Merge pull request #87 from UmbrellaLeaf5/hill_common_tangents

Hill common tangents
UmbrellaLeaf5 · May 15, 2024 · bfb9466 · bfb9466
2 parents ef2020a + 4572b96
commit bfb9466
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Showing 2 changed files with 7 additions and 31 deletions.
diff --git a/math/optimal_way/obstacles.h b/math/optimal_way/obstacles.h
@@ -71,14 +71,8 @@ class CircleObstacle {
 
   double GetRadius() const { return radius_; }
 
-  std::vector<LinearFunction> GetTangentLines() { return tangents_; }
-
   std::vector<Point> GetTangentPoints() { return tangent_points_; }
 
-  void AddTangentLine(const LinearFunction& tangent) {
-    tangents_.push_back(tangent);
-  }
-
   void AddTangentPoint(const Point& tangent_point) {
     tangent_points_.push_back(tangent_point);
   }
@@ -98,9 +92,6 @@ class CircleObstacle {
 
   double radius_;
 
-  // Касательные
-  std::vector<LinearFunction> tangents_;
-
   // Точки касания
   std::vector<Point> tangent_points_;
 };
@@ -127,18 +118,8 @@ class PolygonObstacle {
 
   std::vector<Point> GetVertexes() const { return vertexes_; }
 
-  std::vector<LinearFunction> GetTangentLines() { return tangents_; }
-
   std::vector<Point> GetTangentPoints() { return tangent_points_; }
 
-  void DeleteTangentPoint(std::size_t index) {
-    tangent_points_.erase(tangent_points_.begin() + index);
-  }
-
-  void AddTangentLine(const LinearFunction& tangent) {
-    tangents_.push_back(tangent);
-  }
-
   void AddTangentPoint(const Point& tangent_point) {
     tangent_points_.push_back(tangent_point);
   }
@@ -158,9 +139,6 @@ class PolygonObstacle {
   // Вершины
   std::vector<Point> vertexes_;
 
-  // Касательные
-  std::vector<LinearFunction> tangents_;
-
   // Точки касания
   std::vector<Point> tangent_points_;
 };

diff --git a/math/optimal_way/optimal_way.cpp b/math/optimal_way/optimal_way.cpp
@@ -43,9 +43,7 @@ void OptimalWayCalculator::AddTangent(const LinearFunction& tangent,
       std::make_shared<Point>(tangent_points.second);
   tangent_points.second.another_tangent_point =
       std::make_shared<Point>(tangent_points.first);
-  obstacle1.AddTangentLine(tangent);
   obstacle1.AddTangentPoint(tangent_points.first);
-  obstacle2.AddTangentLine(tangent);
   obstacle2.AddTangentPoint(tangent_points.second);
 }
 
@@ -139,13 +137,13 @@ void OptimalWayCalculator::AddGraphTangentPoints() {
             DistanceBetweenPoints(
                 graph_.nodes[graph_.nodes.size() - vertexes.size()]->point,
                 new_node->point));
-
-      for (std::size_t j = 0; j < graph_.nodes.size(); ++j) {
-        if ((graph_.nodes[j]->point.another_tangent_point) &&
-            (new_node->point == *graph_.nodes[j]->point.another_tangent_point))
-          graph_.AddEdge(
-              graph_.nodes[j]->number, new_node->number,
-              DistanceBetweenPoints(graph_.nodes[j]->point, new_node->point));
+      for (auto& tangent_point : poly.GetTangentPoints()) {
+        if (tangent_point != new_node->point) continue;
+        for (auto& node : graph_.nodes) {
+          if (*tangent_point.another_tangent_point != node->point) continue;
+          graph_.AddEdge(node->number, new_node->number,
+                         DistanceBetweenPoints(node->point, new_node->point));
+        }
       }
     }
   }