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 Point
  99 ParkingSlot::lf() const
 100 {
 101         return Point(this->lfx(), this->lfy());
 102 }
 103
 104 Point
 105 ParkingSlot::lr() const
 106 {
 107         return Point(this->lrx(), this->lry());
 108 }
 109
 110 Point
 111 ParkingSlot::rr() const
 112 {
 113         return Point(this->rrx(), this->rry());
 114 }
 115
 116 Point
 117 ParkingSlot::rf() const
 118 {
 119         return Point(this->rfx(), this->rfy());
 120 }
 121
 122 Line
 123 ParkingSlot::entry() const
 124 {
 125         return this->entry_;
 126 }
 127
 128 Line
 129 ParkingSlot::rear() const
 130 {
 131         return this->rear_;
 132 }
 133
 134 Line
 135 ParkingSlot::curb() const
 136 {
 137         return this->curb_;
 138 }
 139
 140 Line
 141 ParkingSlot::front() const
 142 {
 143         return this->front_;
 144 }
 145
 146 void
 147 ParkingSlot::set_parking_speed(double s)
 148 {
 149         this->parking_speed_ = s;
 150 }
 151
 152 void
 153 ParkingSlot::set_max_cusp(unsigned int m)
 154 {
 155         this->max_cusp_ = m;
 156 }
 157
 158 void
 159 ParkingSlot::set_delta_angle_to_slot(double d)
 160 {
 161         this->delta_angle_to_slot_ = d;
 162 }
 163
 164 bool
 165 ParkingSlot::parallel() const
 166 {
 167         return this->entry_.len() > this->rear_.len();
 168 }
 169
 170 bool
 171 ParkingSlot::right() const
 172 {
 173         return this->border_[1].on_right_side_of(this->entry_);
 174 }
 175
 176 void
 177 ParkingSlot::swap_side()
 178 {
 179         this->border_[1].rotate(this->border_[0], M_PI);
 180         this->border_[2].rotate(this->border_[3], M_PI);
 181         this->entry_ = Line(this->border_[0], this->border_[3]);
 182         this->rear_ = Line(this->border_[0], this->border_[1]);
 183         this->curb_ = Line(this->border_[1], this->border_[2]);
 184         this->front_ = Line(this->border_[2], this->border_[3]);
 185 }
 186
 187 bool
 188 ParkingSlot::parked(BicycleCar const& c) const
 189 {
 190         auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
 191         std::vector<Point> b(this->border_, this->border_ + b_len);
 192         return c.lf().inside_of(b) && c.lr().inside_of(b)
 193                 && c.rr().inside_of(b) && c.rf().inside_of(b);
 194 }
 195
 196 bool
 197 ParkingSlot::collide(BicycleCar const& c) const
 198 {
 199         return c.left().intersects_with(this->rear_)
 200                 || c.left().intersects_with(this->curb_)
 201                 || c.left().intersects_with(this->front_)
 202                 || c.rear().intersects_with(this->rear_)
 203                 || c.rear().intersects_with(this->curb_)
 204                 || c.rear().intersects_with(this->front_)
 205                 || c.right().intersects_with(this->rear_)
 206                 || c.right().intersects_with(this->curb_)
 207                 || c.right().intersects_with(this->front_)
 208                 || c.front().intersects_with(this->rear_)
 209                 || c.front().intersects_with(this->curb_)
 210                 || c.front().intersects_with(this->front_);
 211 }
 212
 213 std::vector<BicycleCar>
 214 ParkingSlot::drive_in_slot(BicycleCar c)
 215 {
 216         assert(this->parallel());
 217         assert(this->right());
 218         assert(c.len() < this->len());
 219         assert(c.w() < this->w());
 220         std::vector<BicycleCar> path;
 221         path.reserve(this->max_cusp_ + 2);
 222         path.push_back(c);
 223         unsigned int cusp = 0;
 224         while (cusp < this->max_cusp_ + 1) {
 225                 if (this->parked(c)) {
 226                         if (cusp < this->max_cusp_) {
 227                                 this->max_cusp_ = cusp;
 228                         }
 229                         path.push_back(c);
 230                         return path;
 231                 }
 232                 if (c.h() < this->h()) {
 233                         return std::vector<BicycleCar>();
 234                 }
 235                 c.next();
 236                 if (this->collide(c)) {
 237                         c.sp(c.sp() * -1.0);
 238                         c.next();
 239                         path.push_back(c);
 240                         c.st(c.st() * -1.0);
 241                         cusp += 1;
 242                 }
 243         }
 244         return std::vector<BicycleCar>();
 245 }
 246
 247 std::vector<Pose>
 248 ParkingSlot::steer_in_slot(BicycleCar c)
 249 {
 250         std::vector<Pose> path;
 251         while (!this->parked(c)) {
 252                 path.push_back(c);
 253                 c.next();
 254                 if (this->collide(c)) {
 255                         c.sp(c.sp() * -1.0);
 256                         c.next();
 257                         c.st(c.st() * -1.0);
 258                 }
 259         }
 260         return path;
 261 }
 262
 263 PoseRange
 264 ParkingSlot::fe(BicycleCar c)
 265 {
 266         assert(this->parallel());
 267         assert(this->right());
 268         c.h(this->h());
 269         double clen = -this->offset_ + this->len() - c.df();
 270         double cw = c.w() / 2.0;
 271         c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
 272         c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
 273         c.set_max_steer();
 274         c.sp(this->parking_speed_);
 275         auto const rc = c.rf();
 276         this->curb_.intersects_with(rc, c.len());
 277         double max_to_slot;
 278         auto const& rr = c.rr();
 279         auto const& i1 = this->curb_.i1();
 280         auto const& i2 = this->curb_.i2();
 281         if (rr.edist(i1) < rr.edist(i2)) {
 282                 max_to_slot = rr.min_angle_between(rc, i1);
 283         } else {
 284                 max_to_slot = rr.min_angle_between(rc, i2);
 285         }
 286         std::vector<BicycleCar> starts;
 287         double a_to_slot = 0.0;
 288         while (a_to_slot < max_to_slot) {
 289                 a_to_slot += this->delta_angle_to_slot_;
 290                 c.rotate(rc, this->delta_angle_to_slot_);
 291                 starts.push_back(c);
 292         }
 293         std::vector<std::vector<BicycleCar>> entries;
 294         for (auto s: starts) {
 295                 auto r = this->drive_in_slot(s);
 296                 if (r.size() > 0) {
 297                         entries.push_back(r);
 298                 }
 299         }
 300         if (entries.size() == 0) {
 301                 return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
 302         }
 303         if (entries.size() == 1) {
 304                 auto f = entries.front().front();
 305                 return PoseRange(f, f);
 306         }
 307         auto& c1 = entries.front().front();
 308         auto& c2 = entries.back().front();
 309         return PoseRange(c1, c2);
 310 }
 311
 312 PoseRange
 313 ParkingSlot::recompute_entry(PoseRange p)
 314 {
 315         p.rotate(Point(0.0, 0.0), this->h());
 316         p.translate(this->border_[0]);
 317         if (!this->right()) {
 318                 p.reflect(this->entry_);
 319         }
 320         return p;
 321 }
 322
 323 std::ostream&
 324 operator<<(std::ostream& o, ParkingSlot const& s)
 325 {
 326         o << "[";
 327         o << s.border_[0] << ",";
 328         o << s.border_[1] << ",";
 329         o << s.border_[2] << ",";
 330         o << s.border_[3];
 331         o << "]";
 332         return o;
 333 }
 334
 335 } // namespace bcar