src/pslot.cc

   1 /*
   2  * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
   3  *
   4  * SPDX-License-Identifier: GPL-3.0-only
   5  */
   6
   7 #include <cassert>
   8 #include <cmath>
   9 #include "pslot.hh"
  10
  11 namespace bcar {
  12
  13 ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
  14                 border_({p,
  15                         Point(p.x() + W * cos(h - M_PI / 2.0),
  16                                 p.y() + W * sin(h - M_PI / 2.0)),
  17                         Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
  18                                 p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
  19                         Point(p.x() + L * cos(h), p.y() + L * sin(h))}),
  20                 entry_(border_[0], border_[3]),
  21                 rear_(border_[0], border_[1]),
  22                 curb_(border_[1], border_[2]),
  23                 front_(border_[2], border_[3])
  24 {
  25 }
  26
  27 ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
  28                 double rfx, double rfy, double lfx, double lfy) :
  29                         border_({Point(lrx, lry), Point(rrx, rry),
  30                                 Point(rfx, rfy), Point(lfx, lfy)}),
  31                         entry_(border_[0], border_[3]),
  32                         rear_(border_[0], border_[1]),
  33                         curb_(border_[1], border_[2]),
  34                         front_(border_[2], border_[3])
  35 {
  36 }
  37
  38 double
  39 ParkingSlot::len() const
  40 {
  41         return this->entry_.len();
  42 }
  43
  44 double
  45 ParkingSlot::w() const
  46 {
  47         return this->rear_.len();
  48 }
  49
  50 double
  51 ParkingSlot::lfx() const
  52 {
  53         return this->border_[3].x();
  54 }
  55
  56 double
  57 ParkingSlot::lfy() const
  58 {
  59         return this->border_[3].y();
  60 }
  61
  62 double
  63 ParkingSlot::lrx() const
  64 {
  65         return this->border_[0].x();
  66 }
  67
  68 double
  69 ParkingSlot::lry() const
  70 {
  71         return this->border_[0].y();
  72 }
  73
  74 double
  75 ParkingSlot::rrx() const
  76 {
  77         return this->border_[1].x();
  78 }
  79
  80 double
  81 ParkingSlot::rry() const
  82 {
  83         return this->border_[1].y();
  84 }
  85
  86 double
  87 ParkingSlot::rfx() const
  88 {
  89         return this->border_[2].x();
  90 }
  91
  92 double
  93 ParkingSlot::rfy() const
  94 {
  95         return this->border_[2].y();
  96 }
  97
  98 double
  99 ParkingSlot::h() const
 100 {
 101         return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
 102 }
 103
 104 Point
 105 ParkingSlot::lf() const
 106 {
 107         return Point(this->lfx(), this->lfy());
 108 }
 109
 110 Point
 111 ParkingSlot::lr() const
 112 {
 113         return Point(this->lrx(), this->lry());
 114 }
 115
 116 Point
 117 ParkingSlot::rr() const
 118 {
 119         return Point(this->rrx(), this->rry());
 120 }
 121
 122 Point
 123 ParkingSlot::rf() const
 124 {
 125         return Point(this->rfx(), this->rfy());
 126 }
 127
 128 Line
 129 ParkingSlot::entry() const
 130 {
 131         return this->entry_;
 132 }
 133
 134 Line
 135 ParkingSlot::rear() const
 136 {
 137         return this->rear_;
 138 }
 139
 140 Line
 141 ParkingSlot::curb() const
 142 {
 143         return this->curb_;
 144 }
 145
 146 Line
 147 ParkingSlot::front() const
 148 {
 149         return this->front_;
 150 }
 151
 152 void
 153 ParkingSlot::set_parking_speed(double s)
 154 {
 155         this->parking_speed_ = s;
 156 }
 157
 158 unsigned int
 159 ParkingSlot::get_max_cusp() const
 160 {
 161         return this->max_cusp_;
 162 }
 163
 164 void
 165 ParkingSlot::set_max_cusp(unsigned int m)
 166 {
 167         this->max_cusp_ = m;
 168 }
 169
 170 void
 171 ParkingSlot::set_delta_angle_to_slot(double d)
 172 {
 173         this->delta_angle_to_slot_ = d;
 174 }
 175
 176 bool
 177 ParkingSlot::parallel() const
 178 {
 179         return this->entry_.len() > this->rear_.len();
 180 }
 181
 182 bool
 183 ParkingSlot::right() const
 184 {
 185         return this->border_[1].on_right_side_of(this->entry_);
 186 }
 187
 188 void
 189 ParkingSlot::swap_side()
 190 {
 191         this->border_[1].rotate(this->border_[0], M_PI);
 192         this->border_[2].rotate(this->border_[3], M_PI);
 193         this->entry_ = Line(this->border_[0], this->border_[3]);
 194         this->rear_ = Line(this->border_[0], this->border_[1]);
 195         this->curb_ = Line(this->border_[1], this->border_[2]);
