incl/slotplanner.h

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #ifndef SLOTPLANNER_H
  19 #define SLOTPLANNER_H
  20
  21 #include <vector>
  22 #include "aux.h"
  23 #include "bcar.h"
  24 #include "obstacle.h"
  25
  26 enum SlotSide {
  27         LEFT,
  28         RIGHT
  29 };
  30
  31 enum SlotType {
  32         PARALLEL,
  33         PERPENDICULAR
  34 };
  35
  36 struct SamplingInfo {
  37         float x0;
  38         float y0;
  39         float h0;
  40         float x;
  41         float y;
  42         float h;
  43 };
  44
  45 class ParallelSlot {
  46         private:
  47                 float DH_ = 0.01;
  48                 std::vector<std::vector<RRTNode *>> cusp_;
  49                 PolygonObstacle slot_;
  50                 float slotHeading_;
  51                 SlotSide slotSide_;
  52                 SlotType slotType_;
  53         public:
  54                 ParallelSlot();
  55
  56                 // getter
  57                 /** Get slot entry point */
  58                 RRTNode *getMidd();
  59                 std::vector<std::vector<RRTNode *>> &cusp();
  60                 float DH() const;
  61                 PolygonObstacle &slot();
  62                 float slotHeading();
  63                 SlotSide slotSide();
  64                 SlotType slotType();
  65
  66                 // setter
  67                 void DH(float dh);
  68                 void setAll();
  69
  70                 // other
  71                 /** BFS to _Find Init Pose_. */
  72                 void fip(
  73                         std::vector<CircleObstacle>& co,
  74                         std::vector<SegmentObstacle>& so
  75                 );
  76                 /** _Find Last Not Colliding_ BicycleCar pose
  77
  78                 @param B Find from?
  79                 */
  80                 BicycleCar *flnc(
  81                         BicycleCar *B,
  82                         std::vector<CircleObstacle>& co,
  83                         std::vector<SegmentObstacle>& so
  84                 );
  85                 /** _Find Init Pose by Reverse_ approach, see Vorobieva2015
  86
  87                 @param B Last pose of vehicle when it is parked.
  88                 */
  89                 void fipr(RRTNode *n);
  90                 void fipr(BicycleCar *B);
  91                 /** _Find Last Not Colliding for Reverse_ BicycleCar pose
  92
  93                 @param B Find from?
  94                 */
  95                 BicycleCar *flncr(BicycleCar *B);
  96                 RRTNode *fposecenter();
  97                 /** Recursive function to find out the moves */
  98                 bool flast(
  99                         RRTNode *P,
 100                         bool right,
 101                         int il,
 102                         std::vector<RRTNode *> &cusp
 103                 );
 104                 /** Test possible init poses */
 105                 void fpose();
 106                 /** Return start pose for fip method */
 107                 BicycleCar *getEP();
 108                 /** Return center of rotation for start pose for fip method */
 109                 BicycleCar *getEPC();
 110                 /** Return start pose for fipr method */
 111                 BicycleCar *getFP();
 112                 /** Return true if car is inside slot */
 113                 bool isInside(BicycleCar *c);
 114                 /** Return values to set sampling function of RRT */
 115                 struct SamplingInfo getSamplingInfo();
 116 };
 117
 118 #endif