-#include "bcar.h"
-#include "pslot.h"
+#include <cmath>
+#include "bcar.hh"
-// kinematic constraints
-bool BicycleCar::drivable(const BicycleCar &bc) const
+namespace bcar {
+
+Point::Point()
+{
+}
+
+Point::Point(double x, double y) : x_(x), y_(y)
+{
+}
+
+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.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::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::e() const&
+{
+ return this->e_;
+}
+
+Point
+Line::i1() const&
+{
+ return this->i1_;
+}
+
+Point
+Line::i2() const&
+{
+ return this->i2_;
+}
+
+bool
+Line::intersects_with(Line const& li)
+{
+ 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;
+ }
+ 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->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->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;
+ 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->i1_.x(ix1);
+ this->i1_.y(iy1);
+ this->i2_.x(ix2);
+ this->i2_.y(iy2);
+ return true;
+}
+
+double
+Line::len() const
+{
+ return this->b_.edist(this->e_);
+}
+
+double
+Line::h() const
+{
+ return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
+}
+
+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)
+{
+}
+
+double
+Pose::h() const
+{
+ return this->h_;
+}
+
+void
+Pose::h(double h)
+{
+ while (h < -M_PI) {
+ h += 2 * M_PI;
+ }
+ while (h > +M_PI) {
+ h -= 2 * M_PI;
+ }
+ 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)
+{
+ Point::rotate(c, angl);
+ 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)
+{
+ out << "[" << p.x() << "," << p.y() << "," << p.h() << "]";
+ return out;
+}
+
+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))
+{
+}
+
+Pose
+PoseRange::bp() const
+{
+ 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 std::max(this->bp_.h(), this->ep_.h());
+}
+
+void
+PoseRange::rotate(Point const& c, double const 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&
+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->drivable(bc, bc.h(), bc.h());
+ return this->curb_to_curb_;
}
-bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
+
+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
{
- // assert bc.h() == (b + e) / 2.0
- double a_1 = atan2(bc.y() - this->y(), bc.x() - this->x()) - this->h();
+ 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
+{
+ return this->drivable(PoseRange(p, p));
+}
+
+bool
+BicycleCar::drivable(PoseRange const& p) const
+{
+ 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 = p.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.rotate(this->ccl().x(), this->ccl().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ z.h(p.e());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == p.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.rotate(this->ccl().x(), this->ccl().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ z.h(p.e());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccl(), h_d);
+ // assert z.h() == p.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.rotate(this->ccr().x(), this->ccr().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ z.h(p.b());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == p.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.rotate(this->ccr().x(), this->ccr().y(), h_d);
- // assert z.h() == bc.h()
- if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
+ z.h(p.b());
+ h_d = p.h() - this->h();
+ z.rotate(this->ccr(), h_d);
+ // assert z.h() == p.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
-{
- return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->df(), 2));
-}
-
-double BicycleCar::orradi() const
-{
- return sqrt(pow(this->mtr() + this->w() / 2, 2) + pow(this->dr(), 2));
-}
-
-double BicycleCar::perfect_parking_slot_len() const
-{
- // see Simon R. Blackburn *The Geometry of Perfect Parking*
- // see https://www.ma.rhul.ac.uk/SRBparking
- double r = this->ctc() / 2;
