Examples with Point2D aima.core.util.math.geom.shapes.Point2D used on opensource projects

Example 26 with Point2D

use of aima.core.util.math.geom.shapes.Point2D in project aima-java by aimacode.

the class ExtendableMap method setDistAndDirToRefLocation.

/**
	 * Defines the position of a location within the map. Using this method, one
	 * location should be selected as reference position (<code>dist=0</code>
	 * and <code>dir=0</code>) and all the other location should be placed
	 * relative to it.
	 * 
	 * @param loc
	 *            location name
	 * @param dist
	 *            distance to a reference position
	 * @param dir
	 *            bearing (compass direction) in which the location is seen from
	 *            the reference position
	 */
public void setDistAndDirToRefLocation(String loc, double dist, int dir) {
    Point2D coords = new Point2D(-Math.sin(dir * Math.PI / 180.0) * dist, Math.cos(dir * Math.PI / 180.0) * dist);
    links.addVertex(loc);
    locationPositions.put(loc, coords);
}

Example 27 with Point2D

use of aima.core.util.math.geom.shapes.Point2D in project aima-java by aimacode.

the class MclCartesianPlot2D method checkDistanceOfPoses.

/**
	 * Calculate the maximum distance between all samples and compare it to {@code maxDistance}.
	 * If it is smaller or equals to {@code maxDistance} the mean is returned. {@code null} otherwise.
	 * @param samples the set of samples to be checked against.
	 * @param maxDistance the maxDistance that the cloud should have to return a mean.
	 * @return the mean of the samples or {@code null}.
	 */
public P checkDistanceOfPoses(Set<P> samples, double maxDistance) {
    double maxDistanceSamples = 0.0d;
    for (P first : samples) {
        for (P second : samples) {
            double distance = first.distanceTo(second);
            maxDistanceSamples = distance > maxDistanceSamples ? distance : maxDistanceSamples;
        }
    }
    if (maxDistanceSamples <= maxDistance) {
        double averageX = 0.0d;
        double averageY = 0.0d;
        double averageHeading = 0.0d;
        for (P sample : samples) {
            averageX += sample.getX() / samples.size();
            averageY += sample.getY() / samples.size();
            averageHeading += sample.getHeading() / samples.size();
        }
        return poseFactory.getPose(new Point2D(averageX, averageY), averageHeading);
    }
    return null;
}

Example 28 with Point2D

use of aima.core.util.math.geom.shapes.Point2D in project aima-java by aimacode.

the class Ellipse2DTest method testRayCast.

