#include <cmath>
-#include "bcar.h"
+#include "bcar.hh"
-// car frame
-double BicycleCar::lfx()
+namespace bcar {
+
+Point::Point(double x, double y) : x_(x), y_(y)
+{
+}
+
+Point::Point() : Point::Point(0.0, 0.0)
+{
+}
+
+double
+Point::x() const
+{
+ return this->x_;
+}
+
+void
+Point::x(double x)
+{
+ this->x_ = x;
+}
+
+double
+Point::y() const
+{
+ return this->y_;
+}
+
+void
+Point::y(double y)
+{
+ this->y_ = y;
+}
+
+double
+Point::min_angle_between(Point const& p1, Point const& p2) const
+{
+ double d1x = p1.x() - this->x();
+ double d1y = p1.y() - this->y();
+ double d2x = p2.x() - p1.x();
+ double d2y = p2.y() - p1.y();
+
+ double dot = d1x*d2x + d1y*d2y;
+ double d1 = sqrt(d1x*d1x + d1y*d1y);
+ double d2 = sqrt(d2x*d2x + d2y*d2y);
+
+ double delta = acos(dot / (d1 * d2));
+ return std::min(delta, M_PI - delta);
+}
+
+bool
+Point::inside_of(std::vector<Point> const& poly) const
+{
+ unsigned int num = poly.size();
+ unsigned int j = num - 1;
+ bool c = false;
+ for (unsigned int i = 0; i < num; i++) {
+ if (this->x() == poly[i].x() && this->y() == poly[i].y()) {
+ return true;
+ }
+ if ((poly[i].y() > this->y()) != (poly[j].y() > this->y())) {
+ auto slope1 = this->x() - poly[i].x();
+ slope1 *= poly[j].y() - poly[i].y();
+ auto slope2 = poly[j].x() - poly[i].x();
+ slope2 *= this->y() - poly[i].y();
+ auto slope = slope1 - slope2;
+ if (slope == 0.0) {
+ return true;
+ }
+ if ((slope < 0.0) != (poly[j].y() < poly[i].y())) {
+ c = !c;
+ }
+ }
+ j = i;
+ }
+ return c;
+}
+
+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_;
+ if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
+ return false;
+ } else {
+ return true;
+ }
+}
+
+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());
+}
+
+double
+Point::edist(Point const& p) const
+{
+ return sqrt(pow(p.x() - this->x_, 2.0) + pow(p.y() - this->y_, 2.0));
+}
+
+std::ostream&
+operator<<(std::ostream& out, Point const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "]";
+ 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))
+{
+}
+
+Point
+Line::fp() const&
+{
+ return this->first;
+}
+
+Point
+Line::lp() const&
+{
+ return this->last;
+}
+
+Point
+Line::in1() const&
+{
+ return this->intersection1;
+}
+
+Point
+Line::in2() const&
+{
+ return this->intersection2;
+}
+
+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();
+ double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
+ if (deno == 0.0) {
+ return false;
+ }
+ double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
+ t /= deno;
+ double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
+ u *= -1.0;
+ u /= deno;
+ 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));
+ 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 cx = c.x();
+ auto cy = c.y();
+ x2 -= cx;
+ x1 -= cx;
+ y2 -= cy;
+ y1 -= cy;
+ if (y1 == y2) {
+ y1 += 0.00001;
+ }
+ double dx = x2 - x1;
+ double dy = y2 - y1;
+ double dr = sqrt(dx*dx + dy*dy);
+ double D = x1*y2 - x2*y1;
+ if (r*r * dr*dr - D*D < 0.0) {
+ return false;
+ }
+ // intersection coordinates
+ double ix1 = (D*dy + sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix1 += cx;
+ double ix2 = (D*dy - sgn(dy)*dx*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ ix2 += cx;
+ double iy1 = (-D*dx + std::abs(dy)*sqrt(r*r * dr*dr - D*D)) / (dr*dr);
+ 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);
+ 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);
+}
+
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
+{
+ out << "[" << li.first << "," << li.last << "]";
+ return out;
+}
+
+Pose::Pose() : Point()
+{
+}
+
+Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
{
- double lfx = this->x();
- lfx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- lfx += this->df() * cos(this->h());
