decision_control/slotplanner.cc

   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 #include <algorithm>
  19 #include <cmath>
  20 #include <list>
  21 #include <queue>
  22 #include "slotplanner.h"
  23
  24 ParallelSlot::ParallelSlot()
  25 {}
  26
  27 // getter
  28 std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
  29 {
  30         return this->cusp_;
  31 }
  32
  33 float ParallelSlot::DH() const
  34 {
  35         return this->DH_;
  36 }
  37
  38 PolygonObstacle &ParallelSlot::slot()
  39 {
  40         return this->slot_;
  41 }
  42
  43 float ParallelSlot::slotHeading()
  44 {
  45         float y0 = this->slot().bnodes()[0]->y();
  46         float x0 = this->slot().bnodes()[0]->x();
  47         float y3 = this->slot().bnodes()[3]->y();
  48         float x3 = this->slot().bnodes()[3]->x();
  49         float dy = y0 - y3;
  50         float dx = x0 - x3;
  51         return atan2(dy, dx);
  52 }
  53
  54 SlotSide ParallelSlot::slotSide()
  55 {
  56         return this->slotSide_;
  57 }
  58
  59 SlotType ParallelSlot::slotType()
  60 {
  61         return this->slotType_;
  62 }
  63
  64 // setter
  65 void ParallelSlot::DH(float dh)
  66 {
  67         this->DH_ = dh;
  68 }
  69
  70 void ParallelSlot::setAll()
  71 {
  72         // slot side
  73         float y0 = this->slot().bnodes()[0]->y();
  74         float x0 = this->slot().bnodes()[0]->x();
  75         float y1 = this->slot().bnodes()[1]->y();
  76         float x1 = this->slot().bnodes()[1]->x();
  77         float y3 = this->slot().bnodes()[3]->y();
  78         float x3 = this->slot().bnodes()[3]->x();
  79         if (sgn((x1 - x3) * (y0 - y3) - (y1 - y3) * (x0 - x3)) < 0)
  80                 this->slotSide_ = LEFT;
  81         else
  82                 this->slotSide_ = RIGHT;
  83         // slot type
  84         float d1 = EDIST(
  85                 this->slot().bnodes()[0],
  86                 this->slot().bnodes()[1]
  87         );
  88         float d2 = EDIST(
  89                 this->slot().bnodes()[1],
  90                 this->slot().bnodes()[2]
  91         );
  92         if (d1 > d2)
  93                 this->slotType_ = PERPENDICULAR;
  94         else
  95                 this->slotType_ = PARALLEL;
  96 }
  97
  98 // other
  99 void ParallelSlot::fip()
 100 {
 101         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 102         // RRTNode.s() works as iteration level
 103         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 104         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 105         int di = -1;
 106         if (this->slotSide() == LEFT)
 107                 di = 1;
 108         BicycleCar *CC = this->getEPC();
 109         BicycleCar *B = this->getEP();
 110         this->DH(di * 0.01 / CC->out_radi());
 111         BicycleCar *c;
 112         int i = 0;
 113         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 114         while (!this->slot().collide(c->frame())) {
 115                 q.push(c);
 116                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 117                 i += 1;
 118         }
 119         delete c; // not in q and collide
 120         while (!q.empty()) {
 121                 c = q.front();
 122                 q.pop();
 123                 if (this->isInside(c)) {
 124                         goto createcuspandfinish;
 125                 } else if (c->s() < 9) {
 126                         BicycleCar *cc = this->flnc(c);
 127                         cc->s(c->s() + 1);
 128                         cc->bcparent(c);
 129                         q.push(cc);
 130                 } else {
 131                         delete c; // not in q and collide
 132                 }
 133         }
 134         std::swap(q, empty);
 135         return;
 136 createcuspandfinish:
 137         std::vector<RRTNode *> cusp;
 138         while (c) {
 139                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 140                 c = c->bcparent();
 141         }
 142         std::reverse(cusp.begin(), cusp.end());
 143         this->cusp().push_back(cusp);
 144         std::swap(q, empty);
 145 }
 146
 147 void ParallelSlot::fipr(BicycleCar *B)
 148 {
 149         std::vector<RRTNode *> cusp;
 150         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 151         int di = 1;
 152         if (this->slotSide() == LEFT)
 153                 di = -1;
 154         this->DH(di * 0.01 / B->out_radi());
 155         BicycleCar *c;
 156         c = this->flncr(B);
 157         c->s(B->s() + 1);
 158         while ((
 159                 this->slotSide() == LEFT
 160                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 161         ) || (
 162                 this->slotSide() == RIGHT
 163                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 164         )) {
 165                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 166                 BicycleCar *cc = this->flncr(c);
 167                 cc->s(c->s() + 1);
 168                 delete c;
 169                 c = cc;
 170         }
 171         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 172         std::reverse(cusp.begin(), cusp.end());
 173         this->cusp().push_back(cusp);
 174 }
 175
 176 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 177 {
 178         RRTNode *cc;
 179         if (this->slotSide() == LEFT) {
 180                 if (int(B->s()) % 2 == 0)
 181                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 182                 else
