Add code to prove parallel slot dimensions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c5a0d6aacb39af18838c7d0eb9799ef65d480d53..a79e109384e22d8129486f255d78c57a56e93b32 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,9 @@ target_link_libraries(pslot bcar)
 add_executable(compute_pslot_table src/compute_pslot_table.cc)
 target_link_libraries(compute_pslot_table pslot)
 
+add_executable(prove_parallel_slot src/prove_parallel_slot.cc)
+target_link_libraries(prove_parallel_slot pslot)
+
 if (SKIP_UT)
        return()
 endif()

diff --git a/src/prove_parallel_slot.cc b/src/prove_parallel_slot.cc
new file mode 100644 (file)
index 0000000..84f6a30
--- /dev/null
+++ b/src/prove_parallel_slot.cc
@@ -0,0 +1,53 @@
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 10.820
+#define CAR_WIDTH 1.625
+#define CAR_WHEELBASE 2.450
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.105
+#define CAR_LENGTH 3.760
+
+#define SLOT_MAX_WIDTH 2.2
+#define SLOT_STEP_LENGTH 0.01
+#define SLOT_STEP_WIDTH 0.01
+
+#define PARKING_SPEED -0.001
+#define MAX_CUSP 10
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main()
+{
+       std::cout << std::fixed;
+       std::cerr << std::fixed;
+
+       bcar::BicycleCar c;
+       c.ctc(CAR_CURB_TO_CURB);
+       c.w(CAR_WIDTH);
+       c.wb(CAR_WHEELBASE);
+       c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+       c.len(CAR_LENGTH);
+
+       bcar::Point zp(0.0, 0.0);
+       double zh = 0.0;
+       double w = c.w() + 4.5 * SLOT_STEP_WIDTH;
+
+       while (w < SLOT_MAX_WIDTH) {
+               double len = c.len() + SLOT_STEP_LENGTH;
+               while (true) {
+                       bcar::ParkingSlot s(zp, zh, w, len);
+                       s.set_parking_speed(PARKING_SPEED);
+                       s.set_max_cusp(MAX_CUSP);
+                       s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+                       auto pr = s.fe(c);
+                       if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0
+                                       && pr.e() == 0.0)) {
+                               std::cout << w << " " << len << std::endl;
+                               break;
+                       }
+                       len += SLOT_STEP_LENGTH;
+               }
+               w += SLOT_STEP_WIDTH;
+       }
+       return 0;
+}