- lfx += this->sd() * cos(this->h());
- return lfx;
}
-double BicycleCar::lfy()
+double
+Pose::h() const
{
- double lfy = this->y();
- lfy += (this->w() / 2) * sin(this->h() + M_PI / 2);
- lfy += this->df() * sin(this->h());
- lfy += this->sd() * sin(this->h());
- return lfy;
+ return this->h_;
}
-double BicycleCar::lrx()
+void
+Pose::h(double h)
{
- double lrx = this->x();
- lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- lrx += -this->dr() * cos(this->h());
- lrx += -this->sd() * cos(this->h());
- return lrx;
+ while (h < -M_PI) {
+ h += 2 * M_PI;
+ }
+ while (h > +M_PI) {
+ h -= 2 * M_PI;
+ }
+ this->h_ = h;
}
-double BicycleCar::lry()
+void
+Pose::set_pose(Pose const& p)
{
- double lry = this->y();
- lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
- lry += -this->dr() * sin(this->h());
- lry += -this->sd() * sin(this->h());
- return lry;
+ this->x(p.x());
+ this->y(p.y());
+ this->h(p.h());
}
-double BicycleCar::rrx()
+void
+Pose::rotate(Point const& c, double const angl)
{
- double rrx = this->x();
- rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- rrx += -this->dr() * cos(this->h());
- rrx += -this->sd() * cos(this->h());
- return rrx;
+ Point::rotate(c, angl);
+ this->h(this->h() + angl);
}
-double BicycleCar::rry()
+std::ostream&
+operator<<(std::ostream& out, Pose const& p)
{
- double rry = this->y();
- rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
- rry += -this->dr() * sin(this->h());
- rry += -this->sd() * sin(this->h());
- return rry;
+ out << "[" << p.x() << "," << p.y() << "," << p.h() << "]";
+ return out;
}
-double BicycleCar::rfx()
+double
+PoseRange::b() const
{
- double rfx = this->x();
- rfx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- rfx += this->df() * cos(this->h());
- rfx += this->sd() * cos(this->h());
- return rfx;
+ return this->h();
}
-double BicycleCar::rfy()
+void
+PoseRange::b(double b)
{
- double rfy = this->y();
- rfy += (this->w() / 2) * sin(this->h() - M_PI / 2);
- rfy += this->df() * sin(this->h());
- rfy += this->sd() * sin(this->h());
- return rfy;
+ this->h(b);
}
+
+double
+PoseRange::e() const
+{
+ return this->e_;
+}
+
+void
+PoseRange::e(double e)
+{
+ while (e < -M_PI) {
+ e += 2 * M_PI;
+ }
+ while (e > +M_PI) {
+ e -= 2 * M_PI;
+ }
+ this->e_ = e;
+}
+
+void
+PoseRange::rotate(Point const& c, double const angl)
+{
+ Pose::rotate(c, angl);
+ this->e(this->e() + angl);
+}
+
+std::ostream&
+operator<<(std::ostream& out, PoseRange const& p)
+{
+ out << "[" << p.x() << "," << p.y() << "," << p.b() << "," << p.e();
+ out << "]";
+ return out;
+}
+
+double
+CarSize::ctc() const
+{
+ return this->curb_to_curb;
+}
+
+void
+CarSize::ctc(double ctc)
+{
+ this->curb_to_curb = ctc;
+}
+
+double
+CarSize::wb() const
+{
+ return this->wheelbase;
+}
+
+void
+CarSize::wb(double wb)
+{
+ this->wheelbase = wb;
+}
+
+double
+CarSize::w() const
+{
+ return this->width;
+}
+
+void
+CarSize::w(double w)
+{
+ this->width = w;
+}
+
+double
+CarSize::len() const
+{
+ return this->length;
+}
+
+void
+CarSize::len(double len)
+{
+ this->length = len;
+}
+
+double
+CarSize::df() const
+{
+ return this->distance_to_front;
+}
+
+void
+CarSize::df(double df)
+{
+ this->distance_to_front = df;
+}
+
+double
+CarSize::dr() const
+{
+ return this->len() - this->df();
+}
+
+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;
+}
+
+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;
+}
+
+void
+CarMove::sp(double sp)
+{
+ this->speed = sp;
+}
+
+double
+CarMove::st() const
+{
+ return this->steer;
+}
+
+void
+CarMove::st(double 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);
+}
+
+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();
+ while (h_d < -M_PI)
+ h_d += 2 * M_PI;
+ while (h_d > +M_PI)
