mirror of
https://github.com/gnxlxnxx/dubins_path
synced 2026-07-27 07:03:03 +02:00
Use euclide Point2D
This commit is contained in:
David Sawatzke
+53
-79
@@ -7,13 +7,11 @@
|
||||
//!
|
||||
//! Every struct defined here is 2 dimensional and uses f64
|
||||
|
||||
use euclid::Angle;
|
||||
use euclid::{Angle, Point2D, Rotation2D, UnknownUnit};
|
||||
|
||||
/// Point
|
||||
pub struct Point {
|
||||
pub x: f64,
|
||||
pub y: f64,
|
||||
}
|
||||
type Point = Point2D<f64, UnknownUnit>;
|
||||
type Vector2D = euclid::Vector2D<f64, UnknownUnit>;
|
||||
type Rotation = Rotation2D<f64, UnknownUnit, UnknownUnit>;
|
||||
|
||||
/// Vector with origin, angle and magnitude
|
||||
pub struct Vector {
|
||||
@@ -54,22 +52,19 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
let mut route_csc = RouteCSC {
|
||||
start: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point {
|
||||
x: end.magnitude,
|
||||
y: 0.0,
|
||||
},
|
||||
center: Point::new(end.magnitude, 0.0),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
tangent: Vector {
|
||||
origin: Point { x: 0.0, y: 0.0 },
|
||||
origin: Point::zero(),
|
||||
angle: Angle::zero(),
|
||||
magnitude: 0.0,
|
||||
},
|
||||
end: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point { x: 0.0, y: 0.0 },
|
||||
center: Point::zero(),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
@@ -79,11 +74,11 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
// get the center point by adding the end vector to the end point
|
||||
// this works because the argument is the angle in positive y direction
|
||||
// not positive x direction so we dont have to rotate it here anymore
|
||||
// the angle has to be counter clockwise though (thats why 2π - end.angle)
|
||||
route_csc.end.circle.center = Point {
|
||||
x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
|
||||
y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
|
||||
};
|
||||
// the angle has to be counter clockwise though (thats why we use the inverse end.angle)
|
||||
route_csc.end.circle.center = end.origin
|
||||
+ Rotation::new(end.angle)
|
||||
.inverse()
|
||||
.transform_vector(Vector2D::new(end.magnitude, 0.0));
|
||||
|
||||
// get the tangent pitch which is the same as the pitch between the two
|
||||
// circle centers since our circles have the same radius
|
||||
@@ -112,12 +107,9 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
|
||||
// get the tangent origin by moving the vector from the start circle center
|
||||
// 90° to it's own direction and the magnitude of the circle radius
|
||||
route_csc.tangent.origin = Point {
|
||||
x: route_csc.start.circle.center.x
|
||||
+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
|
||||
y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(Angle::pi() - end.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the start circle
|
||||
// the angle where we start from the tangent equals the one we finish
|
||||
@@ -132,22 +124,19 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
let mut route_csc = RouteCSC {
|
||||
start: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point {
|
||||
x: -end.magnitude,
|
||||
y: 0.0,
|
||||
},
|
||||
center: Point::new(-end.magnitude, 0.0),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
tangent: Vector {
|
||||
origin: Point { x: 0.0, y: 0.0 },
|
||||
origin: Point::zero(),
|
||||
angle: Angle::zero(),
|
||||
magnitude: 0.0,
|
||||
},
|
||||
end: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point { x: 0.0, y: 0.0 },
|
||||
center: Point::zero(),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
@@ -158,10 +147,9 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
// we have to rotate the vector π (π/2 because the given angle is from the y axis
|
||||
// and π/2 more to not get the tangent but the vector to the center point)
|
||||
// and again we have to use the counter clockwise direction
|
||||
route_csc.end.circle.center = Point {
|
||||
x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
|
||||
y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
|
||||
};
|
||||
route_csc.end.circle.center = end.origin
|
||||
+ Rotation::new(Angle::pi() - end.angle)
|
||||
.transform_vector(Vector2D::new(end.magnitude, 0.0));
|
||||
|
||||
// get the tangent pitch which is the same as the pitch between the two
|
||||
// circle centers since our circles have the same radius
|
||||
@@ -195,12 +183,9 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
|
||||
// get the tangent origin by moving the vector from the start circle center
|
||||
// 90° to it's own direction and the magnitude of the circle radius
|
||||
route_csc.tangent.origin = Point {
|
||||
x: route_csc.start.circle.center.x
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.get().cos(),
|
||||
y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(route_csc.start.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the start circle
|
||||
// the angle where we start from the tangent equals the one we finish
|
||||
@@ -215,22 +200,19 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
let mut route_csc = RouteCSC {
|
||||
start: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point {
|
||||
x: end.magnitude,
|
||||
y: 0.0,
|
||||
},
|
||||
center: Point::new(end.magnitude, 0.0),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
