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mod geometry;
pub use crate::geometry::Point;
pub use crate::geometry::Pose;
pub use crate::geometry::PoseRange;
pub use crate::geometry::intersect_line_line;
pub use crate::geometry::intersect_circle_line;
pub use crate::geometry::angle_between;
pub use crate::geometry::edist;
mod properties;
pub use crate::properties::Motion;
pub use crate::properties::Size;
mod bcar;
pub use crate::bcar::BCar;
mod pslot;
pub use crate::pslot::PSlot;
mod ep;
pub use crate::ep::EntryPlanner;
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn basic_geometry() {
let bc = BCar::default();
assert_eq!(bc.mtr(), 4.010942753884407);
assert!(bc.ccl().x - 0.0 < 0.00001);
assert!(bc.ccl().y - 4.010942753884407 < 1e-10);
assert!(bc.ccr().x - 0.0 < 0.00001);
assert!(bc.ccr().y - -4.010942753884407 < 1e-10);
}
#[test]
fn drivable() {
let bc = BCar::default();
assert!(bc.drivable(Pose::new(0.0, 0.0, 0.0)));
assert!(bc.drivable(Pose::new(1.0, 0.0, 0.0)));
assert!(bc.drivable(Pose::new(-1.0, 0.0, 0.0)));
let d = std::f64::consts::PI / 2.0 / 100.0;
for ai in 1..99 {
let a = ai as f64 * -d;
let mut pose = bc.pose;
pose.rotate(bc.ccr(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x + 0.00001 * bc.pose.h.cos(),
bc.pose.y + 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccr(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x - 0.00001 * bc.pose.h.cos(),
bc.pose.y - 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccr(), a);
assert!(!bc.drivable(pose));
let a = ai as f64 * d;
let mut pose = bc.pose;
pose.rotate(bc.ccl(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x + 0.00001 * bc.pose.h.cos(),
bc.pose.y + 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccl(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x - 0.00001 * bc.pose.h.cos(),
bc.pose.y - 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccl(), a);
assert!(!bc.drivable(pose));
let a = ai as f64 * -d;
let mut pose = bc.pose;
pose.rotate(bc.ccl(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x - 0.00001 * bc.pose.h.cos(),
bc.pose.y - 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccl(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x + 0.00001 * bc.pose.h.cos(),
bc.pose.y + 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccl(), a);
assert!(!bc.drivable(pose));
let a = ai as f64 * d;
let mut pose = bc.pose;
pose.rotate(bc.ccr(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x - 0.00001 * bc.pose.h.cos(),
bc.pose.y - 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccr(), a);
assert!(bc.drivable(pose));
let _bc = BCar::new_xyh(
bc.pose.x + 0.00001 * bc.pose.h.cos(),
bc.pose.y + 0.00001 * bc.pose.h.sin(),
bc.pose.h
);
let mut pose = _bc.pose;
pose.rotate(_bc.ccr(), a);
assert!(!bc.drivable(pose));
}
}
}