 183                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 184         } else {
 185                 if (int(B->s()) % 2 == 0)
 186                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 187                 else
 188                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 189         }
 190         BicycleCar *p;
 191         int i = 1;
 192         p = B->move(cc, i * this->DH());
 193         while (
 194                 !this->slot().collide(p->frame())
 195                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 196         ) {
 197                 delete p;
 198                 i += 10;
 199                 p = B->move(cc, i * this->DH());
 200         }
 201         i -= 10;
 202         p = B->move(cc, i * this->DH());
 203         while (
 204                 !this->slot().collide(p->frame())
 205                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 206         ) {
 207                 if (this->isInside(p)) {
 208                         i += 1;
 209                         break;
 210                 }
 211                 delete p;
 212                 i += 1;
 213                 p = B->move(cc, i * this->DH());
 214         }
 215         delete p;
 216         return B->move(cc, (i - 1) * this->DH());
 217 }
 218
 219 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 220 {
 221         RRTNode *cc;
 222         if (this->slotSide() == LEFT) {
 223                 if (int(B->s()) % 2 == 0)
 224                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 225                 else
 226                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 227         } else {
 228                 if (int(B->s()) % 2 == 0)
 229                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 230                 else
 231                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 232         }
 233         BicycleCar *p;
 234         int i = 1;
 235         p = B->move(cc, i * this->DH());
 236         while (
 237                 !this->slot().collide(p->frame())
 238                 && ((
 239                         this->slotSide() == LEFT
 240                         && this->slot().collide(new RRTNode(
 241                                 p->lfx(),
 242                                 p->lfy(),
 243                                 0
 244                         ))
 245                 ) || (
 246                         this->slotSide() == RIGHT
 247                         && this->slot().collide(new RRTNode(
 248                                 p->rfx(),
 249                                 p->rfy(),
 250                                 0
 251                         ))
 252                 ))
 253         ) {
 254                 delete p;
 255                 i += 10;
 256                 p = B->move(cc, i * this->DH());
 257         }
 258         i -= 10;
 259         p = B->move(cc, i * this->DH());
 260         while (!this->slot().collide(p->frame())) {
 261                 if(
 262                         this->slotSide() == LEFT
 263                         && !this->slot().collide(new RRTNode(
 264                                 p->lfx(),
 265                                 p->lfy(),
 266                                 0
 267                         ))
 268                 ) {
 269                         i += 1;
 270                         break;
 271                 }
 272                 if(
 273                         this->slotSide() == RIGHT
 274                         && !this->slot().collide(new RRTNode(
 275                                 p->rfx(),
 276                                 p->rfy(),
 277                                 0
 278                         ))
 279                 ) {
 280                         i += 1;
 281                         break;
 282                 }
 283                 i += 1;
 284                 p = B->move(cc, i * this->DH());
 285         }
 286         delete p;
 287         return B->move(cc, (i - 1) * this->DH());
 288 }
 289
 290 RRTNode *ParallelSlot::fposecenter()
 291 {
 292         return this->slot().bnodes().front();
 293 }
 294
 295 bool ParallelSlot::flast(
 296         RRTNode *P,
 297         bool right,
 298         int il,
 299         std::vector<RRTNode *> &cusp
 300 )
 301 {
 302         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 303         RRTNode *cc;
 304         if (right)
 305                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 306         else
 307                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 308         BicycleCar *p;
 309         int i = 1;
 310         p = B->move(cc, i * this->DH());
 311         while (!this->slot().collide(p->frame())
 312                         && (
 313                                 (this->DH() > 0 && p->x() <= 0)
 314                                 || (this->DH() < 0 && p->x() >= 0)
 315                         )) {
 316                 delete p;
 317                 i += 10;
 318                 p = B->move(cc, i * this->DH());
 319         }
 320         i -= 10;
 321         p = B->move(cc, i * this->DH());
 322         while (!this->slot().collide(p->frame())
 323                         && (
 324                                 (this->DH() > 0 && p->x() <= 0)
 325                                 || (this->DH() < 0 && p->x() >= 0)
 326                         )) {
 327                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 328                         i += 1;
 329                         break;