tangent: Vector {
|
||||
origin: Point { x: 0.0, y: 0.0 },
|
||||
origin: Point::zero(),
|
||||
angle: Angle::zero(),
|
||||
magnitude: 0.0,
|
||||
},
|
||||
end: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point { x: 0.0, y: 0.0 },
|
||||
center: Point::zero(),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
@@ -241,10 +223,9 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
// we have to rotate the vector π (π/2 because the given angle is from the y axis
|
||||
// and π/2 more to not get the tangent but the vector to the center point)
|
||||
// and again we have to use the counter clockwise direction
|
||||
route_csc.end.circle.center = Point {
|
||||
x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
|
||||
y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
|
||||
};
|
||||
route_csc.end.circle.center = end.origin
|
||||
+ Rotation::new(Angle::pi() - end.angle)
|
||||
.transform_vector(Vector2D::new(end.magnitude, 0.0));
|
||||
|
||||
// check if inside tangent can even be constructed
|
||||
if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
|
||||
@@ -263,10 +244,11 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
.sqrt();
|
||||
|
||||
// tangent middle is the same as the middle of the straight from the center of the start
|
||||
let tangent_middle = Point {
|
||||
x: (route_csc.end.circle.center.x + route_csc.start.circle.center.x) / 2.0,
|
||||
y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
|
||||
};
|
||||
let tangent_middle = route_csc
|
||||
.end
|
||||
.circle
|
||||
.center
|
||||
.lerp(route_csc.start.circle.center, 0.5);
|
||||
|
||||
// get the tangent angle
|
||||
route_csc.tangent.angle = Angle::radians(
|
||||
@@ -288,12 +270,9 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
|
||||
|
||||
// get the tangent origin by moving the vector from the start circle center
|
||||
// along its right angle vector
|
||||
route_csc.tangent.origin = Point {
|
||||
x: route_csc.start.circle.center.x
|
||||
+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
|
||||
y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(Angle::pi() - route_csc.start.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the end circle
|
||||
route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
|
||||
@@ -306,22 +285,19 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
let mut route_csc = RouteCSC {
|
||||
start: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point {
|
||||
x: -end.magnitude,
|
||||
y: 0.0,
|
||||
},
|
||||
center: Point::new(-end.magnitude, 0.0),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
},
|
||||
tangent: Vector {
|
||||
origin: Point { x: 0.0, y: 0.0 },
|
||||
origin: Point::zero(),
|
||||
angle: Angle::zero(),
|
||||
magnitude: 0.0,
|
||||
},
|
||||
end: CircleRoute {
|
||||
circle: Circle {
|
||||
center: Point { x: 0.0, y: 0.0 },
|
||||
center: Point::zero(),
|
||||
radius: end.magnitude,
|
||||
},
|
||||
angle: Angle::zero(),
|
||||
@@ -332,10 +308,10 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
// this works because the argument is the angle in positive y direction
|
||||
// not positive x direction so we dont have to rotate it here anymore
|
||||
// the angle has to be counter clockwise though (thats why 2π - end.angle)
|
||||
route_csc.end.circle.center = Point {
|
||||
x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
|
||||
y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
|
||||
};
|
||||
route_csc.end.circle.center = end.origin
|
||||
+ Rotation::new(end.angle)
|
||||
.inverse()
|
||||
.transform_vector(Vector2D::new(end.magnitude, 0.0));
|
||||
|
||||
// check if inside tangent can even be constructed
|
||||
if ((route_csc.end.circle.center.x - route_csc.start.circle.center.x).powi(2)
|
||||
@@ -354,10 +330,11 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
.sqrt();
|
||||
|
||||
// tangent middle is the same as the middle of the straight from the center of the start
|
||||
let tangent_middle = Point {
|
||||
x: (route_csc.end.circle.center.x + route_csc.start.circle.center.x) / 2.0,
|
||||
y: (route_csc.end.circle.center.y + route_csc.start.circle.center.y) / 2.0,
|
||||
};
|
||||
let tangent_middle = route_csc
|
||||
.end
|
||||
.circle
|
||||
.center
|
||||
.lerp(route_csc.start.circle.center, 0.5);
|
||||
|
||||
// get the tangent angle
|
||||
route_csc.tangent.angle = Angle::radians(
|
||||
@@ -379,12 +356,9 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
|
||||
|
||||
// get the tangent origin by moving the vector from the start circle center
|
||||
// 90° to it's own direction and the magnitude of the circle radius
|
||||
route_csc.tangent.origin = Point {
|
||||
x: route_csc.start.circle.center.x
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.get().cos(),
|
||||
y: route_csc.start.circle.center.y
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
|
||||
};
|
||||
route_csc.tangent.origin = route_csc.start.circle.center
|
||||
+ Rotation::new(route_csc.start.angle)
|
||||
.transform_vector(Vector2D::new(route_csc.start.circle.radius, 0.0));
|
||||
|
||||
// get the angle of the end circle
|
||||
route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
|
||||
|
||||
Reference in New Issue
Block a user