namespace bcar {
-Point::Point(double x, double y) : x_(x), y_(y)
+Point::Point()
{
}
-Point::Point() : Point::Point(0.0, 0.0)
+Point::Point(double x, double y) : x_(x), y_(y)
{
}
bool
Point::on_right_side_of(Line const& li) const
{
- auto x1 = li.fp().x();
- auto y1 = li.fp().y();
- auto x2 = li.lp().x();
- auto y2 = li.lp().y();
+ auto x1 = li.b().x();
+ auto y1 = li.b().y();
+ auto x2 = li.e().x();
+ auto y2 = li.e().y();
auto x3 = this->x_;
auto y3 = this->y_;
if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
}
}
+void
+Point::translate(Point const& p)
+{
+ this->x_ += p.x();
+ this->y_ += p.y();
+}
+
void
Point::rotate(Point const& c, double const angl)
{
this->y(ny + c.y());
}
+void
+Point::reflect(Line const& li)
+{
+ this->rotate(li.b(), -li.h());
+ this->y_ -= li.b().y();
+ this->y_ *= -1.0;
+ this->y_ += li.b().y();
+ this->rotate(li.b(), li.h());
+}
+
double
Point::edist(Point const& p) const
{
return sqrt(pow(p.x() - this->x_, 2.0) + pow(p.y() - this->y_, 2.0));
}
+bool
+Point::operator==(Point const& p)
+{
+ return this->x() == p.x() && this->y() == p.y();
+}
+
std::ostream&
operator<<(std::ostream& out, Point const& p)
{
return out;
}
-Line::Line(Point const& fp, Point const& lp): first(fp), last(lp),
- intersection1(Point(0.0, 0.0)), intersection2(Point(0.0, 0.0))
+Line::Line(Point const& b, Point const& e): b_(b), e_(e)
{
}
Point
-Line::fp() const&
+Line::b() const&
{
- return this->first;
+ return this->b_;
}
Point
-Line::lp() const&
+Line::e() const&
{
- return this->last;
+ return this->e_;
}
Point
-Line::in1() const&
+Line::m() const
{
- return this->intersection1;
+ return Point((this->b_.x() + this->e_.x()) / 2.0,
+ (this->b_.y() + this->e_.y()) / 2.0);
}
Point
-Line::in2() const&
+Line::i1() const&
{
- return this->intersection2;
+ return this->i1_;
+}
+
+Point
+Line::i2() const&
+{
+ return this->i2_;
}
bool
Line::intersects_with(Line const& li)
{
- auto x1 = this->fp().x();
- auto y1 = this->fp().y();
- auto x2 = this->lp().x();
- auto y2 = this->lp().y();
- auto x3 = li.fp().x();
- auto y3 = li.fp().y();
- auto x4 = li.lp().x();
- auto y4 = li.lp().y();
+ auto x1 = this->b_.x();
+ auto y1 = this->b_.y();
+ auto x2 = this->e_.x();
+ auto y2 = this->e_.y();
+ auto x3 = li.b().x();
+ auto y3 = li.b().y();
+ auto x4 = li.e().x();
+ auto y4 = li.e().y();
double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
if (deno == 0.0) {
return false;
if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
return false;
}
- this->intersection1.x(x1 + t * (x2 - x1));
- this->intersection1.y(y1 + t * (y2 - y1));
+ this->i1_.x(x1 + t * (x2 - x1));
+ this->i1_.y(y1 + t * (y2 - y1));
return true;
}
bool
Line::intersects_with(Point const& c, double const r)
{
- auto x1 = this->fp().x();
- auto y1 = this->fp().y();
- auto x2 = this->lp().x();
- auto y2 = this->lp().y();
+ auto x1 = this->b_.x();
+ auto y1 = this->b_.y();
+ auto x2 = this->e_.x();
+ auto y2 = this->e_.y();
auto cx = c.x();
auto cy = c.y();
x2 -= cx;
iy1 += cy;
double iy2 = (-D*dx - std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
iy2 += cy;
- this->intersection1.x(ix1);
