+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cmath>
#include "bcar.hh"
{
}
-Point::Point(double x, double y) : x_(x), y_(y)
+Point::Point(double x, double y) : _x(x), _y(y)
{
}
double
Point::x() const
{
- return this->x_;
+ return this->_x;
}
void
Point::x(double x)
{
- this->x_ = x;
+ this->_x = x;
}
double
Point::y() const
{
- return this->y_;
+ return this->_y;
}
void
Point::y(double y)
{
- this->y_ = y;
+ this->_y = y;
}
double
auto y1 = li.b().y();
auto x2 = li.e().x();
auto y2 = li.e().y();
- auto x3 = this->x_;
- auto y3 = this->y_;
+ auto x3 = this->_x;
+ auto y3 = this->_y;
if (sgn((x3 - x1) * (y2 - y1) - (y3 - y1) * (x2 - x1)) < 0.0) {
return false;
} else {
}
}
+void
+Point::translate(Point const& p)
+{
+ this->_x += p.x();
+ this->_y += p.y();
+}
+
void
Point::rotate(Point const& c, double const angl)
{
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->_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));
+ return sqrt(pow(p.x() - this->_x, 2.0) + pow(p.y() - this->_y, 2.0));
+}
+
+void
+Point::gen_gnuplot_to(std::ostream& out)
+{
+ out << this->_x << " " << this->_y << std::endl;
}
bool
return out;
}
-Line::Line(Point const& b, Point const& e): b_(b), e_(e)
+Line::Line(Point const& b, Point const& e): _b(b), _e(e)
{
}
Point
Line::b() const&
{
- return this->b_;
+ return this->_b;
}
Point
Line::e() const&
{
- return this->e_;
+ return this->_e;
+}
+
+Point
+Line::m() const
+{
+ return Point((this->_b.x() + this->_e.x()) / 2.0,
+ (this->_b.y() + this->_e.y()) / 2.0);
}
Point
Line::i1() const&
{
- return this->i1_;
+ return this->_i1;
}
Point
Line::i2() const&
{
- return this->i2_;
+ 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 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();
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));
+ 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 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;
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);
+ 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_);
+ return this->_b.edist(this->_e);
}
double
Line::h() const
{
- return atan2(this->e_.y() - this->b_.y(), this->e_.x() - this->b_.x());
+ return atan2(this->_e.y() - this->_b.y(), this->_e.x() - this->_b.x());
+}
+
+void
+Line::gen_gnuplot_to(std::ostream& out)
+{
+ this->b().gen_gnuplot_to(out);
+ this->e().gen_gnuplot_to(out);
+ out << std::endl;
}
std::ostream&
operator<<(std::ostream& out, Line const& li)
{
- out << "[" << li.b_ << "," << li.e_ << "]";
+ out << "[" << li._b << "," << li._e << "]";
return out;
}
-Pose::Pose(double x, double y, double h) : Point(x, y), h_(h)
+Pose::Pose(double x, double y, double h) : Point(x, y), _h(h)
{
}
double
Pose::h() const
{
- return this->h_;
+ return this->_h;
}
void
while (h > +M_PI) {
h -= 2 * M_PI;
}
- this->h_ = h;
+ this->_h = h;
}
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());
+ 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());
+ 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());
+ double bh = this->b();
+ while (bh < 0.0) {
+ bh += 2.0 * M_PI;
+ }
+ this->_bp.h(bh);
+ double eh = this->e();
+ while (eh < 0.0) {
+ eh += 2.0 * M_PI;
+ }
+ this->_ep.h(eh);
this->h((this->b() + this->e()) / 2.0);
}
-PoseRange::PoseRange(Pose bp, Pose ep) : bp_(bp), ep_(ep)
+PoseRange::PoseRange(Pose bp, Pose ep) : _bp(bp), _ep(ep)
{
- if (this->bp_ == this->ep_) {
- this->set_pose(this->ep_);
+ if (this->_bp == this->_ep) {
+ this->set_pose(this->_ep);