@Test
public final void testRayCast() {
    // static tests
    assertEquals("Ray doesn't intersect.", Double.POSITIVE_INFINITY, testEllipse.rayCast(new Ray2D(0.0d, 0.0d, 0.0d, 2.0d)), 0.000005d);
    assertEquals("Ray intersects.", 2.0d, testEllipse.rayCast(new Ray2D(0.0d, 14.0d, 12.0d, 14.0d)), 0.000005d);
    // serial tests
    Ellipse2D randomEllipse;
    Point2D randomPointOnEllipse;
    Point2D randomPoint;
    double currentXRadius;
    double currentYRadius;
    double xvalue;
    double yvalue;
    double randomAngle;
    int sector;
    int counter = 1000;
    do {
        randomEllipse = new Ellipse2D(new Point2D(Util.generateRandomDoubleBetween(-500.0d, 500.0d), Util.generateRandomDoubleBetween(-500.0d, 500.0d)), Util.generateRandomDoubleBetween(0.0d, 200.0d), Util.generateRandomDoubleBetween(0.0d, 200.0d));
        currentXRadius = randomEllipse.getHorizontalLength();
        currentYRadius = randomEllipse.getVerticalLength();
        xvalue = Util.generateRandomDoubleBetween(0.0d, currentXRadius);
        yvalue = (currentYRadius * Math.sqrt(currentXRadius * currentXRadius - xvalue * xvalue)) / currentXRadius;
        sector = Util.randomNumberBetween(1, 4);
        switch(sector) {
            case 2:
                {
                    yvalue = -yvalue;
                    randomPoint = new Point2D(Util.generateRandomDoubleBetween(randomEllipse.getCenter().getX() + xvalue, 1000.0d), Util.generateRandomDoubleBetween(-1000.0d, randomEllipse.getCenter().getY() + yvalue));
                    break;
                }
            case 3:
                {
                    xvalue = -xvalue;
                    yvalue = -yvalue;
                    randomPoint = new Point2D(Util.generateRandomDoubleBetween(-1000.0d, randomEllipse.getCenter().getX() + xvalue), Util.generateRandomDoubleBetween(-1000.0d, randomEllipse.getCenter().getY() + yvalue));
                    break;
                }
            case 4:
                {
                    xvalue = -xvalue;
                    randomPoint = new Point2D(Util.generateRandomDoubleBetween(-1000.0d, randomEllipse.getCenter().getX() + xvalue), Util.generateRandomDoubleBetween(randomEllipse.getCenter().getY() + yvalue, 1000.0d));
                    break;
                }
            default:
                {
                    randomPoint = new Point2D(Util.generateRandomDoubleBetween(randomEllipse.getCenter().getX() + xvalue, 1000.0d), Util.generateRandomDoubleBetween(randomEllipse.getCenter().getY() + yvalue, 1000.0d));
                    break;
                }
        }
        randomPointOnEllipse = new Point2D(randomEllipse.getCenter().getX() + xvalue, randomEllipse.getCenter().getY() + yvalue);
        randomAngle = Util.generateRandomDoubleBetween(-Math.PI / 2, Math.PI / 2);
        randomEllipse = (Ellipse2D) (randomEllipse.transform(TransformMatrix2D.rotate(randomAngle)));
        randomPoint = TransformMatrix2D.rotate(randomAngle).multiply(randomPoint);
        randomPointOnEllipse = TransformMatrix2D.rotate(randomAngle).multiply(randomPointOnEllipse);
        // System.out.printf("RayCast No. %d: Ellipse at (%.2f,%.2f), radii: (%.2f,%.2f). Rotation angle: %.2f, original angle: %.2f, point on ellipse: (%.2f,%.2f), outside point: (%.2f,%.2f), distance: %.2f.\n", 1000-counter, randomEllipse.getCenter().getX(), randomEllipse.getCenter().getY(), randomEllipse.getHorizontalLength(), randomEllipse.getVerticalLength(), randomEllipse.getAngle(), randomAngle, randomPointOnEllipse.getX(), randomPointOnEllipse.getY(), randomPoint.getX(), randomPoint.getY(), randomPoint.distance(randomPointOnEllipse));
        assertEquals("Serial rayCast test for Circle2D.", randomPoint.distance(randomPointOnEllipse), randomEllipse.rayCast(new Ray2D(randomPoint, randomPoint.vec(randomPointOnEllipse))), 0.000005d);
        counter -= 1;
    } while (counter > 0);
}

Example 29 with Point2D

use of aima.core.util.math.geom.shapes.Point2D in project aima-java by aimacode.

the class Polyline2DTest method setUp.

@Before
public void setUp() throws Exception {
    testPolylineOpen = new Polyline2D(testVertices, false);
    testPolylineClosed = new Polyline2D(testVertices, true);
    zeroPoint = new Point2D(0.0d, 0.0d);
}

Example 30 with Point2D

use of aima.core.util.math.geom.shapes.Point2D in project aima-java by aimacode.

the class OsmAgentController method initAgents.

/** Creates new agents and adds them to the current environment. */
protected void initAgents(MessageLogger logger) {
    List<MapNode> markers = map.getOsmMap().getMarkers();
    if (markers.size() < 2) {
        logger.log("Error: Please set two markers with mouse-left.");
        return;
    }
    String[] locs = new String[markers.size()];
    for (int i = 0; i < markers.size(); i++) {
        MapNode node = markers.get(i);
        Point2D pt = new Point2D(node.getLon(), node.getLat());
        locs[i] = map.getNearestLocation(pt);
    }
    MapAgentFrame.SelectionState state = frame.getSelection();
    heuristic = createHeuristic(state.getIndex(MapAgentFrame.HEURISTIC_SEL), locs[1]);
    search = SearchFactory.getInstance().createSearch(state.getIndex(MapAgentFrame.SEARCH_SEL), state.getIndex(MapAgentFrame.Q_SEARCH_IMPL_SEL), heuristic);
    Agent agent = null;
    switch(state.getIndex(MapAgentFrame.AGENT_SEL)) {
        case 0:
            agent = new SimpleMapAgent(map, env, search, new String[] { locs[1] });
            break;
        case 1:
            Problem<String, MoveToAction> p = new BidirectionalMapProblem(map, null, locs[1]);
            OnlineSearchProblem<String, MoveToAction> osp = new GeneralProblem<>(null, p::getActions, null, p::testGoal, p::getStepCosts);
            agent = new LRTAStarAgent<>(osp, MapFunctions.createPerceptToStateFunction(), s -> heuristic.applyAsDouble(new Node<>(s)));
            break;
    }
    env.addAgent(agent, locs[0]);
}