Cleanup after circle tangent changes

kmath-geometry/src/commonMain/kotlin/space/kscience/kmath/geometry/Euclidean2DSpace.kt

@@ -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)
 }

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

@@ -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>

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

@@ -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)

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/Tangent.kt

@@ -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
-}

kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/tangent.kt

@@ -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
+                )
+            )
+        }
+    }
+}

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

@@ -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]))
+        }
+    }
+}

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

@@ -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]))
-        }
-    }
-}