- double l = this->wb();
- double k = this->df() - this->wb();
- double w = this->w();
- return
- this->l()
- + sqrt(
- (r*r - l*l)
- + pow(l + k, 2)
- - pow(sqrt(r*r - l*l) - w, 2)
- )
- - l
- - k
- ;
-}
-
-void BicycleCar::set_max_steer()
+void
+BicycleCar::set_max_steer()
{
this->st(atan(this->wb() / this->mtr()));
}
-// car frame
-double BicycleCar::lfx() const
+double
+BicycleCar::lfx() const
{
double lfx = this->x();
- lfx += (this->w() / 2) * cos(this->h() + M_PI / 2);
+ lfx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
lfx += this->df() * cos(this->h());
- lfx += this->sd() * cos(this->h());
return lfx;
}
-double BicycleCar::lfy() const
+double
+BicycleCar::lfy() const
{
double lfy = this->y();
- lfy += (this->w() / 2) * sin(this->h() + M_PI / 2);
+ lfy += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
lfy += this->df() * sin(this->h());
- lfy += this->sd() * sin(this->h());
return lfy;
}
-double BicycleCar::lrx() const
+double
+BicycleCar::lrx() const
{
double lrx = this->x();
- lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
lrx += -this->dr() * cos(this->h());
- lrx += -this->sd() * cos(this->h());
return lrx;
}
-double BicycleCar::lry() const
+double
+BicycleCar::lry() const
{
double lry = this->y();
- lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
lry += -this->dr() * sin(this->h());
- lry += -this->sd() * sin(this->h());
return lry;
}
-double BicycleCar::rrx() const
+double
+BicycleCar::rrx() const
{
double rrx = this->x();
- rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
rrx += -this->dr() * cos(this->h());
- rrx += -this->sd() * cos(this->h());
return rrx;
}
-double BicycleCar::rry() const
+double
+BicycleCar::rry() const
{
double rry = this->y();
- rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
rry += -this->dr() * sin(this->h());
- rry += -this->sd() * sin(this->h());
return rry;
}
-double BicycleCar::rfx() const
+double
+BicycleCar::rfx() const
{
double rfx = this->x();
- rfx += (this->w() / 2) * cos(this->h() - M_PI / 2);
+ rfx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
rfx += this->df() * cos(this->h());
- rfx += this->sd() * cos(this->h());
return rfx;
}
-double BicycleCar::rfy() const
+double
+BicycleCar::rfy() const
{
double rfy = this->y();
- rfy += (this->w() / 2) * sin(this->h() - M_PI / 2);
+ rfy += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
rfy += this->df() * sin(this->h());
- rfy += this->sd() * sin(this->h());
return rfy;
}
-double BicycleCar::ralx() const
+Point
+BicycleCar::lf() const
{
- double lrx = this->x();
- lrx += (this->w() / 2) * cos(this->h() + M_PI / 2);
- return lrx;
+ return Point(this->lfx(), this->lfy());
}
-double BicycleCar::raly() const
+
+Point
+BicycleCar::lr() const
{
- double lry = this->y();
- lry += (this->w() / 2) * sin(this->h() + M_PI / 2);
- return lry;
+ return Point(this->lrx(), this->lry());
}
-double BicycleCar::rarx() const
+Point
+BicycleCar::rr() const
{
- double rrx = this->x();
- rrx += (this->w() / 2) * cos(this->h() - M_PI / 2);
- return rrx;
+ return Point(this->rrx(), this->rry());
}
-double BicycleCar::rary() const
+Point
+BicycleCar::rf() const
{
- double rry = this->y();
- rry += (this->w() / 2) * sin(this->h() - M_PI / 2);
- return rry;
+ return Point(this->rfx(), this->rfy());
}
-BicycleCar BicycleCar::ccl() const
+Line
+BicycleCar::left() const
{
- BicycleCar bc;
- bc.x(this->x() + this->mtr() * cos(this->h() + M_PI / 2));
- bc.y(this->y() + this->mtr() * sin(this->h() + M_PI / 2));
- bc.h(this->h());
- return bc;
+ return Line(this->lr(), this->lf());
}
-BicycleCar BicycleCar::ccr() const
+Line
+BicycleCar::rear() const
{
- BicycleCar bc;
- bc.x(this->x() + this->mtr() * cos(this->h() - M_PI / 2));
- bc.y(this->y() + this->mtr() * sin(this->h() - M_PI / 2));
- bc.h(this->h());
- return bc;
+ return Line(this->lr(), this->rr());
}
-// moving
-void BicycleCar::next()
+Line
+BicycleCar::right() const
