--- /dev/null
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+/*! \file
+ * \brief Compare ``Several reversed trials'' with In-slot planner.
+ */
+
+#include <cmath>
+#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 len = c.len() + SLOT_STEP_LENGTH;
+
+ while (true) {
+ int cusp[2] = {-1, -1};
+ bcar::ParkingSlot s(zp, zh, SLOT_MAX_WIDTH, len);
+ // Several reversed trials
+ c.sp(PARKING_SPEED * -1.0);
+ c.set_max_steer();
+ s.set_max_cusp(MAX_CUSP);
+ double nx = s.lrx();
+ nx += (c.w() / 2.0 + 0.001) * cos(s.h() - M_PI / 2.0);
+ nx += (c.dr() + 0.001) * cos(s.h());
+ c.x(nx);
+ double ny = s.lry();
+ ny += (c.w() / 2.0 + 0.001) * sin(s.h() - M_PI / 2.0);
+ ny += (c.dr() + 0.001) * sin(s.h());
+ c.y(ny);
+ c.h(s.h());
+ auto ip = s.drive_of_slot(c);
+ if (ip.size() > 0) {
+ cusp[0] = s.get_max_cusp();
+ }
+ // In-slot planner
+ 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)) {
+ cusp[1] = s.get_max_cusp();
+ }
+ using namespace std;
+ cout << len << " " << cusp[0] << " " << cusp[1] << endl;
+ if (cusp[0] == 0 && cusp[1] == 0) {
+ break;
+ }
+ len += SLOT_STEP_LENGTH;
+ }
+ return 0;
+}