public static ClothoidArc2 BuildSimple(double radius0, double radius1, double a, ITransform2 transform) { // Correccion sobre los radios. if (SysMath.Sign(radius1) != SysMath.Sign(radius0)) { if (double.IsInfinity(radius0)) { radius0 = SysMath.Sign(radius1) * double.PositiveInfinity; } else if (double.IsInfinity(radius1)) { radius1 = SysMath.Sign(radius0) * double.PositiveInfinity; } else { // No se permite cambio de signo en el radio. Funcionaria??? Contract.Assert(false); } } // Desarrollo segun el radio en el punto (0) y (1). double l0 = ClothoUtils.ClothoL(radius0, false, a); double l1 = ClothoUtils.ClothoL(radius1, false, a); ClothoidArc2 clotho = new ClothoidArc2(transform, l0, l1, false, a); clotho.SetTInterval(0, Math.Abs(l1 - l0)); return(clotho); }
public static ClothoidArc2[] Split(double tmin, Point2d point0, Point2d point1, double radius0, double radius1, double a) { bool invertY = (radius1 < 0); double l0_n = ClothoUtils.ClothoL(radius0, invertY, a); double l1_n = ClothoUtils.ClothoL(radius1, invertY, a); Contract.Assert(l0_n < 0 && l1_n > 0); // Coordenadas en el punto (0) y (1) para una clotoide normalizada. Point2d p0_n = ClothoUtils.Clotho(l0_n, invertY, a); Point2d p1_n = ClothoUtils.Clotho(l1_n, invertY, a); // Diferencia de puntos en coordenadas reales. Vector2d v01 = point1.Sub(point0); Vector2d v01_n = p1_n.Sub(p0_n); // Rotacion de v01_n -> v01. double r = v01_n.AngleTo(v01); // Transformacion a aplicar. ITransform2 transform = Transform2.Translate(point1.X - p1_n.X, point1.Y - p1_n.Y) .Concat(Transform2.Rotate(p1_n.X, p1_n.Y, r)); ClothoidArc2 left = new ClothoidArc2(transform, l0_n, 0, invertY, a); ClothoidArc2 right = new ClothoidArc2(transform, 0, l1_n, invertY, a); left.SetTInterval(tmin, tmin + (-l0_n)); // l0_n < 0 right.SetTInterval(tmin + (-l0_n), tmin + (-l0_n) + l1_n); return(new[] { left, right }); }
public static ClothoidArc2 BuildSimple(double tmin, Point2d point0, Point2d point1, double radius0, double radius1, double a) { // Correccion sobre los radios. if (SysMath.Sign(radius1) != SysMath.Sign(radius0)) { if (double.IsInfinity(radius0)) { radius0 = SysMath.Sign(radius1) * double.PositiveInfinity; } else if (double.IsInfinity(radius1)) { radius1 = SysMath.Sign(radius0) * double.PositiveInfinity; } else { // No se permite cambio de signo en el radio. Funcionaria??? Contract.Assert(false); } } bool invertY; if (SysMath.Abs(radius0) > SysMath.Abs(radius1)) { // t positivas invertY = radius1 < 0; } else { // t negativa invertY = radius1 > 0; } // Diferencia de puntos en coordenadas reales. Vector2d v01 = point1.Sub(point0); // Desarrollo segun el radio en el punto (0) y (1). double l0_n = ClothoUtils.ClothoL(radius0, invertY, a); double l1_n = ClothoUtils.ClothoL(radius1, invertY, a); // Coordenadas en el punto (0) y (1) para una clotoide normalizada. Point2d p0_n = ClothoUtils.Clotho(l0_n, invertY, a); Point2d p1_n = ClothoUtils.Clotho(l1_n, invertY, a); Vector2d v01_n = p1_n.Sub(p0_n); // Rotacion de v01_n -> v01. double r = v01_n.AngleTo(v01); // Transformacion a aplicar. ITransform2 transform = Transform2.Translate(point1.X - p1_n.X, point1.Y - p1_n.Y) .Concat(Transform2.Rotate(p1_n.X, p1_n.Y, r)); double l0 = l0_n; double l1 = l1_n; ClothoidArc2 clotho = new ClothoidArc2(transform, l0, l1, invertY, a); clotho.SetTInterval(tmin, tmin + Math.Abs(l1 - l0)); return(clotho); }
/// <summary> /// Prueba el constructor ClothoidArc2d(double,Point2d,Point2d,double,double). /// </summary> private static void TestClotho(double a, bool invertY, bool negX, double tg0, double tg1, Point2d p0, Vector2d dir, string fileName = null, bool toWavefront = false) { //double a = 5; //bool invertY = true; //double tg0 = -4 * SysMath.PI / 10; //double tg1 = -SysMath.PI / 10; // Si se indica negX, se invierten las tangentes. int sign = 1; if (negX) { sign = -1; } double l0 = sign * ClothoUtils.FindTangent(invertY, a, tg0); double l1 = sign * ClothoUtils.FindTangent(invertY, a, tg1); double r0 = ClothoUtils.ClothoRadious(l0, invertY, a); double r1 = ClothoUtils.ClothoRadious(l1, invertY, a); Point2d pp0 = ClothoUtils.Clotho(l0, invertY, a); Point2d pp1 = ClothoUtils.Clotho(l1, invertY, a); //Point2d p0 = new Point2d(5, 5); Point2d p1 = p0.Add(dir.Mul(pp1.Sub(pp0).Length)); ClothoidArc2 arc = new ClothoidArc2(l0, p0, p1, r0, r1); Assert.IsTrue(arc.Point0.EpsilonEquals(p0, ERROR)); Assert.IsTrue(arc.Point1.EpsilonEquals(p1, ERROR)); Assert.IsTrue(arc.GetRadius(arc.TMin).EpsilonEquals(r0, ERROR)); Assert.IsTrue(arc.GetRadius(arc.TMax).EpsilonEquals(r1, ERROR)); // <- Assert.IsTrue(arc.InvertY == invertY); Assert.IsTrue(arc.A.EpsilonEquals(a, ERROR)); // Salida por fichero de la prueba. if ((fileName != null) && toWavefront) { double figSize = 0.5; string mtl = Path.ChangeExtension(fileName, "mtl"); using (MaterialFormat mf = new MaterialFormat(mtl)) { mf.DefaultColors(); } using (WavefrontFormat wf = new WavefrontFormat(fileName)) { wf.LoadMaterialLib(Path.GetFileName(mtl)); wf.DrawLine("Yellow", Point2d.Zero, new Point2d(1, 0), 50); wf.DrawLine("Yellow", Point2d.Zero, new Point2d(0, 1), 50); wf.DrawFigure("Blue", WaveFigure.X, ClothoUtils.Clotho(l0, invertY, a), figSize); wf.DrawFigure("Olive", WaveFigure.X, ClothoUtils.Clotho(l1, invertY, a), figSize); wf.DrawClotho(invertY, a, "Red"); wf.DrawClotho("Magenta", arc); wf.DrawFigure("Blue", WaveFigure.X, p0, figSize); wf.DrawFigure("Olive", WaveFigure.X, p1, figSize); } } }