} else {
this->set_xyh();
}
Pose
PoseRange::bp() const
{
- return this->bp_;
+ return this->_bp;
}
Pose
PoseRange::ep() const
{
- return this->ep_;
+ return this->_ep;
}
double
PoseRange::b() const
{
- return std::min(this->bp_.h(), this->ep_.h());
+ return std::min(this->_bp.h(), this->_ep.h());
}
double
PoseRange::e() const
{
- return std::max(this->bp_.h(), this->ep_.h());
+ return std::max(this->_bp.h(), this->_ep.h());
+}
+
+void
+PoseRange::translate(Point const& p)
+{
+ this->_bp.translate(p);
+ this->_ep.translate(p);
+ this->set_xyh();
}
void
PoseRange::rotate(Point const& c, double const angl)
{
- this->bp_.rotate(c, angl);
- this->ep_.rotate(c, 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->_bp.reflect(li);
+ this->_ep.reflect(li);
this->set_xyh();
}
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::wwm() const
+{
+ return this->_width_with_mirrors;
+}
+
+void
+CarSize::wwm(double w)
+{
+ this->_width_with_mirrors = 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 this->len() - this->df();
}
+void
+CarSize::ft(double ft)
+{
+ this->_front_track = ft;
+}
+
+double
+CarSize::ft() const
+{
+ return this->_front_track;
+}
+
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;
+ return sqrt(ctc2 - wb2) - this->ft() / 2.0;
}
double
return sqrt(mtrw2 + dr2);
}
+double
+CarSize::imradi() const
+{
+ auto mtrw2 = pow(this->mtr() - this->wwm() / 2.0, 2.0);
+ auto df2 = pow(this->wb(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
+double
+CarSize::omradi() const
+{
+ auto mtrw2 = pow(this->mtr() + this->wwm() / 2.0, 2.0);
+ auto df2 = pow(this->wb(), 2.0);
+ return sqrt(mtrw2 + df2);
+}
+
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 w = this->w(); // FIXME use wwm()?
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
}
double
-BicycleCar::ralx() const
+BicycleCar::lrax() const
{
double lrx = this->x();
lrx += (this->w() / 2.0) * cos(this->h() + M_PI / 2.0);
return lrx;
}
double
-BicycleCar::raly() const
+BicycleCar::lray() const
{
double lry = this->y();
lry += (this->w() / 2.0) * sin(this->h() + M_PI / 2.0);
}
double
-BicycleCar::rarx() const
+BicycleCar::rrax() const
{
double rrx = this->x();
rrx += (this->w() / 2.0) * cos(this->h() - M_PI / 2.0);
}
double
-BicycleCar::rary() const
+BicycleCar::rray() const
{
double rry = this->y();
rry += (this->w() / 2.0) * sin(this->h() - M_PI / 2.0);
return rry;
}
+Point
+BicycleCar::lra() const
+{
+ return Point(this->lrax(), this->lray());
+}
+
+Point
+BicycleCar::rra() const
+{
+ return Point(this->rrax(), this->rray());
+}
+
+double
+BicycleCar::lfax() const
+{
+ return this->lrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::lfay() const
+{
+ return this->lray() + this->wb() * sin(this->h());
+}
+
+double
+BicycleCar::rfax() const
+{
+ return this->rrax() + this->wb() * cos(this->h());
+}
+
+double
+BicycleCar::rfay() const
+{
+ return this->rray() + this->wb() * sin(this->h());
+}
+
+Point
+BicycleCar::lfa() const
+{
+ return Point(this->lfax(), this->lfay());
+}
+
+Point
+BicycleCar::rfa() const
+{
+ return Point(this->rfax(), this->rfay());
+}
+
+double
+BicycleCar::lfmx() const
+{
+ double x = this->x();
+ x += (this->wwm() / 2.0) * cos(this->h() + M_PI / 2.0);
+ x += this->wb() * cos(this->h());
+ return x;
+}
+
+double
+BicycleCar::lfmy() const
+{
+ double y = this->y();
+ y += (this->wwm() / 2.0) * sin(this->h() + M_PI / 2.0);
+ y += this->wb() * sin(this->h());
+ return y;
+}
+
+double