 196         this->front_ = Line(this->border_[2], this->border_[3]);
 197 }
 198
 199 bool
 200 ParkingSlot::parked(BicycleCar const& c) const
 201 {
 202         auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
 203         std::vector<Point> b(this->border_, this->border_ + b_len);
 204         return c.lf().inside_of(b) && c.lr().inside_of(b)
 205                 && c.rr().inside_of(b) && c.rf().inside_of(b);
 206 }
 207
 208 bool
 209 ParkingSlot::collide(BicycleCar const& c) const
 210 {
 211         return c.left().intersects_with(this->rear_)
 212                 || c.left().intersects_with(this->curb_)
 213                 || c.left().intersects_with(this->front_)
 214                 || c.rear().intersects_with(this->rear_)
 215                 || c.rear().intersects_with(this->curb_)
 216                 || c.rear().intersects_with(this->front_)
 217                 || c.right().intersects_with(this->rear_)
 218                 || c.right().intersects_with(this->curb_)
 219                 || c.right().intersects_with(this->front_)
 220                 || c.front().intersects_with(this->rear_)
 221                 || c.front().intersects_with(this->curb_)
 222                 || c.front().intersects_with(this->front_);
 223 }
 224
 225 std::vector<BicycleCar>
 226 ParkingSlot::drive_in_slot(BicycleCar c)
 227 {
 228         assert(this->parallel());
 229         assert(this->right());
 230         assert(c.len() < this->len());
 231         assert(c.w() < this->w());
 232         std::vector<BicycleCar> path;
 233         path.reserve(this->max_cusp_ + 2);
 234         path.push_back(c);
 235         unsigned int cusp = 0;
 236         while (cusp < this->max_cusp_ + 1) {
 237                 if (this->parked(c)) {
 238                         if (cusp < this->max_cusp_) {
 239                                 this->max_cusp_ = cusp;
 240                         }
 241                         path.push_back(c);
 242                         return path;
 243                 }
 244                 double sx = c.x() + 10.0 * cos(this->h());
 245                 double sy = c.y() + 10.0 * sin(this->h());
 246                 double cx = c.x() + 10.0 * cos(c.h());
 247                 double cy = c.y() + 10.0 * sin(c.h());
 248                 if (Point(cx, cy).on_right_side_of(
 249                                 Line(Point(c.x(), c.y()), Point(sx, sy)))) {
 250                         return std::vector<BicycleCar>();
 251                 }
 252                 c.next();
 253                 if (this->collide(c)) {
 254                         c.sp(c.sp() * -1.0);
 255                         c.next();
 256                         path.push_back(c);
 257                         c.st(c.st() * -1.0);
 258                         cusp += 1;
 259                 }
 260         }
 261         return std::vector<BicycleCar>();
 262 }
 263
 264 std::vector<BicycleCar>
 265 ParkingSlot::drive_of_slot(BicycleCar c)
 266 {
 267         assert(this->parallel());
 268         assert(this->right());
 269         assert(c.len() < this->len());
 270         assert(c.w() < this->w());
 271         assert(this->parked(c));
 272         std::vector<BicycleCar> path;
 273         path.reserve(this->max_cusp_ + 2);
 274         path.push_back(c);
 275         unsigned int cusp = 0;
 276         auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
 277         std::vector<Point> b(this->border_, this->border_ + b_len);
 278         while (cusp < this->max_cusp_ + 1) {
 279                 if (!c.lf().inside_of(b) && !c.rf().inside_of(b)) {
 280                         if (cusp < this->max_cusp_) {
 281                                 this->max_cusp_ = cusp;
 282                         }
 283                         path.push_back(c);
 284                         return path;
 285                 }
 286                 c.next();
 287                 if (this->collide(c)) {
 288                         c.sp(c.sp() * -1.0);
 289                         c.next();
 290                         path.push_back(c);
 291                         c.st(c.st() * -1.0);
 292                         cusp += 1;
 293                 }
 294         }
 295         return std::vector<BicycleCar>();
 296 }
 297
 298 std::vector<Pose>
 299 ParkingSlot::steer_in_slot(BicycleCar c)
 300 {
 301         std::vector<Pose> path;
 302         while (!this->parked(c)) {
 303                 path.push_back(c);
 304                 c.next();
 305                 if (this->collide(c)) {