- this->intersection1.y(iy1);
- this->intersection2.x(ix2);
- this->intersection2.y(iy2);
+ this->i1_.x(ix1);
+ this->i1_.y(iy1);
+ this->i2_.x(ix2);
+ this->i2_.y(iy2);
return true;
}
double
Line::len() const
{
- double dx = this->lp().x() - this->fp().x();
- double dy = this->lp().y() - this->fp().y();
- return sqrt(dx * dx + dy * dy);
+ return this->b_.edist(this->e_);
}
-std::ostream&
-operator<<(std::ostream& out, Line const& li)
+double
+Line::h() const
{
- out << "[" << li.first << "," << li.last << "]";
- return out;
+ return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
}
-Pose::Pose() : Point()
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
{
+ out << "[" << li.b_ << "," << li.e_ << "]";
+ return out;
}
Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
this->h(this->h() + angl);
}
+void
+Pose::reflect(Line const& li)
+{
+ Point::reflect(li);
+ double dh = li.h() - this->h();
+ this->h(this->h() + 2.0 * dh);
+}
+
+bool
+Pose::operator==(Pose const& p)
+{
+ return this->x() == p.x() && this->y() == p.y() && this->h() == p.h();
+}
+
std::ostream&
operator<<(std::ostream& out, Pose const& p)
{
return out;
}
-double
-PoseRange::b() const
+void
+PoseRange::set_xyh()
+{
+ double clen = 10.0;
+ double bpbx = this->bp_.x() - clen * cos(this->bp_.h());
+ double bpby = this->bp_.y() - clen * sin(this->bp_.h());
+ double bpfx = this->bp_.x() + clen * cos(this->bp_.h());
+ double bpfy = this->bp_.y() + clen * sin(this->bp_.h());
+ Line li1(Point(bpbx, bpby), Point(bpfx, bpfy));
+ double epbx = this->ep_.x() - clen * cos(this->ep_.h());
+ double epby = this->ep_.y() - clen * sin(this->ep_.h());
+ double epfx = this->ep_.x() + clen * cos(this->ep_.h());
+ double epfy = this->ep_.y() + clen * sin(this->ep_.h());
+ Line li2(Point(epbx, epby), Point(epfx, epfy));
+ li1.intersects_with(li2);
+ this->x(li1.i1().x());
+ this->y(li1.i1().y());
+ this->h((this->b() + this->e()) / 2.0);
+}
+
+PoseRange::PoseRange(Pose bp, Pose ep) : bp_(bp), ep_(ep)
+{
+ if (this->bp_ == this->ep_) {
+ this->set_pose(this->ep_);
+ } else {
+ this->set_xyh();
+ }
+}
+
+PoseRange::PoseRange(double x, double y, double b, double e)
+ : PoseRange(Pose(x, y, b), Pose(x, y, e))
{
- return this->h();
}
-void
-PoseRange::b(double b)
+Pose
+PoseRange::bp() const
+{
+ return this->bp_;
+}
+
+Pose
+PoseRange::ep() const
+{
+ return this->ep_;
+}
+
+double
+PoseRange::b() const
{
- this->h(b);
+ return std::min(this->bp_.h(), this->ep_.h());
}
double
PoseRange::e() const
{
- return this->e_;
+ return std::max(this->bp_.h(), this->ep_.h());
}
void
-PoseRange::e(double e)
+PoseRange::translate(Point const& p)
{
- while (e < -M_PI) {
- e += 2 * M_PI;
- }
- while (e > +M_PI) {
- e -= 2 * M_PI;
- }
- this->e_ = e;
+ this->bp_.translate(p);
+ this->ep_.translate(p);
+ this->set_xyh();
}
void
PoseRange::rotate(Point const& c, double const angl)
{
- Pose::rotate(c, angl);
- this->e(this->e() + angl);
+ this->bp_.rotate(c, angl);
+ this->ep_.rotate(c, angl);
+ this->set_xyh();
+}
+
+void
+PoseRange::reflect(Line const& li)
+{
+ this->bp_.reflect(li);
+ this->ep_.reflect(li);
