/// <summary>
/// Resuelve el parametro de la clotoide dado los radios <c>r0</c> y <c>r1</c> Con una distancia <c>d</c> entre los
/// puntos.
/// </summary>
private static double SolveParam(double d, double r0, double r1)
{
Func <double, double> f = (a) =>
{
double fs0, fc0;
ClothoUtils.Fresnel(a / (r0 * sqrtpi), out fs0, out fc0);
double fs1, fc1;
ClothoUtils.Fresnel(a / (r1 * sqrtpi), out fs1, out fc1);
double fc10 = (fc1 - fc0);
double fs10 = (fs1 - fs0);
return(a * a * SysMath.PI * (fc10 * fc10 + fs10 * fs10) - d * d);
};
int maxEval = 50; // 30
try
{
double min = 0;
double max = SysMath.Min(SysMath.Abs(r0), SysMath.Abs(r1)) * ClothoUtils.MAX_L;
double v = Solver.Solve(f, min, max, Solver.Type.BrentSolver, DEFAULT_ABSOLUTE_ACCURACY, maxEval);
return(v);
}
catch (Exception e)
{
Debug.WriteLine(e);
throw;
}
}
/// <summary>
/// Resuelve el parametro de la clotoide dado los radios <c>r0</c> y <c>r1</c> Con una distancia <c>d</c> entre los
/// puntos.
/// </summary>
private static double SolveParam(double d, double r0, double r1)
{
Func <double, double> f = (a) =>
{
double fs0, fc0;
ClothoUtils.Fresnel(a / (r0 * sqrtpi), out fs0, out fc0);
double fs1, fc1;
ClothoUtils.Fresnel(a / (r1 * sqrtpi), out fs1, out fc1);
double fc10 = (fc1 - fc0);
double fs10 = (fs1 - fs0);
return(a * a * SysMath.PI * (fc10 * fc10 + fs10 * fs10) - d * d);
};
//UnivariateSolver solver = new BisectionSolver(DEFAULT_ABSOLUTE_ACCURACY);
//UnivariateSolver solver = new SecantSolver(DEFAULT_ABSOLUTE_ACCURACY);
UnivariateSolver solver = new BrentSolver(DEFAULT_ABSOLUTE_ACCURACY);
int maxEval = 50; // 30
try
{
double v = solver.solve(maxEval, new DelegateUnivariateFunction(f), 0, SysMath.Min(SysMath.Abs(r0), SysMath.Abs(r1)) * ClothoUtils.MAX_L);
return(v);
}
catch (TooManyEvaluationsException e)
{
Console.WriteLine(e);
throw;
}
}