+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cassert>
#include <cmath>
#include "pslot.hh"
namespace bcar {
ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
- border_({p,
+ _border{p,
Point(p.x() + W * cos(h - M_PI / 2.0),
p.y() + W * sin(h - M_PI / 2.0)),
Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
- Point(p.x() + L * cos(h), p.y() + L * sin(h))}),
- entry_(border_[0], border_[3]),
- rear_(border_[0], border_[1]),
- curb_(border_[1], border_[2]),
- front_(border_[2], border_[3])
+ Point(p.x() + L * cos(h), p.y() + L * sin(h))},
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
{
}
ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
double rfx, double rfy, double lfx, double lfy) :
- border_({Point(lrx, lry), Point(rrx, rry),
- Point(rfx, rfy), Point(lfx, lfy)}),
- entry_(border_[0], border_[3]),
- rear_(border_[0], border_[1]),
- curb_(border_[1], border_[2]),
- front_(border_[2], border_[3])
+ _border{Point(lrx, lry), Point(rrx, rry),
+ Point(rfx, rfy), Point(lfx, lfy)},
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
{
}
double
ParkingSlot::len() const
{
- return this->entry_.len();
+ return this->_entry.len();
}
double
ParkingSlot::w() const
{
- return this->rear_.len();
+ return this->_rear.len();
}
double
ParkingSlot::lfx() const
{
- return this->border_[3].x();
+ return this->_border[3].x();
}
double
ParkingSlot::lfy() const
{
- return this->border_[3].y();
+ return this->_border[3].y();
}
double
ParkingSlot::lrx() const
{
- return this->border_[0].x();
+ return this->_border[0].x();
}
double
ParkingSlot::lry() const
{
- return this->border_[0].y();
+ return this->_border[0].y();
}
double
ParkingSlot::rrx() const
{
- return this->border_[1].x();
+ return this->_border[1].x();
}
double
ParkingSlot::rry() const
{
- return this->border_[1].y();
+ return this->_border[1].y();
}
double
ParkingSlot::rfx() const
{
- return this->border_[2].x();
+ return this->_border[2].x();
}
double
ParkingSlot::rfy() const
{
- return this->border_[2].y();
+ return this->_border[2].y();
}
double
return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
}
+Point
+ParkingSlot::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+ParkingSlot::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+ParkingSlot::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+ParkingSlot::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+ParkingSlot::entry() const
+{
+ return this->_entry;
+}
+
+Line
+ParkingSlot::rear() const
+{
+ return this->_rear;
+}
+
+Line
+ParkingSlot::curb() const
+{
+ return this->_curb;
+}
+
+Line
+ParkingSlot::front() const
+{
+ return this->_front;
+}
+
+void
+ParkingSlot::set_parking_speed(double s)
+{
+ this->_parking_speed = s;
+}
+
+unsigned int
+ParkingSlot::get_max_cusp() const
+{
+ return this->_max_cusp;
+}
+
+void
+ParkingSlot::set_max_cusp(unsigned int m)
+{
+ this->_max_cusp = m;
+}
+
+void
+ParkingSlot::set_delta_angle_to_slot(double d)
+{
+ this->_delta_angle_to_slot = d;
+}
+
bool
ParkingSlot::parallel() const
{
- return this->entry_.len() > this->rear_.len();
+ return this->_entry.len() > this->_rear.len();
}
bool
ParkingSlot::right() const
{
- return this->border_[1].on_right_side_of(this->entry_);
+ return this->_border[1].on_right_side_of(this->_entry);
}
void
ParkingSlot::swap_side()
{
- this->border_[1].rotate(this->border_[0], M_PI);
- this->border_[2].rotate(this->border_[3], M_PI);
+ this->_border[1].rotate(this->_border[0], M_PI);
+ this->_border[2].rotate(this->_border[3], M_PI);
+ this->_entry = Line(this->_border[0], this->_border[3]);
+ this->_rear = Line(this->_border[0], this->_border[1]);
+ this->_curb = Line(this->_border[1], this->_border[2]);
+ this->_front = Line(this->_border[2], this->_border[3]);
}
bool
ParkingSlot::parked(BicycleCar const& c) const
{
- auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
