src/pslot.cc

   1 #include <cassert>
   2 #include <cmath>
   3 #include "pslot.hh"
   4
   5 namespace bcar {
   6
   7 ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
   8                 border_({p,
   9                         Point(p.x() + W * cos(h - M_PI / 2.0),
  10                                 p.y() + W * sin(h - M_PI / 2.0)),
  11                         Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
  12                                 p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
  13                         Point(p.x() + L * cos(h), p.y() + L * sin(h))}),
  14                 entry_(border_[0], border_[3]),
  15                 rear_(border_[0], border_[1]),
  16                 curb_(border_[1], border_[2]),
  17                 front_(border_[2], border_[3])
  18 {
  19 }
  20
  21 ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
  22                 double rfx, double rfy, double lfx, double lfy) :
  23                         border_({Point(lrx, lry), Point(rrx, rry),
  24                                 Point(rfx, rfy), Point(lfx, lfy)}),
  25                         entry_(border_[0], border_[3]),
  26                         rear_(border_[0], border_[1]),
  27                         curb_(border_[1], border_[2]),
  28                         front_(border_[2], border_[3])
  29 {
  30 }
  31
  32 double
  33 ParkingSlot::len() const
  34 {
  35         return this->entry_.len();
  36 }
  37
  38 double
  39 ParkingSlot::w() const
  40 {
  41         return this->rear_.len();
  42 }
  43
  44 double
  45 ParkingSlot::lfx() const
  46 {
  47         return this->border_[3].x();
  48 }
  49
  50 double
  51 ParkingSlot::lfy() const
  52 {
  53         return this->border_[3].y();
  54 }
  55
  56 double
  57 ParkingSlot::lrx() const
  58 {
  59         return this->border_[0].x();
  60 }
  61
  62 double
  63 ParkingSlot::lry() const
  64 {
  65         return this->border_[0].y();
  66 }
  67
  68 double
  69 ParkingSlot::rrx() const
  70 {
  71         return this->border_[1].x();
  72 }
  73
  74 double
  75 ParkingSlot::rry() const
  76 {
  77         return this->border_[1].y();
  78 }
  79
  80 double
  81 ParkingSlot::rfx() const
  82 {
  83         return this->border_[2].x();
  84 }
  85
  86 double
  87 ParkingSlot::rfy() const
  88 {
  89         return this->border_[2].y();
  90 }
  91
  92 double
  93 ParkingSlot::h() const
  94 {
  95         return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
  96 }
  97
  98 void
  99 ParkingSlot::set_parking_speed(double s)
 100 {
 101         this->parking_speed_ = s;
 102 }
 103
 104 void
 105 ParkingSlot::set_max_cusp(unsigned int m)
 106 {
 107         this->max_cusp_ = m;
 108 }
 109
 110 void
 111 ParkingSlot::set_delta_angle_to_slot(double d)
 112 {
 113         this->delta_angle_to_slot_ = d;
 114 }
 115
 116 bool
 117 ParkingSlot::parallel() const
 118 {
 119         return this->entry_.len() > this->rear_.len();
 120 }
 121
 122 bool
 123 ParkingSlot::right() const
 124 {
 125         return this->border_[1].on_right_side_of(this->entry_);
 126 }
 127
 128 void
 129 ParkingSlot::swap_side()
 130 {
 131         this->border_[1].rotate(this->border_[0], M_PI);
 132         this->border_[2].rotate(this->border_[3], M_PI);
 133         this->entry_ = Line(this->border_[0], this->border_[3]);
 134         this->rear_ = Line(this->border_[0], this->border_[1]);
 135         this->curb_ = Line(this->border_[1], this->border_[2]);
 136         this->front_ = Line(this->border_[2], this->border_[3]);
 137 }
 138
 139 bool
 140 ParkingSlot::parked(BicycleCar const& c) const
 141 {
 142         auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
 143         std::vector<Point> b(this->border_, this->border_ + b_len);
 144         return c.lf().inside_of(b) && c.lr().inside_of(b)
 145                 && c.rr().inside_of(b) && c.rf().inside_of(b);
 146 }
 147
 148 bool
 149 ParkingSlot::collide(BicycleCar const& c) const
 150 {
 151         return c.left().intersects_with(this->rear_)
 152                 || c.left().intersects_with(this->curb_)
 153                 || c.left().intersects_with(this->front_)
 154                 || c.rear().intersects_with(this->rear_)
 155                 || c.rear().intersects_with(this->curb_)
 156                 || c.rear().intersects_with(this->front_)
 157                 || c.right().intersects_with(this->rear_)
 158                 || c.right().intersects_with(this->curb_)
 159                 || c.right().intersects_with(this->front_)
 160                 || c.front().intersects_with(this->rear_)
