geometry::Arc: use angles for start and end
#1609
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rmburg
added
the
is:Refactoring
| @@ -105,11 +105,12 @@ impl StepPlanner { | |||
| Pose2::from_parts(line_segment.1, rotation) | |||
| } | |||
| PathSegment::Arc(arc) => { | |||
| let start_point = arc.start_point(); | |||
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I think this variable can be inlined
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The variable is used twice below, and I don't want to recompute as it's relatively expensive
| pub fn start_point(&self) -> Point2<Frame> { | ||
| self.circle.point_at_angle(self.start) |
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Even if currently not used, I think the existence of this function should imply the existence of an end_point function.
| @@ -78,14 +78,14 @@ impl<Frame> LineSegment<Frame> { | |||
| self.signed_acute_angle_to_orthogonal(other).abs() < epsilon | |||
| } | |||
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| pub fn projection_factor(&self, point: Point2<Frame>) -> f32 { | |||
| pub fn projection_factor(&self, point: &Point2<Frame>) -> f32 { | |||
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To save a copy here. filter only gives me a reference.
hulk/crates/geometry/src/line_segment.rs
Lines 164 to 166 in f595b94
| @@ -7,7 +7,7 @@ pub type Rotation3<Frame, To, T = f32> = Transform<Frame, To, nalgebra::UnitQuat | |||
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| impl<From, To, T> Rotation2<From, To, T> | |||
| where | |||
| T: SimdRealField + Copy, | |||
| T: SimdRealField, | |||
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Without this, I need to put the T: Copy bound on every place where I use a rotation generic over T. SimdRealField implies Clone, so I replaced the only implicit copy by an explicit .clone() in the impl block
Why? What?
What the title says. Previously, we used
Point2s for the start and end points of arcs.This made arcs over-defined. A neat side effect of this change is reduced complexity of most of the affected calculations.
ToDo / Known Issues
It's perfect
Ideas for Next Iterations (Not This PR)
It's perfect
How to Test
Stare at the code.
I can add more unit tests if there are any areas where you are unsure if the changes are correct.