- std::vector<Point> b(this->border_, this->border_ + b_len);
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
return c.lf().inside_of(b) && c.lr().inside_of(b)
&& c.rr().inside_of(b) && c.rf().inside_of(b);
}
bool
ParkingSlot::collide(BicycleCar const& c) const
{
- return c.left().intersects_with(this->rear_)
- && c.left().intersects_with(this->curb_)
- && c.left().intersects_with(this->front_)
- && c.rear().intersects_with(this->rear_)
- && c.rear().intersects_with(this->curb_)
- && c.rear().intersects_with(this->front_)
- && c.right().intersects_with(this->rear_)
- && c.right().intersects_with(this->curb_)
- && c.right().intersects_with(this->front_)
- && c.front().intersects_with(this->rear_)
- && c.front().intersects_with(this->curb_)
- && c.front().intersects_with(this->front_);
+ return c.left().intersects_with(this->_rear)
+ || c.left().intersects_with(this->_curb)
+ || c.left().intersects_with(this->_front)
+ || c.rear().intersects_with(this->_rear)
+ || c.rear().intersects_with(this->_curb)
+ || c.rear().intersects_with(this->_front)
+ || c.right().intersects_with(this->_rear)
+ || c.right().intersects_with(this->_curb)
+ || c.right().intersects_with(this->_front)
+ || c.front().intersects_with(this->_rear)
+ || c.front().intersects_with(this->_curb)
+ || c.front().intersects_with(this->_front);
+}
+
+void
+ParkingSlot::set_to_start(BicycleCar& c)
+{
+ c.h(this->h());
+ double clen = -this->_offset + this->len() - c.df();
+ double cw = c.w() / 2.0;
+ c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
+ c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
+ c.set_max_steer();
+ assert(this->_parking_speed < 0.0);
+ c.sp(this->_parking_speed);
}
std::vector<BicycleCar>
-ParkingSlot::drive_in_slot(BicycleCar c, unsigned int& max)
+ParkingSlot::drive_in_slot(BicycleCar c)
{
assert(this->parallel());
assert(this->right());
assert(c.len() < this->len());
assert(c.w() < this->w());
std::vector<BicycleCar> path;
- path.reserve(max + 2);
+ path.reserve(this->_max_cusp + 2);
path.push_back(c);
unsigned int cusp = 0;
- while (cusp < max + 1) {
+ while (cusp < this->_max_cusp + 1) {
if (this->parked(c)) {
- if (cusp < max) {
- max = cusp;
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
}
path.push_back(c);
return path;
}
- if (c.h() < this->h()) {
+ double sx = c.x() + 10.0 * cos(this->h());
+ double sy = c.y() + 10.0 * sin(this->h());
+ double cx = c.x() + 10.0 * cos(c.h());
+ double cy = c.y() + 10.0 * sin(c.h());
+ if (Point(cx, cy).on_right_side_of(
+ Line(Point(c.x(), c.y()), Point(sx, sy)))) {
return std::vector<BicycleCar>();
}
c.next();
return std::vector<BicycleCar>();
}
-PoseRange
-ParkingSlot::fe(BicycleCar c, unsigned int& max)
+std::vector<BicycleCar>
+ParkingSlot::drive_of_slot(BicycleCar c)
{
assert(this->parallel());
assert(this->right());
- c.h(this->h());
- double clen = this->offset_ + this->len() - c.df();
- double cw = this->offset_ + c.w() / 2.0;
- c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
- c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
- c.set_max_steer();
- c.sp(-0.01);
- auto const& b3 = this->border_[3];
- this->curb_.intersects_with(b3, c.len());
+ assert(c.len() < this->len());
+ assert(c.w() < this->w());
+ assert(this->parked(c));
+ std::vector<BicycleCar> path;
+ path.reserve(this->_max_cusp + 2);
+ path.push_back(c);
+ unsigned int cusp = 0;
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
+ while (cusp < this->_max_cusp + 1) {
+ if (!c.lf().inside_of(b) && !c.rf().inside_of(b)) {
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
+ }
+ path.push_back(c);
+ return path;
+ }
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ path.push_back(c);
+ c.st(c.st() * -1.0);
+ cusp += 1;
+ }
+ }
+ return std::vector<BicycleCar>();
+}
+
+std::vector<Pose>
+ParkingSlot::steer_in_slot(BicycleCar c)
+{