 161                 || c.front().intersects_with(this->curb_)
 162                 || c.front().intersects_with(this->front_);
 163 }
 164
 165 std::vector<BicycleCar>
 166 ParkingSlot::drive_in_slot(BicycleCar c)
 167 {
 168         assert(this->parallel());
 169         assert(this->right());
 170         assert(c.len() < this->len());
 171         assert(c.w() < this->w());
 172         std::vector<BicycleCar> path;
 173         path.reserve(this->max_cusp_ + 2);
 174         path.push_back(c);
 175         unsigned int cusp = 0;
 176         while (cusp < this->max_cusp_ + 1) {
 177                 if (this->parked(c)) {
 178                         if (cusp < this->max_cusp_) {
 179                                 this->max_cusp_ = cusp;
 180                         }
 181                         path.push_back(c);
 182                         return path;
 183                 }
 184                 if (c.h() < this->h()) {
 185                         return std::vector<BicycleCar>();
 186                 }
 187                 c.next();
 188                 if (this->collide(c)) {
 189                         c.sp(c.sp() * -1.0);
 190                         c.next();
 191                         path.push_back(c);
 192                         c.st(c.st() * -1.0);
 193                         cusp += 1;
 194                 }
 195         }
 196         return std::vector<BicycleCar>();
 197 }
 198
 199 std::vector<Pose>
 200 ParkingSlot::steer_in_slot(BicycleCar c)
 201 {
 202         std::vector<Pose> path;
 203         while (!this->parked(c)) {
 204                 path.push_back(c);
 205                 c.next();
 206                 if (this->collide(c)) {
 207                         c.sp(c.sp() * -1.0);
 208                         c.next();
 209                         c.st(c.st() * -1.0);
 210                 }
 211         }
 212         path.push_back(c);
 213         return path;
 214 }
 215
 216 PoseRange
 217 ParkingSlot::fe(BicycleCar c)
 218 {
 219         assert(this->parallel());
 220         assert(this->right());
 221         c.h(this->h());
 222         double clen = -this->offset_ + this->len() - c.df();
 223         double cw = c.w() / 2.0;
 224         c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
 225         c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
 226         c.set_max_steer();
 227         c.sp(this->parking_speed_);
 228         auto const rc = c.rf();
 229         this->curb_.intersects_with(rc, c.len());
 230         double max_to_slot;
 231         auto const& rr = c.rr();
 232         auto const& i1 = this->curb_.i1();
 233         auto const& i2 = this->curb_.i2();
 234         if (rr.edist(i1) < rr.edist(i2)) {
 235                 max_to_slot = rr.min_angle_between(rc, i1);
 236         } else {
 237                 max_to_slot = rr.min_angle_between(rc, i2);
 238         }
 239         std::vector<BicycleCar> starts;
 240         double a_to_slot = 0.0;
 241         while (a_to_slot < max_to_slot) {
 242                 a_to_slot += this->delta_angle_to_slot_;
 243                 c.rotate(rc, this->delta_angle_to_slot_);
 244                 starts.push_back(c);
 245         }
 246         std::vector<std::vector<BicycleCar>> entries;
 247         for (auto s: starts) {
 248                 auto r = this->drive_in_slot(s);
 249                 if (r.size() > 0) {
 250                         entries.push_back(r);
 251                 }
 252         }
 253         if (entries.size() == 0) {
 254                 return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
 255         }
 256         if (entries.size() == 1) {
 257                 auto f = entries.front().front();
 258                 return PoseRange(f, f);
 259         }
 260         auto& c1 = entries.front().front();
 261         auto& c2 = entries.back().front();
 262         return PoseRange(c1, c2);
 263 }
 264
 265 PoseRange
 266 ParkingSlot::recompute_entry(PoseRange p)
 267 {
 268         p.rotate(Point(0.0, 0.0), this->h());
 269         p.x(p.x() + this->lrx());
 270         p.y(p.y() + this->lry());
 271         if (!this->right()) {
 272                 p.reflect(this->entry_);
 273         }
 274         return p;
 275 }
 276
 277 std::ostream&
 278 operator<<(std::ostream& o, ParkingSlot const& s)
 279 {
 280         o << "[";
 281         o << s.border_[0] << ",";
 282         o << s.border_[1] << ",";
 283         o << s.border_[2] << ",";
 284         o << s.border_[3];
 285         o << "]";
 286         return o;
 287 }
 288
 289 } // namespace bcar