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https://github.com/gnxlxnxx/dubins_path
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Use euclid Angle
This commit is contained in:
David Sawatzke
@@ -15,3 +15,4 @@ edition = "2018"
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[dependencies]
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euclid = "0.20.11"
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+76
-142
@@ -1,11 +1,13 @@
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/*! Call all functions with a Vector as argument the vector should contain:
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- the end point as origin
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- the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
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- the circle radius as magnitude
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//! Call all functions with a Vector as argument the vector should contain:
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//! - the end point as origin
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//! - the end angle as angle in degrees in clockwise direction (eg. 0° facing north, 90° facing east, ...)
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//! - the circle radius as magnitude
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//!
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//! Start Vector is in the origin facing in positive x-direction
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//!
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//! Every struct defined here is 2 dimensional and uses f64
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Start Vector is in the origin facing in positive x-direction
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Every struct defined here is 2 dimensional and uses f64 */
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use euclid::Angle;
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/// Point
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pub struct Point {
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@@ -16,7 +18,7 @@ pub struct Point {
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/// Vector with origin, angle and magnitude
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pub struct Vector {
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pub origin: Point,
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pub angle: f64,
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pub angle: Angle<f64>,
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pub magnitude: f64,
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}
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@@ -29,7 +31,7 @@ pub struct Circle {
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/// Circle route with a circle and a angle for how long to drive on this circle
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pub struct CircleRoute {
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pub circle: Circle,
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pub angle: f64,
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pub angle: Angle<f64>,
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}
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/// Route with a start Circle, a tangent straight and a end Circle (eg. rsl, rsr, lsr, lsl)
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@@ -58,11 +60,11 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
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},
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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@@ -70,31 +72,32 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
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center: Point { x: 0.0, y: 0.0 },
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// this works because the argument is the angle in positive y direction
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// not positive x direction so we dont have to rotate it here anymore
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// the angle has to be counter clockwise though (thats why 360 - end.angle)
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// the angle has to be counter clockwise though (thats why 2π - end.angle)
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
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x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
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y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
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};
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// get the tangent pitch which is the same as the pitch between the two
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// circle centers since our circles have the same radius
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
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.atan()
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.to_degrees();
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.atan(),
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);
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// if the end circle center x value is smaller than the
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// start circle center x value
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// the angle would be 180° rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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route_csc.tangent.angle += Angle::pi();
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}
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// get the tangent magnitude this, again, is the same as the distance
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@@ -105,37 +108,21 @@ pub fn rsr(end: Vector) -> Result<RouteCSC, ()> {
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.sqrt();
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// get the angle of the start circle
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route_csc.start.angle = 90.0 - route_csc.tangent.angle;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
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// get the tangent origin by moving the vector from the start circle center
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// 90° to it's own direction and the magnitude of the circle radius
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
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+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
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y: route_csc.start.circle.center.y
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
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+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
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};
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// get the angle of the start circle
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// the angle where we start from the tangent equals the one we finish
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// so we can use that in here
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route_csc.end.angle = end.angle - route_csc.start.angle;
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// make the angle pretty
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if route_csc.end.angle < 0.0 {
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route_csc.end.angle += 360.0;
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}
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if route_csc.end.angle >= 360.0 {
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route_csc.end.angle -= 360.0;
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}
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route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
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Ok(route_csc)
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}
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@@ -151,11 +138,11 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
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},
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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@@ -163,36 +150,33 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