+ std::vector<Pose> path;
+ while (!this->parked(c)) {
+ path.push_back(c);
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ c.st(c.st() * -1.0);
+ }
+ }
+ return path;
+}
+
+PoseRange
+ParkingSlot::fe(BicycleCar c)
+{
+ if (!this->parallel()) {
+ double gd = 0.0;
+ double dd = 0.0;
+ double radi = 0.0;
+ if (this->_parking_speed < 0) {
+ gd = c.df();
+ c.h(this->_rear.h() + M_PI);
+ c.sp(1.0);
+ radi = c.iradi();
+ } else {
+ gd = c.dr();
+ c.h(this->_rear.h());
+ c.sp(-1.0);
+ radi = c.ofradi();
+ }
+ c.x(this->_entry.m().x() + gd * cos(this->_rear.h()));
+ c.y(this->_entry.m().y() + gd * sin(this->_rear.h()));
+ Point cc(0.0, 0.0);
+ if (this->right()) {
+ cc = c.ccl();
+ } else {
+ cc = c.ccr();
+ }
+ this->_rear.intersects_with(cc, radi);
+ dd = std::min(this->_border[0].edist(this->_rear.i1()),
+ this->_border[0].edist(this->_rear.i2()));
+ c.st(0.0);
+ c.sp(c.sp() * dd);
+ c.next();
+ c.sp(this->_parking_speed);
+ return PoseRange(c.x(), c.y(), c.h(), c.h());
+ }
+ bool swapped = false;
+ if (!this->right()) {
+ this->swap_side();
+ swapped = true;
+ }
+ this->set_to_start(c);
+ auto const rc = c.rf();
+ this->_curb.intersects_with(rc, c.len());
double max_to_slot;
auto const& rr = c.rr();
- auto const& i1 = this->curb_.i1();
- auto const& i2 = this->curb_.i2();
+ auto const& i1 = this->_curb.i1();
+ auto const& i2 = this->_curb.i2();
if (rr.edist(i1) < rr.edist(i2)) {
- max_to_slot = rr.min_angle_between(b3, i1);
+ max_to_slot = rr.min_angle_between(rc, i1);
} else {
- max_to_slot = rr.min_angle_between(b3, i2);
+ max_to_slot = rr.min_angle_between(rc, i2);
}
std::vector<BicycleCar> starts;
double a_to_slot = 0.0;
while (a_to_slot < max_to_slot) {
- a_to_slot += 0.001;
- c.rotate(b3, 0.001);
+ a_to_slot += this->_delta_angle_to_slot;
+ c.rotate(rc, this->_delta_angle_to_slot);
starts.push_back(c);
}
- std::vector<std::vector<BicycleCar>> entries;
for (auto s: starts) {
- auto r = this->drive_in_slot(s, max);
+ auto r = this->drive_in_slot(s);
if (r.size() > 0) {
- entries.push_back(r);
+ this->_entries.push_back(r);
}
}
- if (entries.size() == 0) {
- return PoseRange();
+ if (this->_entries.size() == 0) {
+ return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
+ }
+ if (this->_entries.size() == 1) {
+ auto f = this->_entries.front().front();
+ return PoseRange(f, f);
+ }
+ auto& c1 = this->_entries.front().front();
+ auto& c2 = this->_entries.back().front();
+ PoseRange p(c1, c2);
+ if (swapped) {
+ this->swap_side();
+ p.reflect(this->_entry);
+ }
+ return p;
+}
+
+PoseRange
+ParkingSlot::recompute_entry(PoseRange p)
+{
+ p.rotate(Point(0.0, 0.0), this->h());
+ p.translate(this->_border[0]);
+ if (!this->right()) {
+ p.reflect(this->_entry);
}
- auto& c1 = entries.front().front();
- auto& c2 = entries.back().front();
- double b = std::min(c1.h(), c2.h());
- double e = std::max(c1.h(), c2.h());
- clen = c.len();
- Point b1(c1.x() - clen * cos(c1.h()), c1.y() - clen * sin(c1.h()));
- Point b2(c2.x() - clen * cos(c2.h()), c2.y() - clen * sin(c2.h()));
- Point e1(c1.x() + clen * cos(c1.h()), c1.y() + clen * sin(c1.h()));
- Point e2(c2.x() + clen * cos(c2.h()), c2.y() + clen * sin(c2.h()));
- Line li1(b1, e1);
- Line li2(b2, e2);
- li1.intersects_with(li2);
- PoseRange pr;
- pr.x(li1.i1().x());
- pr.y(li1.i1().y());
- pr.b(b);
- pr.e(e);
- return pr;
+ return p;
+}
+
+void
+ParkingSlot::gen_gnuplot_to(std::ostream& out)
+{
+ this->rear().gen_gnuplot_to(out);
+ this->curb().gen_gnuplot_to(out);
+ this->front().gen_gnuplot_to(out);
}
std::ostream&
operator<<(std::ostream& o, ParkingSlot const& s)
{
o << "[";
- o << s.border_[0] << ",";
- o << s.border_[1] << ",";
- o << s.border_[2] << ",";
- o << s.border_[3];
+ o << s._border[0] << ",";
+ o << s._border[1] << ",";
+ o << s._border[2] << ",";
+ o << s._border[3];
o << "]";
return o;
}
projects / hubacji1 / bcar.git / blobdiff