10 Point::Point(double x, double y) : x_(x), y_(y)
39 Point::min_angle_between(Point const& p1, Point const& p2) const
41 double d1x = p1.x() - this->x();
42 double d1y = p1.y() - this->y();
43 double d2x = p2.x() - p1.x();
44 double d2y = p2.y() - p1.y();
46 double dot = d1x*d2x + d1y*d2y;
47 double d1 = sqrt(d1x*d1x + d1y*d1y);
48 double d2 = sqrt(d2x*d2x + d2y*d2y);
50 double delta = acos(dot / (d1 * d2));
51 return std::min(delta, M_PI - delta);
55 Point::inside_of(std::vector<Point> const& poly) const
57 unsigned int num = poly.size();
58 unsigned int j = num - 1;
60 for (unsigned int i = 0; i < num; i++) {
61 if (this->x() == poly[i].x() && this->y() == poly[i].y()) {
64 if ((poly[i].y() > this->y()) != (poly[j].y() > this->y())) {
65 auto slope1 = this->x() - poly[i].x();
66 slope1 *= poly[j].y() - poly[i].y();
67 auto slope2 = poly[j].x() - poly[i].x();
68 slope2 *= this->y() - poly[i].y();
69 auto slope = slope1 - slope2;
73 if ((slope < 0.0) != (poly[j].y() < poly[i].y())) {
83 Point::on_right_side_of(Line const& li) const
91 if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
99 Point::rotate(Point const& c, double const angl)
101 double px = this->x();
102 double py = this->y();
105 double nx = px * cos(angl) - py * sin(angl);
106 double ny = px * sin(angl) + py * cos(angl);
112 Point::reflect(Line const& li)
114 this->rotate(li.b(), -li.h());
115 this->y_ -= li.b().y();
117 this->y_ += li.b().y();
118 this->rotate(li.b(), li.h());
122 Point::edist(Point const& p) const
124 return sqrt(pow(p.x() - this->x_, 2.0) + pow(p.y() - this->y_, 2.0));
128 operator<<(std::ostream& out, Point const& p)
130 out << "[" << p.x() << "," << p.y() << "]";
134 Line::Line(Point const& b, Point const& e): b_(b), e_(e)
163 Line::intersects_with(Line const& li)
165 auto x1 = this->b_.x();
166 auto y1 = this->b_.y();
167 auto x2 = this->e_.x();
168 auto y2 = this->e_.y();
169 auto x3 = li.b().x();
170 auto y3 = li.b().y();
171 auto x4 = li.e().x();
172 auto y4 = li.e().y();
173 double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
177 double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
179 double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
182 if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
185 this->i1_.x(x1 + t * (x2 - x1));
186 this->i1_.y(y1 + t * (y2 - y1));
191 Line::intersects_with(Point const& c, double const r)
193 auto x1 = this->b_.x();
194 auto y1 = this->b_.y();
195 auto x2 = this->e_.x();
196 auto y2 = this->e_.y();
208 double dr = sqrt(dx*dx + dy*dy);
209 double D = x1*y2 - x2*y1;
210 if (r*r * dr*dr - D*D < 0.0) {
213 // intersection coordinates
214 double ix1 = (D*dy + sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
216 double ix2 = (D*dy - sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
218 double iy1 = (-D*dx + std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
220 double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
232 return this->b_.edist(this->e_);
238 return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
242 operator<<(std::ostream& out, Line const& li)
244 out << "[" << li.b_ << "," << li.e_ << "]";
248 Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
271 Pose::set_pose(Pose const& p)
279 Pose::rotate(Point const& c, double const angl)
281 Point::rotate(c, angl);
282 this->h(this->h() + angl);
286 Pose::reflect(Line const& li)
289 double dh = li.h() - this->h();
290 this->h(this->h() + 2.0 * dh);
294 operator<<(std::ostream& out, Pose const& p)
296 out << "[" << p.x() << "," << p.y() << "," << p.h() << "]";
307 PoseRange::b(double b)
319 PoseRange::e(double e)
331 PoseRange::rotate(Point const& c, double const angl)
333 Pose::rotate(c, angl);
334 this->e(this->e() + angl);
338 PoseRange::reflect(Line const& li)
341 double dh = li.h() - this->e();
342 this->e(this->e() + 2.0 * dh);
346 operator<<(std::ostream& out, PoseRange const& p)
348 out << "[" << p.x() << "," << p.y() << "," << p.b() << "," << p.e();
356 return this->curb_to_curb_;
360 CarSize::ctc(double ctc)
362 this->curb_to_curb_ = ctc;
368 return this->wheelbase_;
372 CarSize::wb(double wb)
374 this->wheelbase_ = wb;
392 return this->length_;
396 CarSize::len(double len)
404 return this->distance_to_front_;
408 CarSize::df(double df)
410 this->distance_to_front_ = df;
416 return this->len() - this->df();
422 auto ctc2 = pow(this->ctc() / 2.0, 2.0);
423 auto wb2 = pow(this->wb(), 2.0);
424 return sqrt(ctc2 - wb2) - this->w() / 2.0;
428 CarSize::iradi() const
430 return this->mtr() - this->w() / 2;
434 CarSize::ofradi() const
436 auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
437 auto df2 = pow(this->df(), 2.0);
438 return sqrt(mtrw2 + df2);
442 CarSize::orradi() const
444 auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