+ this->set_xyh();
}
std::ostream&
double
CarSize::ctc() const
{
- return this->curb_to_curb;
+ return this->curb_to_curb_;
}
void
CarSize::ctc(double ctc)
{
- this->curb_to_curb = ctc;
+ this->curb_to_curb_ = ctc;
}
double
CarSize::wb() const
{
- return this->wheelbase;
+ return this->wheelbase_;
}
void
CarSize::wb(double wb)
{
- this->wheelbase = wb;
+ this->wheelbase_ = wb;
}
double
CarSize::w() const
{
- return this->width;
+ return this->width_;
}
void
CarSize::w(double w)
{
- this->width = w;
+ this->width_ = w;
}
double
CarSize::len() const
{
- return this->length;
+ return this->length_;
}
void
CarSize::len(double len)
{
- this->length = len;
+ this->length_ = len;
}
double
CarSize::df() const
{
- return this->distance_to_front;
+ return this->distance_to_front_;
}
void
CarSize::df(double df)
{
- this->distance_to_front = df;
+ this->distance_to_front_ = df;
}
double
double
CarMove::sp() const
{
- return this->speed;
+ return this->speed_;
}
void
CarMove::sp(double sp)
{
- this->speed = sp;
+ this->speed_ = sp;
}
double
CarMove::st() const
{
- return this->steer;
+ return this->steer_;
}
void
CarMove::st(double st)
{
- this->steer = st;
+ this->steer_ = st;
}
bool
BicycleCar::drivable(Pose const& p) const
{
- PoseRange pr;
- pr.x(p.x());
- pr.y(p.y());
- pr.b(p.h());
- pr.e(p.h());
- return this->drivable(pr);
+ return this->drivable(PoseRange(p, p));
}
bool
BicycleCar::drivable(PoseRange const& p) const
{
- double h = (p.b() + p.e()) / 2.0;
double a_1 = atan2(p.y() - this->y(), p.x() - this->x()) - this->h();
while (a_1 < -M_PI)
a_1 += 2 * M_PI;
while (a_1 > +M_PI)
a_1 -= 2 * M_PI;
- double h_d = h - this->h();
+ double h_d = p.h() - this->h();
while (h_d < -M_PI)
h_d += 2 * M_PI;
while (h_d > +M_PI)
} else if (0 < a_1 && a_1 <= M_PI/2) { // left front
BicycleCar z(*this); // zone border
z.h(p.e());
- h_d = h - this->h();
+ h_d = p.h() - this->h();
z.rotate(this->ccl(), h_d);
- // assert z.h() == h
+ // assert z.h() == p.h()
if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
a_2 = atan2(p.y() - z.y(), p.x() - z.x());
} else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
BicycleCar z(*this); // zone border
z.h(p.e());
- h_d = h - this->h();
+ h_d = p.h() - this->h();
z.rotate(this->ccl(), h_d);
- // assert z.h() == h
+ // assert z.h() == p.h()
if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
a_2 = atan2(p.y() - z.y(), p.x() - z.x());
} else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
BicycleCar z(*this); // zone border
z.h(p.b());
- h_d = h - this->h();
+ h_d = p.h() - this->h();
z.rotate(this->ccr(), h_d);
- // assert z.h() == h
+ // assert z.h() == p.h()
if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
a_2 = atan2(p.y() - z.y(), p.x() - z.x());
} else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
BicycleCar z(*this); // zone border
z.h(p.b());
- h_d = h - this->h();
+ h_d = p.h() - this->h();
z.rotate(this->ccr(), h_d);
- // assert z.h() == h
+ // assert z.h() == p.h()
if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
a_2 = atan2(p.y() - z.y(), p.x() - z.x());
projects / hubacji1 / bcar.git / blobdiff