+/*
+ * 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
#include <ostream>
+#include <vector>
#include "bcar.hh"
namespace bcar {
*/
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_;
/*! Return parking slot's orientation. */
double h() const;
+ /*! Get parking slot's left front point. */
+ Point lf() const;
+
+ /*! Get parking slot's left rear point. */
+ Point lr() const;
+
+ /*! Get parking slot's right rear point. */
+ Point rr() const;
+
+ /*! Get parking slot's right front point. */
+ Point rf() const;
+
+ /*! Get parking slot's entry side. */
+ Line entry() const;
+
+ /*! Get parking slot's rear side. */
+ Line rear() const;
+
+ /*! Get parking slot's curb side. */
+ Line curb() const;
+
+ /*! Get parking slot's front side. */
+ Line front() const;
+
+ /*! Car's next iteration distance. (Negative for backward.) */
+ 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. */
+ void set_delta_angle_to_slot(double d);
+
/*! Return `true` for the parallel parking slot. */
bool parallel() const;
/*! Return `true` if `c`'s car frame collide with `this` border. */
bool collide(BicycleCar const& c) const;
+ /*! \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
+ * just cusp `BicycleCar`s as `drive_to_slot`.
+ *
+ * \param c Starting bicycle car.
+ */
+ std::vector<Pose> steer_in_slot(BicycleCar c);
+
+ /*! \brief Find entry.
+ *
+ * \param c For which `BicycleCar` should entry be found?
+ */
+ PoseRange fe(BicycleCar c);
+
+ /*! \brief Recompute zero slot's `PoseRange` entry for `this`.
+ *
+ * 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);
+
friend std::ostream& operator<<(std::ostream& o, ParkingSlot const& s);
};