+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cmath>
#include "bcar.hh"
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)
{
}
double
Point::x() const
{
- return this->x_;
+ return this->_x;
}
void
Point::x(double x)
{
- this->x_ = x;
+ this->_x = x;
}
double
Point::y() const
{
- return this->y_;
+ return this->_y;
}
void
Point::y(double y)
{
- this->y_ = y;
+ this->_y = y;
}
double
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 x3 = this->x_;
- auto y3 = this->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) {
return false;
} else {
}
}
+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::b() const&
{
+ return this->_b;
}
Point
-Line::fp() const&
+Line::e() const&
{
- return this->first;
+ return this->_e;
}
Point
-Line::lp() const&
+Line::m() const
{
- return this->last;
+ return Point((this->_b.x() + this->_e.x()) / 2.0,
+ (this->_b.y() + this->_e.y()) / 2.0);
}
Point
-Line::in1() const&
+Line::i1() const&
{
- return this->intersection1;
+ return this->_i1;
}
Point
-Line::in2() const&
+Line::i2() const&
{
- return this->intersection2;
+ 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)
+Pose::Pose(double x, double y, double h) : Point(x, y), _h(h)
{
}
double
Pose::h() const
{
- return this->h_;
+ return this->_h;
}
void
while (h > +M_PI) {
h -= 2 * M_PI;
}
- this->h_ = h;
+ this->_h = h;
}
void
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());
+ double bh = this->b();
+ while (bh < 0.0) {
+ bh += 2.0 * M_PI;
+ }
+ this->_bp.h(bh);
+ double eh = this->e();
+ while (eh < 0.0) {
+ eh += 2.0 * M_PI;
+ }
+ this->_ep.h(eh);
+ 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
{
- this->h(b);
+ return this->_bp;
+}
+
+Pose
+PoseRange::ep() const
+{
+ return this->_ep;
+}
+
+double
+PoseRange::b() const
+{
+ 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
return this->len() - this->df();
}
+void
+CarSize::ft(double ft)
+{
+ this->_front_track = ft;
+}
+
+double
+CarSize::ft() const
+{
+ return this->_front_track;
+}
+
double
CarSize::mtr() const
{
auto ctc2 = pow(this->ctc() / 2.0, 2.0);
auto wb2 = pow(this->wb(), 2.0);
- return sqrt(ctc2 - wb2) - this->w() / 2.0;
+ return sqrt(ctc2 - wb2) - this->ft() / 2.0;
}
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());
return rfy;
}
+Point
+BicycleCar::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+BicycleCar::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+BicycleCar::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+BicycleCar::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+BicycleCar::left() const
+{
+ return Line(this->lr(), this->lf());
+}
+
+Line
+BicycleCar::rear() const
+{
+ return Line(this->lr(), this->rr());
+}
+
+Line
+BicycleCar::right() const
+{
+ return Line(this->rr(), this->rf());
+}
+
+Line
+BicycleCar::front() const
+{
+ return Line(this->rf(), this->lf());
+}
+
double
BicycleCar::ralx() const
{
projects / hubacji1 / bcar.git / blobdiff