445 auto dr2 = pow(this->dr(), 2.0);
446 return sqrt(mtrw2 + dr2);
450 CarSize::perfect_parking_slot_len() const
452 auto r = this->ctc() / 2.0;
454 auto k = this->df() - this->wb();
456 auto r2l2 = r * r - l * l;
457 auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
458 return this->len() + sqrt(s) - l - k;
468 CarMove::sp(double sp)
480 CarMove::st(double st)
486 BicycleCar::drivable(Pose const& p) const
493 return this->drivable(pr);
497 BicycleCar::drivable(PoseRange const& p) const
499 double h = (p.b() + p.e()) / 2.0;
500 double a_1 = atan2(p.y() - this->y(), p.x() - this->x()) - this->h();
505 double h_d = h - this->h();
511 if (h_d == 0 && (a_1 == 0 || a_2 == M_PI || a_2 == -M_PI)) {
513 } else if (0 < a_1 && a_1 <= M_PI/2) { // left front
514 BicycleCar z(*this); // zone border
517 z.rotate(this->ccl(), h_d);
519 if (p.y() == z.y() && p.x() == z.x()) // p on zone border
521 a_2 = atan2(p.y() - z.y(), p.x() - z.x());
526 if (z.h() >= a_2 && a_2 >= this->h())
528 } else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
529 BicycleCar z(*this); // zone border
532 z.rotate(this->ccl(), h_d);
534 if (p.y() == z.y() && p.x() == z.x()) // p on zone border
536 a_2 = atan2(p.y() - z.y(), p.x() - z.x());
542 if (this->h() >= a_2 && a_2 >= z.h())
544 } else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
545 BicycleCar z(*this); // zone border
548 z.rotate(this->ccr(), h_d);
550 if (p.y() == z.y() && p.x() == z.x()) // p on zone border
552 a_2 = atan2(p.y() - z.y(), p.x() - z.x());
557 if (this->h() >= a_2 && a_2 >= z.h())
559 } else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
560 BicycleCar z(*this); // zone border
563 z.rotate(this->ccr(), h_d);
565 if (p.y() == z.y() && p.x() == z.x()) // p on zone border
567 a_2 = atan2(p.y() - z.y(), p.x() - z.x());
573 if (z.h() >= a_2 && a_2 >= this->h())
576 // Not happenning, as ``-pi <= a <= pi``.
582 BicycleCar::set_max_steer()
584 this->st(atan(this->wb() / this->mtr()));
588 BicycleCar::lfx() const
590 double lfx = this->x();
591 lfx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
592 lfx += this->df() * cos(this->h());
597 BicycleCar::lfy() const
599 double lfy = this->y();
600 lfy += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
601 lfy += this->df() * sin(this->h());
606 BicycleCar::lrx() const
608 double lrx = this->x();
609 lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
610 lrx += -this->dr() * cos(this->h());
615 BicycleCar::lry() const
617 double lry = this->y();
618 lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
619 lry += -this->dr() * sin(this->h());
624 BicycleCar::rrx() const
626 double rrx = this->x();
627 rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
628 rrx += -this->dr() * cos(this->h());
633 BicycleCar::rry() const
635 double rry = this->y();
636 rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
637 rry += -this->dr() * sin(this->h());
642 BicycleCar::rfx() const
644 double rfx = this->x();
645 rfx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
646 rfx += this->df() * cos(this->h());
651 BicycleCar::rfy() const
653 double rfy = this->y();
654 rfy += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
655 rfy += this->df() * sin(this->h());
660 BicycleCar::lf() const
662 return Point(this->lfx(), this->lfy());
666 BicycleCar::lr() const
668 return Point(this->lrx(), this->lry());
672 BicycleCar::rr() const
674 return Point(this->rrx(), this->rry());
678 BicycleCar::rf() const
680 return Point(this->rfx(), this->rfy());
684 BicycleCar::left() const
686 return Line(this->lr(), this->lf());
690 BicycleCar::rear() const
692 return Line(this->lr(), this->rr());
696 BicycleCar::right() const
698 return Line(this->rr(), this->rf());
702 BicycleCar::front() const
704 return Line(this->rf(), this->lf());
708 BicycleCar::ralx() const
710 double lrx = this->x();
711 lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
715 BicycleCar::raly() const
717 double lry = this->y();
718 lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
723 BicycleCar::rarx() const
725 double rrx = this->x();
726 rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
731 BicycleCar::rary() const
733 double rry = this->y();
734 rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
739 BicycleCar::ccl() const
742 this->x() + this->mtr() * cos(this->h() + M_PI / 2.0),
743 this->y() + this->mtr() * sin(this->h() + M_PI / 2.0)
748 BicycleCar::ccr() const
751 this->x() + this->mtr() * cos(this->h() - M_PI / 2.0),
752 this->y() + this->mtr() * sin(this->h() - M_PI / 2.0)
759 this->x(this->x() + this->sp() * cos(this->h()));
760 this->y(this->y() + this->sp() * sin(this->h()));
761 this->h(this->h() + this->sp() / this->wb() * tan(this->st()));