+ h_d -= 2 * M_PI;
+ double a_2 = 0;
+ if (h_d == 0 && (a_1 == 0 || a_2 == M_PI || a_2 == -M_PI)) {
+ return true;
+ } 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();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == 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());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } 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();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == 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());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } 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();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == 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());
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (this->h() >= a_2 && a_2 >= z.h())
+ return true;
+ } 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();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == 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());
+ a_2 -= M_PI;
+ while (a_2 < -M_PI)
+ a_2 += 2 * M_PI;
+ while (a_2 > +M_PI)
+ a_2 -= 2 * M_PI;
+ if (z.h() >= a_2 && a_2 >= this->h())
+ return true;
+ } else {
+ // Not happenning, as ``-pi <= a <= pi``.
+ }
+ return false;
+}
+
+void
+BicycleCar::set_max_steer()
+{
+ this->st(atan(this->wb() / this->mtr()));
+}
+
+double
+BicycleCar::lfx() const
+{
+ double lfx = this->x();
+ lfx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ lfx += this->df() * cos(this->h());
+ return lfx;
+}
+
+double
+BicycleCar::lfy() const
+{
+ double lfy = this->y();
+ lfy += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ lfy += this->df() * sin(this->h());
+ return lfy;
+}
+
+double
+BicycleCar::lrx() const
+{
+ double lrx = this->x();
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ lrx += -this->dr() * cos(this->h());
+ return lrx;
+}
+
+double
+BicycleCar::lry() const
+{
+ double lry = this->y();
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ lry += -this->dr() * sin(this->h());
+ return lry;
+}
+
+double
+BicycleCar::rrx() const
+{
+ double rrx = this->x();
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ rrx += -this->dr() * cos(this->h());
+ return rrx;
+}
+
+double
+BicycleCar::rry() const
+{
+ double rry = this->y();
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ rry += -this->dr() * sin(this->h());
+ return rry;
+}
+
+double
+BicycleCar::rfx() const
+{
+ double rfx = this->x();
+ rfx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ rfx += this->df() * cos(this->h());
+ return rfx;
+}
+
+double
+BicycleCar::rfy() const
+{
+ double rfy = this->y();
+ rfy += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ rfy += this->df() * sin(this->h());
+ 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
+{
+ double lrx = this->x();
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ return lrx;
+}
+double
+BicycleCar::raly() const
+{
+ double lry = this->y();
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ return lry;
+}
+
+double
+BicycleCar::rarx() const
+{
+ double rrx = this->x();
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ return rrx;
+}
+
+double
+BicycleCar::rary() const
+{
+ double rry = this->y();
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ return rry;
+}
+
+Point
+BicycleCar::ccl() const
+{
+ return Point(
+ this->x() + this->mtr() * cos(this->h() + M_PI / 2.0),
+ this->y() + this->mtr() * sin(this->h() + M_PI / 2.0)
+ );
+}
+
+Point
+BicycleCar::ccr() const
+{
+ return Point(
+ this->x() + this->mtr() * cos(this->h() - M_PI / 2.0),
+ this->y() + this->mtr() * sin(this->h() - M_PI / 2.0)
+ );
+}
+
+void
+BicycleCar::next()
+{
+ this->x(this->x() + this->sp() * cos(this->h()));
+ 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