+BicycleCar::rfmx() const
+{
+ double x = this->x();
+ x += (this->wwm() / 2.0) * cos(this->h() - M_PI / 2.0);
+ x += this->wb() * cos(this->h());
+ return x;
+}
+
+double
+BicycleCar::rfmy() const
+{
+ double y = this->y();
+ y += (this->wwm() / 2.0) * sin(this->h() - M_PI / 2.0);
+ y += this->wb() * sin(this->h());
+ return y;
+}
+
+Point
+BicycleCar::lfm() const
+{
+ return Point(this->lfmx(), this->lfmy());
+}
+
+Point
+BicycleCar::rfm() const
+{
+ return Point(this->rfmx(), this->rfmy());
+}
+
+double
+BicycleCar::cfx() const
+{
+ return this->x() + this->df() * cos(this->h());
+}
+
+double
+BicycleCar::cfy() const
+{
+ return this->y() + this->df() * sin(this->h());
+}
+
+Point
+BicycleCar::cf() const
+{
+ return Point(this->cfx(), this->cfy());
+}
+
Point
BicycleCar::ccl() const
{
this->h(this->h() + this->sp() / this->wb() * tan(this->st()));
}
+void
+BicycleCar::gen_gnuplot_to(std::ostream& out, GenPlotOpts opts)
+{
+ if (opts.ALL) {
+ opts.CAR = true;
+ opts.MIRRORS = true;
+ }
+ if (opts.MIRRORS) {
+ opts.LEFT_MIRROR = true;
+ opts.RIGHT_MIRROR = true;
+ }
+ if (opts.CAR) {
+ opts.FRAME = true;
+ opts.CROSS = true;
+ opts.ARROW = true;
+ }
+ if (opts.FRAME) {
+ opts.LEFT = true;
+ opts.RIGHT = true;
+ opts.REAR = true;
+ opts.FRONT = true;
+ }
+ if (opts.LF_POINT) {
+ this->lf().gen_gnuplot_to(out);
+ }
+ if (opts.LR_POINT) {
+ this->lr().gen_gnuplot_to(out);
+ }
+ if (opts.RR_POINT) {
+ this->rr().gen_gnuplot_to(out);
+ }
+ if (opts.RF_POINT) {
+ this->rf().gen_gnuplot_to(out);
+ }
+ if (opts.LFM_POINT) {
+ this->lfm().gen_gnuplot_to(out);
+ }
+ if (opts.RFM_POINT) {
+ this->rfm().gen_gnuplot_to(out);
+ }
+ if (opts.CRA_POINT || opts.CAR_POINT) {
+ Point::gen_gnuplot_to(out);
+ }
+ if (opts.LRA_POINT) {
+ this->lra().gen_gnuplot_to(out);
+ }
+ if (opts.RRA_POINT) {
+ this->rra().gen_gnuplot_to(out);
+ }
+ if (opts.LEFT) {
+ this->lf().gen_gnuplot_to(out);
+ this->lr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.RIGHT) {
+ this->rf().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.REAR) {
+ this->lr().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.FRONT) {
+ this->lf().gen_gnuplot_to(out);
+ this->rf().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.ARROW) {
+ this->cf().gen_gnuplot_to(out);
+ this->lfa().gen_gnuplot_to(out);
+ this->rfa().gen_gnuplot_to(out);
+ this->cf().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+ if (opts.CROSS) {
+ double lx = this->x() + 0.2 * cos(this->h() + M_PI/2);
+ double rx = this->x() - 0.2 * cos(this->h() + M_PI/2);
+ double fx = this->x() + 0.2 * cos(this->h());
+ double bx = this->x() - 0.2 * cos(this->h()); // rear is back
+ double ly = this->y() + 0.2 * sin(this->h() + M_PI/2);
+ double ry = this->y() - 0.2 * sin(this->h() + M_PI/2);
+ double fy = this->y() + 0.2 * sin(this->h());
+ double by = this->y() - 0.2 * sin(this->h()); // rear is back
+ out << lx << " " << ly << std::endl;
+ out << rx << " " << ry << std::endl;
+ out << std::endl;
+ out << fx << " " << fy << std::endl;
+ out << bx << " " << by << std::endl;
+ out << std::endl;
+ }
+ if (opts.LEFT_MIRROR) {
+ this->lf().gen_gnuplot_to(out);
+ this->lfm().gen_gnuplot_to(out);
+ this->lr().gen_gnuplot_to(out);
+ out << std::endl;
+
+ }
+ if (opts.RIGHT_MIRROR) {
+ this->rf().gen_gnuplot_to(out);
+ this->rfm().gen_gnuplot_to(out);
+ this->rr().gen_gnuplot_to(out);
+ out << std::endl;
+ }
+}
+
} // namespace bcar
projects / hubacji1 / bcar.git / blobdiff