Merge pull request #55 from UmbrellaLeaf5/fix_codestyle

Fix codestyle
UmbrellaLeaf5 · Apr 23, 2024 · a7cae97 · a7cae97
2 parents 0dcd557 + d7d257e
commit a7cae97
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Showing 3 changed files with 19 additions and 23 deletions.
diff --git a/math/optimal_way/helpers_functions.cpp b/math/optimal_way/helpers_functions.cpp
@@ -262,14 +262,8 @@ bool AreThereIntersections(const PolygonObstacle& poly_obst, const Point& pnt1,
   std::vector<Point> vertexes = poly_obst.GetVertexes();
   for (std::size_t i = 0; i < vertexes.size() - 1; ++i) {
     LinearFunction v_line(vertexes[i], vertexes[i + 1]);
-    if (((line.a_coef * vertexes[i].x + line.b_coef * vertexes[i].y +
-          line.c_coef) *
-             (line.a_coef * vertexes[i + 1].x +
-              line.b_coef * vertexes[i + 1].y + line.c_coef) <
-         0) &&
-        ((v_line.a_coef * pnt1.x + v_line.b_coef * pnt1.y + v_line.c_coef) *
-             (v_line.a_coef * pnt2.x + v_line.b_coef * pnt2.y + v_line.c_coef) <
-         0))
+    if ((line.Substitute(vertexes[i]) * line.Substitute(vertexes[i + 1]) < 0) &&
+        (v_line.Substitute(pnt1) * v_line.Substitute(pnt2) < 0))
       return true;
   }
   return false;

diff --git a/math/optimal_way/obstacles.h b/math/optimal_way/obstacles.h
@@ -25,6 +25,10 @@ struct LinearFunction {
 
   double a_coef, b_coef, c_coef;
 
+  double Substitute(const lib::Point& p) {
+    return a_coef * p.x + b_coef * p.y + c_coef;
+  }
+
   bool operator==(const LinearFunction& other) {
     return (std::abs(a_coef - other.a_coef) < precision &&
             std::abs(b_coef - other.b_coef) < precision &&

diff --git a/math/optimal_way/path_graph.cpp b/math/optimal_way/path_graph.cpp
@@ -9,21 +9,19 @@ void DijkstrasAlgorithm::Calculate_Min_Path() {
     std::shared_ptr<PathWayNode> min_len_key;
     for (auto& elem : graphs_vertex_)
       if ((elem.second == min_length_) &&
-          (!(*path_nodes_[elem.first]).is_visited))
+          (!path_nodes_[elem.first]->is_visited))
         min_len_key = path_nodes_[elem.first];
 
-    for (std::size_t i = 0; i < (*min_len_key).edges.size(); ++i)
-      if ((graphs_vertex_.find((*(*min_len_key).edges[i]).number) ==
+    for (std::size_t i = 0; i < min_len_key->edges.size(); ++i)
+      if ((graphs_vertex_.find(min_len_key->edges[i]->number) ==
            graphs_vertex_.end()) ||
-          (graphs_vertex_[(*(*min_len_key).edges[i]).number] >
-           graphs_vertex_[(*min_len_key).number] +
-               (*min_len_key).edges_lens[i]))
-        graphs_vertex_[(*(*min_len_key).edges[i]).number] =
-            graphs_vertex_[(*min_len_key).number] +
-            (*min_len_key).edges_lens[i];
+          (graphs_vertex_[min_len_key->edges[i]->number] >
+           graphs_vertex_[min_len_key->number] + min_len_key->edges_lens[i]))
+        graphs_vertex_[min_len_key->edges[i]->number] =
+            graphs_vertex_[min_len_key->number] + min_len_key->edges_lens[i];
       else
         continue;
-    (*min_len_key).is_visited = true;
+    min_len_key->is_visited = true;
 
     min_length_ = inf;
     for (auto& elem : graphs_vertex_)
@@ -36,11 +34,11 @@ void DijkstrasAlgorithm::Calculate_Min_Path() {
   std::size_t end = second_point_;
   min_path_.push_back(end);
   while (end != first_point_) {
-    for (std::size_t i = 0; i < (*path_nodes_[end]).edges.size(); ++i)
-      if (graphs_vertex_[(*path_nodes_[end]).number] ==
-          graphs_vertex_[(*(*path_nodes_[end]).edges[i]).number] +
-              (*path_nodes_[end]).edges_lens[i]) {
-        end = (*(*path_nodes_[end]).edges[i]).number;
+    for (std::size_t i = 0; i < path_nodes_[end]->edges.size(); ++i)
+      if (graphs_vertex_[path_nodes_[end]->number] ==
+          graphs_vertex_[path_nodes_[end]->edges[i]->number] +
+              path_nodes_[end]->edges_lens[i]) {
+        end = path_nodes_[end]->edges[i]->number;
         min_path_.push_back(end);
         break;
       }