forked from kscience/kmath
[WIP] refactoring directions
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109e050f03
commit
fd35d7c614
@ -350,13 +350,13 @@ private fun arcLength(
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circle: Circle2D,
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point1: DoubleVector2D,
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point2: DoubleVector2D,
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route: Trajectory2D.Type,
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direction: Trajectory2D.Direction,
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): Double {
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val phi1 = atan2(point1.y - circle.center.y, point1.x - circle.center.x)
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val phi2 = atan2(point2.y - circle.center.y, point2.x - circle.center.x)
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var angle = 0.0
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when (route) {
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Trajectory2D.Type.L -> {
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when (direction) {
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Trajectory2D.L -> {
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angle = if (phi2 >= phi1) {
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phi2 - phi1
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} else {
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@ -364,17 +364,13 @@ private fun arcLength(
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}
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}
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Trajectory2D.Type.R -> {
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Trajectory2D.R -> {
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angle = if (phi2 >= phi1) {
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2 * PI - (phi2 - phi1)
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} else {
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-(phi2 - phi1)
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}
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}
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Trajectory2D.Type.S -> {
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error("L or R route is expected")
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}
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}
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return circle.radius * angle
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}
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@ -396,13 +392,13 @@ private fun constructTangentCircles(
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val p1 = center1 - point
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return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI / 2, -3 * PI / 2)) {
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mapOf(
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Trajectory2D.Type.L to Circle2D(center1, r),
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Trajectory2D.Type.R to Circle2D(center2, r)
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Trajectory2D.L to Circle2D(center1, r),
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Trajectory2D.R to Circle2D(center2, r)
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)
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} else {
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mapOf(
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Trajectory2D.Type.L to Circle2D(center2, r),
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Trajectory2D.Type.R to Circle2D(center1, r)
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Trajectory2D.L to Circle2D(center2, r),
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Trajectory2D.R to Circle2D(center1, r)
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)
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}
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}
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@ -483,8 +479,8 @@ internal fun findAllPaths(
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finalRadius
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)
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val trajectories = mutableListOf<CompositeTrajectory2D>()
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for (i in listOf(Trajectory2D.Type.L, Trajectory2D.Type.R)) {
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for (j in listOf(Trajectory2D.Type.L, Trajectory2D.Type.R)) {
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for (i in listOf(Trajectory2D.L, Trajectory2D.R)) {
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for (j in listOf(Trajectory2D.L, Trajectory2D.R)) {
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val finalCircle = finalCircles[j]!!
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val finalObstacle = Obstacle(listOf(finalCircle))
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var currentPaths: List<TangentPath> = listOf(
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@ -495,7 +491,7 @@ internal fun findAllPaths(
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Obstacle(listOf(initialCircles[i]!!)),
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Obstacle(listOf(initialCircles[i]!!)),
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LineSegment2D(startingPoint, startingPoint),
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listOf(i, Trajectory2D.Type.S, i)
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listOf(i, Trajectory2D.S, i)
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)
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)
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)
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@ -503,13 +499,13 @@ internal fun findAllPaths(
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val newPaths = mutableListOf<TangentPath>()
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for (tangentPath: TangentPath in currentPaths) {
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val currentCircle = tangentPath.last().endCircle
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val currentDirection = tangentPath.last().trajectoryType.last()
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val currentDirection: Trajectory2D.Direction = tangentPath.last().trajectoryType.last()
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val currentObstacle = tangentPath.last().endObstacle
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var nextObstacle: Obstacle? = null
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if (currentObstacle != finalObstacle) {
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val tangentToFinal = outerTangents(currentObstacle, finalObstacle)[DubinsPath.Type(
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currentDirection,
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Trajectory2D.Type.S,
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Trajectory2D.S,
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j
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)]
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for (obstacle in sortedObstacles(currentObstacle, obstacles)) {
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@ -538,7 +534,7 @@ internal fun findAllPaths(
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tangent.startCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.Type.S,
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Trajectory2D.S,
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currentDirection
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),
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).lineSegment.begin,
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@ -555,7 +551,7 @@ internal fun findAllPaths(
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currentCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.Type.S,
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Trajectory2D.S,
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currentDirection
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),
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tangent.startCircle,
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@ -569,7 +565,7 @@ internal fun findAllPaths(
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currentCircle,
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DubinsPath.Type(
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currentDirection,
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Trajectory2D.Type.S,
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Trajectory2D.S,
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currentDirection
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),
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tangent.startCircle,
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@ -599,7 +595,7 @@ internal fun findAllPaths(
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LineSegment2D(finalPoint, finalPoint),
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listOf(
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lastDirection,
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Trajectory2D.Type.S,
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Trajectory2D.S,
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j
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)
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)
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