{
- 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()));
+ return Line(this->rr(), this->rf());
}
-void BicycleCar::rotate(double cx, double cy, double angl)
+Line
+BicycleCar::front() const
{
- double px = this->x();
- double py = this->y();
- px -= cx;
- py -= cy;
- double nx = px * cos(angl) - py * sin(angl);
- double ny = px * sin(angl) + py * cos(angl);
- this->h(this->h() + angl);
- this->x(nx + cx);
- this->y(ny + cy);
-}
-
-BicycleCar::BicycleCar()
-{
- // TODO according to mtr_ FIXME
- this->mtr_ = sqrt(
- pow(10.82 / 2, 2)
- - pow(this->wb(), 2)
- )
- - this->w() / 2
- ;
-}
-
-std::tuple<bool, unsigned int, unsigned int>
-collide(
- std::vector<std::tuple<double, double>> &p1,
- std::vector<std::tuple<double, double>> &p2
-)
-{
- for (unsigned int i = 0; i < p1.size() - 1; i++) {
- for (unsigned int j = 0; j < p2.size() - 1; j++) {
- auto x = intersect(
- std::get<0>(p1[i]),
- std::get<1>(p1[i]),
- std::get<0>(p1[i + 1]),
- std::get<1>(p1[i + 1]),
- std::get<0>(p2[j]),
- std::get<1>(p2[j]),
- std::get<0>(p2[j + 1]),
- std::get<1>(p2[j + 1])
- );
- if (std::get<0>(x))
- return std::make_tuple(true, i, j);
- }
- }
- return std::make_tuple(false, 0, 0);
+ return Line(this->rf(), this->lf());
}
-bool
-inside(double x, double y, std::vector<std::tuple<double, double>> &poly)
-{
- unsigned int i = 0;
- unsigned int j = 3;
- bool inside = false;
- for (i = 0; i < 4; i++) {
- if (
- (std::get<1>(poly[i]) > y) != (std::get<1>(poly[j]) > y)
- && (
- x < std::get<0>(poly[i])
- + (std::get<0>(poly[j]) - std::get<0>(poly[i]))
- * (y - std::get<1>(poly[i]))
- / (std::get<1>(poly[j]) - std::get<1>(poly[i]))
- )
- )
- inside = !inside;
- j = i;
- }
- return inside;
+double
+BicycleCar::ralx() const
+{
+ double lrx = this->x();
+ lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
+ return lrx;
}
-
-std::tuple<bool, double, double>
-intersect(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3,
- double x4, double y4
-)
+double
+BicycleCar::raly() const
{
- double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
- if (deno == 0)
- return std::make_tuple(false, 0, 0);
- double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
- t /= deno;
- double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
- u *= -1;
- u /= deno;
- if (t < 0 || t > 1 || u < 0 || u > 1)
- return std::make_tuple(false, 0, 0);
- return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
+ double lry = this->y();
+ lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
+ return lry;
}
-std::tuple<bool, double, double, double, double>
-intersect(
- double cx, double cy, double r,
- double x1, double y1,
- double x2, double y2
-) {
- 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)
- return std::make_tuple(false, 0, 0, 0, 0);
- // 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;
- return std::make_tuple(true, ix1, iy1, ix2, iy2);
+double
+BicycleCar::rarx() const
+{
+ double rrx = this->x();
+ rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
+ return rrx;
}
double
-angle_between_three_points(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3
-) {
- double d1x = x2 - x1;
- double d1y = y2 - y1;
- double d2x = x3 - x2;
- double d2y = y3 - y2;
+BicycleCar::rary() const
+{
+ double rry = this->y();
+ rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
+ return rry;
+}
- double dot = d1x*d2x + d1y*d2y;
- double d1 = sqrt(d1x*d1x + d1y*d1y);
- double d2 = sqrt(d2x*d2x + d2y*d2y);
+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)
+ );
+}
- double delta = acos(dot / (d1 * d2));
- return std::min(delta, M_PI - delta);
+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)
+ );
}
-bool
-right_side_of_line(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3
-) {
- if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0)
- return false;
- else
- return true;
+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