src/entry_positions_range.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 <iostream>
   8 #include <vector>
   9 #include "pslot.hh"
  10
  11 #define CAR_CURB_TO_CURB 10.802166641822163
  12 #define CAR_FRONT_TRACK 1.511
  13 #define CAR_WIDTH 1.771
  14 #define CAR_WHEELBASE 2.588
  15 #define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
  16 #define CAR_LENGTH 4.084
  17
  18 #define SLOT_MAX_WIDTH (CAR_WIDTH + 0.5)
  19 #define SLOT_STEP_WIDTH 0.01
  20
  21 #define PARKING_SPEED -0.001
  22 #define DELTA_ANGLE_TO_SLOT 0.0001
  23
  24 int main(int argc, char** argv)
  25 {
  26         if (argc != 3) {
  27                 std::cerr << "Number of direction changes needed." << std::endl;
  28                 exit(1);
  29         }
  30         int max_cusp = atoi(argv[1]);
  31         double slot_length = atof(argv[2]);
  32         std::cout << std::fixed;
  33         std::cerr << std::fixed;
  34
  35         bcar::BicycleCar c;
  36         c.ctc(CAR_CURB_TO_CURB);
  37         c.ft(CAR_FRONT_TRACK);
  38         c.w(CAR_WIDTH);
  39         c.wb(CAR_WHEELBASE);
  40         c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
  41         c.len(CAR_LENGTH);
  42
  43         bcar::Point zp(0.0, 0.0);
  44         double zh = 0.0;
  45
  46         for (double w = c.w() + 4.5 * SLOT_STEP_WIDTH; w < SLOT_MAX_WIDTH;
  47                         w += SLOT_STEP_WIDTH) {
  48                 bcar::ParkingSlot s(zp, zh, w, slot_length);
  49                 s.set_parking_speed(PARKING_SPEED);
  50                 s.set_max_cusp(max_cusp);
  51                 s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
  52                 double d = 0;
  53                 double fd = 0;
  54                 unsigned int cd = 0;
  55                 if (s._entries.size() > 0) {
  56                         for (unsigned int i = 1; i < s._entries.size(); i++) {
  57                                 double dd = std::abs(s._entries[i].front().h()
  58                                         - s._entries[i - 1].front().h());
  59                                 if (dd <= 0.0001) {
  60                                         d += dd;
  61                                 } else {
  62                                         fd += dd;
  63                                         cd += 1;
  64                                 }
  65                         }
  66                         std::cout << w << " " << slot_length << " ";
  67                         std::cout << max_cusp << " ";
  68                         std::cout << d << " " << fd << " " << cd;
  69                         std::cout << std::endl;
  70                 }
  71         }
  72         return 0;
  73 }