teldufalsari/kmath
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Code Pull Requests 1 Activity

Cleanup

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This commit is contained in:
Erik Schouten 2022-07-15 18:55:37 +02:00
parent 32769d6906
commit cdb116fa20
1 changed files with 43 additions and 51 deletions
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34
kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/dubins/DubinsPathFactory.kt
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@ -32,7 +32,8 @@ public class DubinsPathFactory(
val c1 = base.getRightCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val c2 = direction.getRightCircle(turningRadius) val c2 = direction.getRightCircle(turningRadius)
val centers = Line2D(c1.center, c2.center) val centers = Line2D(c1.center, c2.center)
return if (centers.length < turningRadius * 4) { if (centers.length > turningRadius * 4) return null
var theta = (centers.theta - acos(centers.length / (turningRadius * 4))).theta var theta = (centers.theta - acos(centers.length / (turningRadius * 4))).theta
var dX = turningRadius * sin(theta) var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta) var dY = turningRadius * cos(theta)
@ -46,17 +47,15 @@ public class DubinsPathFactory(
val a1 = Arc(c1.center, turningRadius, base, p1, Arc.Direction.RIGHT) val a1 = Arc(c1.center, turningRadius, base, p1, Arc.Direction.RIGHT)
val a2 = Arc(e.center, turningRadius, p1, p2, Arc.Direction.LEFT) val a2 = Arc(e.center, turningRadius, p1, p2, Arc.Direction.LEFT)
val a3 = Arc(c2.center, turningRadius, p2, direction, Arc.Direction.RIGHT) val a3 = Arc(c2.center, turningRadius, p2, direction, Arc.Direction.RIGHT)
DubinsPath(a1, a2, a3) return DubinsPath(a1, a2, a3)
} else {
null
}
} }
private val lrl: DubinsPath? get () { private val lrl: DubinsPath? get () {
val c1 = base.getLeftCircle(turningRadius) val c1 = base.getLeftCircle(turningRadius)
val c2 = direction.getLeftCircle(turningRadius) val c2 = direction.getLeftCircle(turningRadius)
val centers = Line2D(c1.center, c2.center) val centers = Line2D(c1.center, c2.center)
return if (centers.length < turningRadius * 4) { if (centers.length > turningRadius * 4) return null
var theta = (centers.theta + acos(centers.length / (turningRadius * 4))).theta var theta = (centers.theta + acos(centers.length / (turningRadius * 4))).theta
var dX = turningRadius * sin(theta) var dX = turningRadius * sin(theta)
var dY = turningRadius * cos(theta) var dY = turningRadius * cos(theta)
@ -70,13 +69,10 @@ public class DubinsPathFactory(
val a1 = Arc(c1.center, turningRadius, base, p1, Arc.Direction.LEFT) val a1 = Arc(c1.center, turningRadius, base, p1, Arc.Direction.LEFT)
val a2 = Arc(e.center, turningRadius, p1, p2, Arc.Direction.RIGHT) val a2 = Arc(e.center, turningRadius, p1, p2, Arc.Direction.RIGHT)
val a3 = Arc(c2.center, turningRadius, p2, direction, Arc.Direction.LEFT) val a3 = Arc(c2.center, turningRadius, p2, direction, Arc.Direction.LEFT)
DubinsPath(a1, a2, a3) return DubinsPath(a1, a2, a3)
} else {
null
}
} }
public val rsr: DubinsPath? get () { public val rsr: DubinsPath get () {
val c1 = base.getRightCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val c2 = direction.getRightCircle(turningRadius) val c2 = direction.getRightCircle(turningRadius)
val l = leftOuterTangent(c1, c2) val l = leftOuterTangent(c1, c2)
@ -99,26 +95,22 @@ public class DubinsPathFactory(
val c1 = base.getRightCircle(turningRadius) val c1 = base.getRightCircle(turningRadius)
val c2 = direction.getLeftCircle(turningRadius) val c2 = direction.getLeftCircle(turningRadius)
val l = rightInnerTangent(c1, c2) val l = rightInnerTangent(c1, c2)
return if (c1.center.distanceTo(c2.center) > turningRadius * 2 && l != null) { if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null
val a1 = Arc(c1.center, turningRadius, base, l.base, Arc.Direction.RIGHT) val a1 = Arc(c1.center, turningRadius, base, l.base, Arc.Direction.RIGHT)
val a3 = Arc(c2.center, turningRadius, l.direction, direction, Arc.Direction.LEFT) val a3 = Arc(c2.center, turningRadius, l.direction, direction, Arc.Direction.LEFT)
DubinsPath(a1, LineSegment(l), a3) return DubinsPath(a1, LineSegment(l), a3)
} else {
null
}
} }
public val lsr: DubinsPath? get () { public val lsr: DubinsPath? get () {
val c1 = base.getLeftCircle(turningRadius) val c1 = base.getLeftCircle(turningRadius)
val c2 = direction.getRightCircle(turningRadius) val c2 = direction.getRightCircle(turningRadius)
val l = leftInnerTangent(c1, c2) val l = leftInnerTangent(c1, c2)
return if (c1.center.distanceTo(c2.center) > turningRadius * 2 && l != null) { if (c1.center.distanceTo(c2.center) < turningRadius * 2 || l == null) return null
val a1 = Arc(c1.center, turningRadius, base, l.base, Arc.Direction.LEFT) val a1 = Arc(c1.center, turningRadius, base, l.base, Arc.Direction.LEFT)
val a3 = Arc(c2.center, turningRadius, l.direction, direction, Arc.Direction.RIGHT) val a3 = Arc(c2.center, turningRadius, l.direction, direction, Arc.Direction.RIGHT)
DubinsPath(a1, LineSegment(l), a3) return DubinsPath(a1, LineSegment(l), a3)
} else {
null
}
} }
} }