 306                         c.sp(c.sp() * -1.0);
 307                         c.next();
 308                         c.st(c.st() * -1.0);
 309                 }
 310         }
 311         return path;
 312 }
 313
 314 PoseRange
 315 ParkingSlot::fe(BicycleCar c)
 316 {
 317         if (!this->parallel()) {
 318                 double gd = 0.0;
 319                 double dd = 0.0;
 320                 double radi = 0.0;
 321                 if (this->parking_speed_ < 0) {
 322                         gd = c.df();
 323                         c.h(this->rear_.h() + M_PI);
 324                         c.sp(1.0);
 325                         radi = c.iradi();
 326                 } else {
 327                         gd = c.dr();
 328                         c.h(this->rear_.h());
 329                         c.sp(-1.0);
 330                         radi = c.ofradi();
 331                 }
 332                 c.x(this->entry_.m().x() + gd * cos(this->rear_.h()));
 333                 c.y(this->entry_.m().y() + gd * sin(this->rear_.h()));
 334                 Point cc(0.0, 0.0);
 335                 if (this->right()) {
 336                         cc = c.ccl();
 337                 } else {
 338                         cc = c.ccr();
 339                 }
 340                 this->rear_.intersects_with(cc, radi);
 341                 dd = std::min(this->border_[0].edist(this->rear_.i1()),
 342                         this->border_[0].edist(this->rear_.i2()));
 343                 c.st(0.0);
 344                 c.sp(c.sp() * dd);
 345                 c.next();
 346                 c.sp(this->parking_speed_);
 347                 return PoseRange(c.x(), c.y(), c.h(), c.h());
 348         }
 349         bool swapped = false;
 350         if (!this->right()) {
 351                 this->swap_side();
 352                 swapped = true;
 353         }
 354         c.h(this->h());
 355         double clen = -this->offset_ + this->len() - c.df();
 356         double cw = c.w() / 2.0;
 357         c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
 358         c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
 359         c.set_max_steer();
 360         assert(this->parking_speed_ < 0.0);
 361         c.sp(this->parking_speed_);
 362         auto const rc = c.rf();
 363         this->curb_.intersects_with(rc, c.len());
 364         double max_to_slot;
 365         auto const& rr = c.rr();
 366         auto const& i1 = this->curb_.i1();
 367         auto const& i2 = this->curb_.i2();
 368         if (rr.edist(i1) < rr.edist(i2)) {
 369                 max_to_slot = rr.min_angle_between(rc, i1);
 370         } else {
 371                 max_to_slot = rr.min_angle_between(rc, i2);
 372         }
 373         std::vector<BicycleCar> starts;
 374         double a_to_slot = 0.0;
 375         while (a_to_slot < max_to_slot) {
 376                 a_to_slot += this->delta_angle_to_slot_;
 377                 c.rotate(rc, this->delta_angle_to_slot_);
 378                 starts.push_back(c);
 379         }
 380         std::vector<std::vector<BicycleCar>> entries;
 381         for (auto s: starts) {
 382                 auto r = this->drive_in_slot(s);
 383                 if (r.size() > 0) {
 384                         entries.push_back(r);
 385                 }
 386         }
 387         if (entries.size() == 0) {
 388                 return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
 389         }
 390         if (entries.size() == 1) {
 391                 auto f = entries.front().front();
 392                 return PoseRange(f, f);
 393         }
 394         auto& c1 = entries.front().front();
 395         auto& c2 = entries.back().front();
 396         PoseRange p(c1, c2);
 397         if (swapped) {
 398                 this->swap_side();
 399                 p.reflect(this->entry_);
 400         }
 401         return p;
 402 }
 403
 404 PoseRange
 405 ParkingSlot::recompute_entry(PoseRange p)
 406 {
 407         p.rotate(Point(0.0, 0.0), this->h());
 408         p.translate(this->border_[0]);
 409         if (!this->right()) {
 410                 p.reflect(this->entry_);
 411         }
 412         return p;
 413 }
 414
 415 std::ostream&
 416 operator<<(std::ostream& o, ParkingSlot const& s)
 417 {
 418         o << "[";
 419         o << s.border_[0] << ",";
 420         o << s.border_[1] << ",";
 421         o << s.border_[2] << ",";
 422         o << s.border_[3];
 423         o << "]";
 424         return o;
 425 }
 426
 427 } // namespace bcar