#include <cmath>
#include "bcar.hh"
-using namespace bcar;
+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)
{
}
return c;
}
-Line::Line(Point const& fp, Point const& lp): first(fp), last(lp),
- intersection1(Point(0.0, 0.0)), intersection2(Point(0.0, 0.0))
+bool
+Point::on_right_side_of(Line const& li) const
+{
+ 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 {
+ return true;
+ }
+}
+
+void
+Point::translate(Point const& p)
+{
+ this->x_ += p.x();
+ this->y_ += p.y();
+}
+
+void
+Point::rotate(Point const& c, double const angl)
+{
+ double px = this->x();
+ double py = this->y();
+ px -= c.x();
+ py -= c.y();
+ double nx = px * cos(angl) - py * sin(angl);
+ double ny = px * sin(angl) + py * cos(angl);
+ this->x(nx + c.x());
+ 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)
+{
+ out << "[" << p.x() << "," << p.y() << "]";
+ return out;
+}
+
+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;
u *= -1.0;
u /= deno;
if (t < 0.0 || t > 1.0 || u < 0.0 || u > 1.0) {
- false;
+ 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;
y2 -= cy;
y1 -= cy;
if (y1 == y2) {
- y1 += 0.00001;
+ y1 += 0.00001;
}
double dx = x2 - x1;
double dy = y2 - y1;
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;
}
-bool
-Line::is_on_right_side(Point const& p) const
-{
- auto x1 = this->fp().x();
- auto y1 = this->fp().y();
- auto x2 = this->lp().x();
- auto y2 = this->lp().y();
- auto x3 = p.x();
- auto y3 = p.y();
- if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
- return false;
- } else {
- return true;
- }
-}
-
double
-Pose::x() const
+Line::len() const
{
- return this->x_;
+ return this->b_.edist(this->e_);
}
-void
-Pose::x(double x)
+double
+Line::h() const
{
- this->x_ = x;
+ return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
}
-double
-Pose::y() const
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
{
- return this->y_;
+ out << "[" << li.b_ << "," << li.e_ << "]";
+ return out;
}
-void
-Pose::y(double y)
+Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
{
- this->y_ = y;
}
double
this->h_ = h;
}
+void
+Pose::set_pose(Pose const& p)
+{
+ this->x(p.x());
+ this->y(p.y());
+ this->h(p.h());
+}
+
void
Pose::rotate(Point const& c, double const angl)
{
- double px = this->x();
- double py = this->y();
- px -= c.x();
- py -= c.y();
- double nx = px * cos(angl) - py * sin(angl);
- double ny = px * sin(angl) + py * cos(angl);
+ Point::rotate(c, angl);
this->h(this->h() + angl);
- this->x(nx + c.x());
- this->y(ny + c.y());
+}
+
+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&
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
{
- this->h(b);
+ 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 sqrt(ctc2 - wb2) - this->w() / 2.0;
}
+double
+CarSize::iradi() const
+{
+ return this->mtr() - this->w() / 2;
+}
+
+double
+CarSize::ofradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+ auto df2 = pow(this->df(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::orradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
+ auto dr2 = pow(this->dr(), 2.0);
+ return sqrt(mtrw2 + dr2);
+}
+
+double
+CarSize::perfect_parking_slot_len() const
+{
+ auto r = this->ctc() / 2.0;
+ auto l = this->wb();
+ auto k = this->df() - this->wb();
+ auto w = this->w();
+ auto r2l2 = r * r - l * l;
+ auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
+ return this->len() + sqrt(s) - l - k;
+}
+
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
{
- return this->drivable(p, p.h(), p.h());
+ return this->drivable(PoseRange(p, p));
}
bool
-BicycleCar::drivable(Pose const& p, double b, double e) const
+BicycleCar::drivable(PoseRange const& p) const
{
- // assert p.h() == (b + 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;
return true;
} else if (0 < a_1 && a_1 <= M_PI/2) { // left front
BicycleCar z(*this); // zone border
- z.h(e);
+ z.h(p.e());
h_d = p.h() - this->h();
z.rotate(this->ccl(), h_d);
// assert z.h() == p.h()
return true;
} else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
BicycleCar z(*this); // zone border
- z.h(e);
+ z.h(p.e());
h_d = p.h() - this->h();
z.rotate(this->ccl(), h_d);
// assert z.h() == p.h()
return true;
} else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
BicycleCar z(*this); // zone border
- z.h(b);
+ z.h(p.b());
h_d = p.h() - this->h();
z.rotate(this->ccr(), h_d);
// assert z.h() == p.h()
return true;
} else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
BicycleCar z(*this); // zone border
- z.h(b);
+ z.h(p.b());
h_d = p.h() - this->h();
z.rotate(this->ccr(), h_d);
// assert z.h() == p.h()
return false;
}
-double
-BicycleCar::iradi() const
-{
- return this->mtr() - this->w() / 2;
-}
-
-double
-BicycleCar::ofradi() const
-{
- auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
- auto df2 = pow(this->df(), 2.0);
- return sqrt(mtrw2 + df2);
-}
-
-double
-BicycleCar::orradi() const
-{
- auto mtrw2 = pow(this->mtr() + this->w() / 2.0, 2.0);
- auto dr2 = pow(this->dr(), 2.0);
- return sqrt(mtrw2 + dr2);
-}
-
-double
-BicycleCar::perfect_parking_slot_len() const
-{
- auto r = this->ctc() / 2.0;
- auto l = this->wb();
- auto k = this->df() - this->wb();
- auto w = this->w();
- auto r2l2 = r * r - l * l;
- auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
- return this->len() + sqrt(s) - l - k;
-}
-
void
BicycleCar::set_max_steer()
{
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
{
this->y(this->y() + this->sp() * sin(this->h()));
this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
}
+
+} // namespace bcar
projects / hubacji1 / bcar.git / blobdiff