#include <cmath>
#include "bcar.hh"
-using namespace bcar;
+namespace bcar {
Point::Point(double x, double y) : x_(x), y_(y)
{
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))
{
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));
y2 -= cy;
y1 -= cy;
if (y1 == y2) {
- y1 += 0.00001;
+ y1 += 0.00001;
}
double dx = x2 - x1;
double dy = y2 - y1;
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_;
+ double dx = this->lp().x() - this->fp().x();
+ double dy = this->lp().y() - this->fp().y();
+ return sqrt(dx * dx + dy * dy);
}
-void
-Pose::x(double x)
+std::ostream&
+operator<<(std::ostream& out, Line const& li)
{
- this->x_ = x;
+ out << "[" << li.first << "," << li.last << "]";
+ return out;
}
-double
-Pose::y() const
+Pose::Pose() : Point()
{
- return this->y_;
}
-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());
}
std::ostream&
return out;
}
+double
+PoseRange::b() const
+{
+ return this->h();
+}
+
+void
+PoseRange::b(double b)
+{
+ 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 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
{
}
bool
-BicycleCar::drivable(BicycleCar const& bc) const
+BicycleCar::drivable(Pose const& p) const
{
- return this->drivable(bc, bc.h(), bc.h());
+ 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(BicycleCar const& bc, double b, double e) const
+BicycleCar::drivable(PoseRange const& p) const
{
- // assert bc.h() == (b + e) / 2.0
- double a_1 = atan2(bc.y() - this->y(), bc.x() - this->x()) - this->h();
+ 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 = bc.h() - this->h();
+ double h_d = h - this->h();
while (h_d < -M_PI)
h_d += 2 * M_PI;
while (h_d > +M_PI)
return true;
} else if (0 < a_1 && a_1 <= M_PI/2) { // left front
BicycleCar z(*this); // zone border
- z.h(e);
- h_d = bc.h() - this->h();
+ z.h(p.e());
+ h_d = h - this->h();
z.rotate(this->ccl(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ // assert z.h() == h
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ 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)
return true;
} else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
BicycleCar z(*this); // zone border
- z.h(e);
- h_d = bc.h() - this->h();
+ z.h(p.e());
+ h_d = h - this->h();
z.rotate(this->ccl(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ // assert z.h() == h
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ 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;
return true;
} else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
BicycleCar z(*this); // zone border
- z.h(b);
- h_d = bc.h() - this->h();
+ z.h(p.b());
+ h_d = h - this->h();
z.rotate(this->ccr(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ // assert z.h() == h
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ 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)
return true;
} else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
BicycleCar z(*this); // zone border
- z.h(b);
- h_d = bc.h() - this->h();
+ z.h(p.b());
+ h_d = h - this->h();
z.rotate(this->ccr(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ // assert z.h() == h
+ if (p.y() == z.y() && p.x() == z.x()) // p on zone border
return true;
- a_2 = atan2(bc.y() - z.y(), bc.x() - z.x());
+ 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;
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