private void SetupTransformFinitePenaltyRanges(
GeneralizedDistanceTransform2D transform, ShapeEdgePairParams pairParams, ILengthAngleConstraints lengthAngleConstraints)
{
Range lengthRange = lengthAngleConstraints.LengthBoundary;
Range angleRange = lengthAngleConstraints.AngleBoundary;
transform.AddFinitePenaltyRangeX(
new Range(lengthRange.Left * pairParams.MeanLengthRatio, lengthRange.Right * pairParams.MeanLengthRatio));
if (!angleRange.Outside)
{
transform.AddFinitePenaltyRangeY(new Range(angleRange.Left - pairParams.MeanAngle, angleRange.Right - pairParams.MeanAngle));
}
else
{
transform.AddFinitePenaltyRangeY(new Range(-Math.PI - pairParams.MeanAngle, angleRange.Left - pairParams.MeanAngle));
transform.AddFinitePenaltyRangeY(new Range(angleRange.Right - pairParams.MeanAngle, Math.PI - pairParams.MeanAngle));
}
}
private void SetupTransformFinitePenaltyRanges(
GeneralizedDistanceTransform2D transform, ShapeEdgePairParams pairParams, ILengthAngleConstraints lengthAngleConstraints)
{
Range lengthRange = lengthAngleConstraints.LengthBoundary;
Range angleRange = lengthAngleConstraints.AngleBoundary;
transform.AddFinitePenaltyRangeX(
new Range(lengthRange.Left * pairParams.MeanLengthRatio, lengthRange.Right * pairParams.MeanLengthRatio));
if (!angleRange.Outside)
transform.AddFinitePenaltyRangeY(new Range(angleRange.Left - pairParams.MeanAngle, angleRange.Right - pairParams.MeanAngle));
else
{
transform.AddFinitePenaltyRangeY(new Range(-Math.PI - pairParams.MeanAngle, angleRange.Left - pairParams.MeanAngle));
transform.AddFinitePenaltyRangeY(new Range(angleRange.Right - pairParams.MeanAngle, Math.PI - pairParams.MeanAngle));
}
}
private void SetupTransformInterestRanges(GeneralizedDistanceTransform2D transform, ILengthAngleConstraints lengthAngleConstraints)
{
Range lengthRange = lengthAngleConstraints.LengthBoundary;
Range angleRange = lengthAngleConstraints.AngleBoundary;
transform.AddInterestRangeX(lengthRange);
if (!angleRange.Outside)
{
transform.AddInterestRangeY(angleRange);
if (angleRange.Right > 0)
{
if (angleRange.Left > 0)
{
transform.AddInterestRangeY(new Range(angleRange.Left - Math.PI * 2, angleRange.Right - Math.PI * 2));
}
else
{
transform.AddInterestRangeY(new Range(-Math.PI * 2, angleRange.Right - Math.PI * 2));
transform.AddInterestRangeY(new Range(angleRange.Left + Math.PI * 2, Math.PI * 2));
}
}
else
{
transform.AddInterestRangeY(new Range(angleRange.Left + Math.PI * 2, angleRange.Right + Math.PI * 2));
}
}
else
{
transform.AddInterestRangeY(new Range(-Math.PI, angleRange.Left));
transform.AddInterestRangeY(new Range(angleRange.Right, Math.PI));
if (angleRange.Right > 0)
{
transform.AddInterestRangeY(new Range(angleRange.Right - Math.PI * 2, -Math.PI));
}
else
{
transform.AddInterestRangeY(new Range(-Math.PI * 2, -Math.PI));
transform.AddInterestRangeY(new Range(angleRange.Right + Math.PI * 2, Math.PI * 2));
}
if (angleRange.Left < 0)
{
transform.AddInterestRangeY(new Range(Math.PI, angleRange.Left + Math.PI * 2));
}
else
{
transform.AddInterestRangeY(new Range(Math.PI, Math.PI * 2));
transform.AddInterestRangeY(new Range(-Math.PI * 2, angleRange.Left - Math.PI * 2));
}
}
// Add all the representations of zero angle
if (angleRange.IntersectsWith(new Range(-transform.GridStepSizeY * 0.5, transform.GridStepSizeY * 0.5)))
{
if (!transform.IsCoordYOfInterest(-Math.PI * 2))
{
transform.AddInterestRangeY(new Range(-Math.PI * 2, -Math.PI * 2));
}
if (!transform.IsCoordYOfInterest(0))
{
transform.AddInterestRangeY(new Range(0, 0));
}
if (!transform.IsCoordYOfInterest(Math.PI * 2))
{
transform.AddInterestRangeY(new Range(Math.PI * 2, Math.PI * 2));
}
}
}
private void SetupTransformInterestRanges(GeneralizedDistanceTransform2D transform, ILengthAngleConstraints lengthAngleConstraints)
{
Range lengthRange = lengthAngleConstraints.LengthBoundary;
Range angleRange = lengthAngleConstraints.AngleBoundary;
transform.AddInterestRangeX(lengthRange);
if (!angleRange.Outside)
{
transform.AddInterestRangeY(angleRange);
if (angleRange.Right > 0)
{
if (angleRange.Left > 0)
transform.AddInterestRangeY(new Range(angleRange.Left - Math.PI * 2, angleRange.Right - Math.PI * 2));
else
{
transform.AddInterestRangeY(new Range(-Math.PI * 2, angleRange.Right - Math.PI * 2));
transform.AddInterestRangeY(new Range(angleRange.Left + Math.PI * 2, Math.PI * 2));
}
}
else
transform.AddInterestRangeY(new Range(angleRange.Left + Math.PI * 2, angleRange.Right + Math.PI * 2));
}
else
{
transform.AddInterestRangeY(new Range(-Math.PI, angleRange.Left));
transform.AddInterestRangeY(new Range(angleRange.Right, Math.PI));
if (angleRange.Right > 0)
transform.AddInterestRangeY(new Range(angleRange.Right - Math.PI * 2, -Math.PI));
else
{
transform.AddInterestRangeY(new Range(-Math.PI * 2, -Math.PI));
transform.AddInterestRangeY(new Range(angleRange.Right + Math.PI * 2, Math.PI * 2));
}
if (angleRange.Left < 0)
transform.AddInterestRangeY(new Range(Math.PI, angleRange.Left + Math.PI * 2));
else
{
transform.AddInterestRangeY(new Range(Math.PI, Math.PI * 2));
transform.AddInterestRangeY(new Range(-Math.PI * 2, angleRange.Left - Math.PI * 2));
}
}
// Add all the representations of zero angle
if (angleRange.IntersectsWith(new Range(-transform.GridStepSizeY * 0.5, transform.GridStepSizeY * 0.5)))
{
if (!transform.IsCoordYOfInterest(-Math.PI * 2))
transform.AddInterestRangeY(new Range(-Math.PI * 2, -Math.PI * 2));
if (!transform.IsCoordYOfInterest(0))
transform.AddInterestRangeY(new Range(0, 0));
if (!transform.IsCoordYOfInterest(Math.PI * 2))
transform.AddInterestRangeY(new Range(Math.PI * 2, Math.PI * 2));
}
}
