+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
/*! \file */
#ifndef BCAR_PSLOT_H
#define BCAR_PSLOT_H
*/
class ParkingSlot {
private:
- double offset_ = 0.001; // to avoid collision during init
- double parking_speed_ = -0.1;
- unsigned int max_cusp_ = 10;
- double delta_angle_to_slot_ = 0.001;
- Point border_[4];
- Line entry_;
- Line rear_;
- Line curb_;
- Line front_;
+ double _offset = 0.001; // to avoid collision during init
+ double _parking_speed = -0.1;
+ unsigned int _max_cusp = 10;
+ double _delta_angle_to_slot = 0.001;
+ Point _border[4];
+ Line _entry;
+ Line _rear;
+ Line _curb;
+ Line _front;
public:
+ std::vector<std::vector<BicycleCar>> _ispaths;
+ std::vector<BicycleCar> _entries;
/*! \brief Set parking slot.
\param p Point with `x`, `y` coordinates of entry side's corner.
void set_parking_speed(double s);
/*! Maximum allowed number of cusp inside the parking slot. */
+ unsigned int get_max_cusp() const;
void set_max_cusp(unsigned int m);
/*! Angle's increment when creating start positions. */
/*! Return `true` if `c`'s car frame collide with `this` border. */
bool collide(BicycleCar const& c) const;
+ /*! \brief Set car `c` to the start position.
+ *
+ * \param c Bicycle car.
+ */
+ void set_to_start(BicycleCar& c);
+
/*! \brief Drive car `c` into the parking slot `this`.
*
* \param c Starting bicycle car.
*/
std::vector<BicycleCar> drive_in_slot(BicycleCar c);
+ /*! \brief Drive car `c` from slot.
+ *
+ * \param c Starting bicycle car.
+ */
+ std::vector<BicycleCar> drive_of_slot(BicycleCar c);
+
/*! \brief Steer car `c` into the parking slot `this`.
*
* `steer_in_slot` returns the complete path as the list of `Pose`s, not
*/
PoseRange fe(BicycleCar c);
+ /*! \brief Compute entries from `this->_ispaths`.
+ *
+ * The problem with in-slot paths is that car can't leave the parking
+ * slot with full rate to the right (for right sided parking slot.)
+ *
+ * The idea is to move the first cars of in-slot paths (the one that is
+ * computed as entry to the parking slot) with the full rate to the left
+ * until they can leave the parking slot with full rate to the right.
+ *
+ * The computed cars are stored in `this->_entries`.
+ */
+ void compute_entries();
+
/*! \brief Recompute zero slot's `PoseRange` entry for `this`.
*
- * The _zero_ slot is the `ParkingSlot(Point(0.0, 0.0), 0.0, W, L);`.
+ * The _zero slot_ is the `ParkingSlot(Point(0.0, 0.0), 0.0, W, L);`.
*
* \param p Computed `PoseRange` entry.
*/
PoseRange recompute_entry(PoseRange p);
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
friend std::ostream& operator<<(std::ostream& o, ParkingSlot const& s);
};