVector(space, other.end, precision)

55
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Tangent.kt
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@ -1,55 +0,0 @@
/*
* Copyright 2018-2023 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
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.DoubleVector2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
import space.kscience.kmath.geometry.LineSegment
import kotlin.math.*
public enum class DubinsRoutes {
RSR, RSL, LSR, LSL
}
public fun Circle2D.tangentsToCircle(other: Circle2D): Map<DubinsRoutes, LineSegment<DoubleVector2D>> {
val R1 = this.radius
val R2 = other.radius
val line = LineSegment(this.center, other.center)
val d = line.begin.distanceTo(line.end)
val angle1 = atan2(other.center.x - this.center.x, other.center.y - this.center.y)
var r: Double
var angle2: Double
val routes = mapOf(
DubinsRoutes.RSR to Pair(R1, R2),
DubinsRoutes.RSL to Pair(R1, -R2),
DubinsRoutes.LSR to Pair(-R1, R2),
DubinsRoutes.LSL to Pair(-R1, -R2)
)
val segments = mutableMapOf<DubinsRoutes, LineSegment<DoubleVector2D>>()
for ((route, r1r2) in routes) {
val r1 = r1r2.first
val r2 = r1r2.second
r = if (r1.sign == r2.sign) {
r1.absoluteValue - r2.absoluteValue
} else {
r1.absoluteValue + r2.absoluteValue
}
val L = (d * d - r * r).pow(0.5)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, L)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, L)
}
val W = Euclidean2DSpace.vector(-cos(angle2), sin(angle2))
segments[route] = LineSegment(
Euclidean2DSpace.add(this.center, Euclidean2DSpace.scale(W, r1)),
Euclidean2DSpace.add(other.center, Euclidean2DSpace.scale(W, r2))
)
}
return segments
}

53
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/tangent.kt Normal file
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@ -0,0 +1,53 @@
/*
* Copyright 2018-2023 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
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.DoubleVector2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.LineSegment
import kotlin.math.*
public fun Circle2D.tangentsToCircle(
other: Circle2D,
): Map<DubinsPath.Type, LineSegment<DoubleVector2D>> = with(Euclidean2DSpace) {
val line = LineSegment(center, other.center)
val d = line.begin.distanceTo(line.end)
val angle1 = atan2(other.center.x - center.x, other.center.y - center.y)
var r: Double
var angle2: Double
val routes = mapOf(
DubinsPath.Type.RSR to Pair(radius, other.radius),
DubinsPath.Type.RSL to Pair(radius, -other.radius),
DubinsPath.Type.LSR to Pair(-radius, other.radius),
DubinsPath.Type.LSL to Pair(-radius, -other.radius)
)
return buildMap {
for ((route, r1r2) in routes) {
val r1 = r1r2.first
val r2 = r1r2.second
r = if (r1.sign == r2.sign) {
r1.absoluteValue - r2.absoluteValue
} else {
r1.absoluteValue + r2.absoluteValue
}
val l = (d * d - r * r).pow(0.5)
angle2 = if (r1.absoluteValue > r2.absoluteValue) {
angle1 + r1.sign * atan2(r.absoluteValue, l)
} else {
angle1 - r2.sign * atan2(r.absoluteValue, l)
}
val w = vector(-cos(angle2), sin(angle2))
put(
route,
LineSegment(
center + w * r1,
other.center + w * r2
)
)
}
}
}

56
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt Normal file
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@ -0,0 +1,56 @@
/*
* Copyright 2018-2023 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
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.Euclidean2DSpace
import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.LineSegment
import space.kscience.kmath.geometry.equalsLine
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
class TangentTest {
@Test
fun tangent() {
val c1 = Circle2D(vector(0.0, 0.0), 1.0)
val c2 = Circle2D(vector(4.0, 0.0), 1.0)
val routes = listOf(
DubinsPath.Type.RSR,
DubinsPath.Type.RSL,
DubinsPath.Type.LSR,
DubinsPath.Type.LSL
)
val segments = listOf(
LineSegment(
begin = vector(0.0, 1.0),
end = vector(4.0, 1.0)
),
LineSegment(
begin = vector(0.5, 0.8660254),
end = vector(3.5, -0.8660254)
),
LineSegment(
begin = vector(0.5, -0.8660254),
end = vector(3.5, 0.8660254)
),
LineSegment(
begin = vector(0.0, -1.0),
end = vector(4.0, -1.0)
)
)
val tangentMap = c1.tangentsToCircle(c2)
val tangentMapKeys = tangentMap.keys.toList()
val tangentMapValues = tangentMap.values.toList()
assertEquals(routes, tangentMapKeys)
for (i in segments.indices) {
assertTrue(segments[i].equalsLine(Euclidean2DSpace, tangentMapValues[i]))
}
}
}

48
kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/segments/TangentTest.kt
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@ -1,48 +0,0 @@
/*
* Copyright 2018-2023 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
import space.kscience.kmath.geometry.Circle2D
import space.kscience.kmath.geometry.DoubleVector2D
import space.kscience.kmath.geometry.Euclidean2DSpace.equalLineSegments
import space.kscience.kmath.geometry.Euclidean2DSpace.vector
import space.kscience.kmath.geometry.LineSegment
import kotlin.test.Test
import kotlin.test.assertEquals
import kotlin.test.assertTrue
class TangentTest {
@Test
fun tangent() {
val c1 = Circle2D(vector(0.0, 0.0), 1.0)
val c2 = Circle2D(vector(4.0, 0.0), 1.0)
val routes = arrayListOf<DubinsRoutes>(
DubinsRoutes.RSR,
DubinsRoutes.RSL,
DubinsRoutes.LSR,
DubinsRoutes.LSL
)
val segments = arrayListOf<LineSegment<DoubleVector2D>>(
LineSegment<DoubleVector2D>(begin = vector(0.0, 1.0),
end = vector(4.0, 1.0)),
LineSegment<DoubleVector2D>(begin = vector(0.5, 0.8660254),
end = vector(3.5, -0.8660254)),
LineSegment<DoubleVector2D>(begin = vector(0.5, -0.8660254),
end = vector(3.5, 0.8660254)),
LineSegment<DoubleVector2D>(begin = vector(0.0, -1.0),
end = vector(4.0, -1.0))
)
val tangentMap = c1.tangentsToCircle(c2)
val tangentMapKeys = tangentMap.keys.toList()
val tangentMapValues = tangentMap.values.toList()
assertEquals(routes, tangentMapKeys)
for (i in segments.indices) {
assertTrue(equalLineSegments(segments[i], tangentMapValues[i]))
}
}
}