From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 19 Jul 2021 07:57:34 +0000 (+0200)
Subject: Fix and tune find entry method
X-Git-Tag: v0.6.0~3^2~12
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/adfda73cebd95565ec835bd4cb3300996a1009a3

Fix and tune find entry method
---

diff --git a/src/pslot.cc b/src/pslot.cc
index fb42ab0..ec88e63 100644
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -197,28 +197,28 @@ ParkingSlot::fe(BicycleCar c, unsigned int& max)
 	assert(this->parallel());
 	assert(this->right());
 	c.h(this->h());
-	double clen = this->offset_ + this->len() - c.df();
-	double cw = this->offset_ + c.w() / 2.0;
+	double clen = -this->offset_ + this->len() - c.df();
+	double cw = c.w() / 2.0;
 	c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
 	c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
 	c.set_max_steer();
-	c.sp(-0.01);
-	auto const& b3 = this->border_[3];
-	this->curb_.intersects_with(b3, c.len());
+	c.sp(-0.001);
+	auto const rc = c.rf();
+	this->curb_.intersects_with(rc, c.len());
 	double max_to_slot;
 	auto const& rr = c.rr();
 	auto const& i1 = this->curb_.i1();
 	auto const& i2 = this->curb_.i2();
 	if (rr.edist(i1) < rr.edist(i2)) {
-		max_to_slot = rr.min_angle_between(b3, i1);
+		max_to_slot = rr.min_angle_between(rc, i1);
 	} else {
-		max_to_slot = rr.min_angle_between(b3, i2);
+		max_to_slot = rr.min_angle_between(rc, i2);
 	}
 	std::vector<BicycleCar> starts;
 	double a_to_slot = 0.0;
 	while (a_to_slot < max_to_slot) {
-		a_to_slot += 0.001;
-		c.rotate(b3, 0.001);
+		a_to_slot += 0.0001;
+		c.rotate(rc, 0.0001);
 		starts.push_back(c);
 	}
 	std::vector<std::vector<BicycleCar>> entries;
@@ -231,6 +231,14 @@ ParkingSlot::fe(BicycleCar c, unsigned int& max)
 	if (entries.size() == 0) {
 		return PoseRange();
 	}
+	if (entries.size() == 1) {
+		PoseRange pr;
+		pr.x(entries.front().front().x());
+		pr.y(entries.front().front().y());
+		pr.b(entries.front().front().h());
+		pr.e(entries.front().front().h());
+		return pr;
+	}
 	auto& c1 = entries.front().front();
 	auto& c2 = entries.back().front();
 	double b = std::min(c1.h(), c2.h());