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center: Point { x: 0.0, y: 0.0 },
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// we have to rotate the vector 180° (90° because the given angle is from the y axis
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// and 90 more to not get the tangent but the vector to the center point)
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// we have to rotate the vector π (π/2 because the given angle is from the y axis
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// and π/2 more to not get the tangent but the vector to the center point)
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// and again we have to use the counter clockwise direction
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
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x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
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y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
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};
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// get the tangent pitch which is the same as the pitch between the two
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// circle centers since our circles have the same radius
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - route_csc.start.circle.center.y)
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/ (route_csc.end.circle.center.x - route_csc.start.circle.center.x))
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.atan()
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.to_degrees();
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.atan(),
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)
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.positive();
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// if the end circle center x value is smaller than the
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// start circle center x value
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// the angle would be 180° rotated so to prevent that:
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// the angle would be π rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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}
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// make the angle positive
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if route_csc.tangent.angle < 0.0 {
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route_csc.tangent.angle += 360.0;
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route_csc.tangent.angle = (route_csc.tangent.angle + Angle::pi()).positive();
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}
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// get the tangent magnitude this, again, is the same as the distance
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@@ -207,37 +191,21 @@ pub fn lsl(end: Vector) -> Result<RouteCSC, ()> {
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.sqrt();
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// get the angle of the start circle
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route_csc.start.angle = route_csc.tangent.angle - 90.0;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
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// get the tangent origin by moving the vector from the start circle center
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// 90° to it's own direction and the magnitude of the circle radius
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().cos(),
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+ route_csc.start.circle.radius * route_csc.start.angle.get().cos(),
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y: route_csc.start.circle.center.y
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+ route_csc.start.circle.radius * route_csc.start.angle.to_radians().sin(),
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+ route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
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};
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// get the angle of the start circle
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// the angle where we start from the tangent equals the one we finish
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// so we can use that in here
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route_csc.end.angle = end.angle - route_csc.start.angle;
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// make the angle pretty
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if route_csc.end.angle < 0.0 {
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route_csc.end.angle += 360.0;
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}
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if route_csc.end.angle >= 360.0 {
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route_csc.end.angle -= 360.0;
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}
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route_csc.end.angle = (end.angle - route_csc.start.angle).positive();
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Ok(route_csc)
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}
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@@ -253,11 +221,11 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
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},
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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@@ -265,17 +233,17 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
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center: Point { x: 0.0, y: 0.0 },
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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};
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// get the center point by adding the end vector to the end point
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// we have to rotate the vector 180° (90° because the given angle is from the y axis
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// and 90 more to not get the tangent but the vector to the center point)
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// we have to rotate the vector π (π/2 because the given angle is from the y axis
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// and π/2 more to not get the tangent but the vector to the center point)
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// and again we have to use the counter clockwise direction
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (180.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (180.0 - end.angle).to_radians().sin(),
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x: end.origin.x + end.magnitude * (Angle::pi() - end.angle).get().cos(),
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y: end.origin.y + end.magnitude * (Angle::pi() - end.angle).get().sin(),
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};
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// check if inside tangent can even be constructed
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@@ -301,51 +269,34 @@ pub fn rsl(end: Vector) -> Result<RouteCSC, ()> {
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};
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// get the tangent angle
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - tangent_middle.y)
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/ (route_csc.end.circle.center.x - tangent_middle.x))
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.atan()
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.to_degrees()
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- (2.0 * end.magnitude / route_csc.tangent.magnitude)
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.atan()
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.to_degrees();
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- (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
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);
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// if the end circle center x value is smaller than the
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// start circle center x value
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// the angle would be 180° rotated so to prevent that:
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// the angle would be π rotated so to prevent that:
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if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
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route_csc.tangent.angle += 180.0;
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route_csc.tangent.angle += Angle::pi();
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}
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// get the angle of the start circle
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route_csc.start.angle = 90.0 - route_csc.tangent.angle;
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// make the angle pretty
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if route_csc.start.angle < 0.0 {
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route_csc.start.angle += 360.0;
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}
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if route_csc.start.angle >= 360.0 {
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route_csc.start.angle -= 360.0;
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}
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route_csc.start.angle = (Angle::frac_pi_2() - route_csc.tangent.angle).positive();
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// get the tangent origin by moving the vector from the start circle center
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// along its right angle vector
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route_csc.tangent.origin = Point {
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x: route_csc.start.circle.center.x
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().cos(),
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+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().cos(),
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y: route_csc.start.circle.center.y
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+ route_csc.start.circle.radius * (180.0 - route_csc.start.angle).to_radians().sin(),
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+ route_csc.start.circle.radius * (Angle::pi() - route_csc.start.angle).get().sin(),
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};
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// get the angle of the end circle
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route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
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// make the angle pretty
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if route_csc.end.angle < 0.0 {
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route_csc.end.angle += 360.0;
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}
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if route_csc.end.angle >= 360.0 {
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route_csc.end.angle -= 360.0;
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}
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route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
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Ok(route_csc)
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}
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@@ -361,11 +312,11 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
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},
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radius: end.magnitude,
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},
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angle: 0.0,
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angle: Angle::zero(),
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},
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tangent: Vector {
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origin: Point { x: 0.0, y: 0.0 },
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angle: 0.0,
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angle: Angle::zero(),
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magnitude: 0.0,
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},
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end: CircleRoute {
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@@ -373,17 +324,17 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
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center: Point { x: 0.0, y: 0.0 },
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radius: end.magnitude,
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},
|
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angle: 0.0,
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angle: Angle::zero(),
|
||||
},
|
||||
};
|
||||
|
||||
// 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 360 - end.angle)
|
||||
// the angle has to be counter clockwise though (thats why 2π - end.angle)
|
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route_csc.end.circle.center = Point {
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x: end.origin.x + end.magnitude * (360.0 - end.angle).to_radians().cos(),
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y: end.origin.y + end.magnitude * (360.0 - end.angle).to_radians().sin(),
|
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x: end.origin.x + end.magnitude * (Angle::two_pi() - end.angle).get().cos(),
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y: end.origin.y + end.magnitude * (Angle::two_pi() - end.angle).get().sin(),
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};
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// check if inside tangent can even be constructed
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@@ -409,51 +360,34 @@ pub fn lsr(end: Vector) -> Result<RouteCSC, ()> {
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};
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// get the tangent angle
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route_csc.tangent.angle = ((route_csc.end.circle.center.y - tangent_middle.y)
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route_csc.tangent.angle = Angle::radians(
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((route_csc.end.circle.center.y - tangent_middle.y)
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/ (route_csc.end.circle.center.x - tangent_middle.x))
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.atan()
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.to_degrees()
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+ (2.0 * end.magnitude / route_csc.tangent.magnitude)
|
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.atan()
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.to_degrees();
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+ (2.0 * end.magnitude / route_csc.tangent.magnitude).atan(),
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||||
);
|
||||
|
||||
// if the end circle center x value is smaller than the
|
||||
// start circle center x value
|
||||
// the angle would be 180° rotated so to prevent that:
|
||||
if route_csc.end.circle.center.x < route_csc.start.circle.center.x {
|
||||
route_csc.tangent.angle += 180.0;
|
||||
route_csc.tangent.angle += Angle::pi();
|
||||
}
|
||||
|
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// get the angle of the start circle
|
||||
route_csc.start.angle = route_csc.tangent.angle - 90.0;
|
||||
|
||||
// make the angle pretty
|
||||
if route_csc.start.angle < 0.0 {
|
||||
route_csc.start.angle += 360.0;
|
||||
}
|
||||
if route_csc.start.angle >= 360.0 {
|
||||
route_csc.start.angle -= 360.0;
|
||||
}
|
||||
route_csc.start.angle = (route_csc.tangent.angle - Angle::frac_pi_2()).positive();
|
||||
|
||||
// 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.to_radians().cos(),
|
||||
+ 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.to_radians().sin(),
|
||||
+ route_csc.start.circle.radius * route_csc.start.angle.get().sin(),
|
||||
};
|
||||
|
||||
// get the angle of the end circle
|
||||
route_csc.end.angle = (90.0 - end.angle) - route_csc.tangent.angle;
|
||||
|
||||
// make the angle pretty
|
||||
if route_csc.end.angle < 0.0 {
|
||||
route_csc.end.angle += 360.0;
|
||||
}
|
||||
if route_csc.end.angle >= 360.0 {
|
||||
route_csc.end.angle -= 360.0;
|
||||
}
|
||||
route_csc.end.angle = ((Angle::frac_pi_2() - end.angle) - route_csc.tangent.angle).positive();
|
||||
|
||||
Ok(route_csc)
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user