 330                 }
 331                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 332                         i += 1;
 333                         break;
 334                 }
 335                 delete p;
 336                 i += 1;
 337                 p = B->move(cc, i * this->DH());
 338         }
 339         delete p;
 340         p = B->move(cc, (i - 1) * this->DH());
 341         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 342                 cusp.push_back(p);
 343                 return true;
 344         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 345                 cusp.push_back(p);
 346                 return true;
 347         } else if (il < 8) {
 348                 cusp.push_back(p);
 349                 return this->flast(p, !right, il + 1, cusp);
 350         }
 351         return false;
 352 }
 353
 354 void ParallelSlot::fpose()
 355 {
 356         bool left = false; // right parking slot
 357         float di = -1;
 358         BicycleCar *CC = new BicycleCar(
 359                 this->fposecenter()->x(),
 360                 this->fposecenter()->y() - 0.01,
 361                 this->slotHeading()
 362         );
 363         BicycleCar *B = new BicycleCar(
 364                 CC->x() - CC->width() / 2,
 365                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 366                 this->slotHeading()
 367         );
 368         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 369                 left = true;
 370                 di = 1;
 371                 delete B;
 372                 B = new BicycleCar(
 373                         CC->x() + CC->width() / 2,
 374                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 375                         this->slotHeading()
 376                 );
 377         }
 378         this->DH(di * 0.01 / CC->out_radi());
 379         BicycleCar *p;
 380         int i = 0;
 381         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 382         while (!this->slot().collide(p->frame())) {
 383                 std::vector<RRTNode *> tmpcusp;
 384                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 385                 if (this->flast(p, left, 0, tmpcusp)) {
 386                         this->cusp().push_back(tmpcusp);
 387                         return;
 388                 }
 389                 i += 1;
 390                 delete p;
 391                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 392         }
 393 }
 394
 395 BicycleCar *ParallelSlot::getEP()
 396 {
 397         // new pose for parallel parking to right slot
 398         float tnx;
 399         float tny;
 400         float nx;
 401         float ny;
 402         BicycleCar *CC = this->getEPC();
 403         // move left by car width / 2
 404         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 405         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 406         if (this->slotSide() == LEFT) {
 407                 // move right by car width / 2
 408                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 409                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 410         }
 411         // move down
 412         nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 413         ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 414         return new BicycleCar(nx, ny, CC->h());
 415 }
 416
 417 BicycleCar *ParallelSlot::getEPC()
 418 {
 419         // new pose for parallel parking to right slot
 420         float ta;
 421         float nx;
 422         float ny;
 423         ta = this->slotHeading() + M_PI;
 424         if (this->slotSide() == RIGHT)
 425                 ta -= M_PI / 4;
 426         else
 427                 ta += M_PI / 4;
 428         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 429         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 430         return new BicycleCar(nx, ny, this->slotHeading());
 431 }
 432
 433 BicycleCar *ParallelSlot::getFP()
 434 {
 435         float x = this->slot().bnodes()[3]->x();
 436         float y = this->slot().bnodes()[3]->y();
 437         float h = this->slotHeading();
 438         float nx;
 439         float ny;
 440         if (this->slotSide() == LEFT) {
 441                 nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 442                 ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 443         } else {
 444                 nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 445                 ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 446         }
 447         x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 448         y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 449         return new BicycleCar(x, y, h);
 450 }
 451
 452 bool ParallelSlot::isInside(BicycleCar *c)
 453 {
 454         bool inside = true;
 455         RRTNode *tmpn;
 456         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 457         if (!this->slot().collide(tmpn))
 458                 inside = false;
 459         delete tmpn;
 460         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 461         if (!this->slot().collide(tmpn))
 462                 inside = false;
 463         delete tmpn;
 464         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 465         if (!this->slot().collide(tmpn))
 466                 inside = false;
 467         delete tmpn;
 468         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 469         if (!this->slot().collide(tmpn))
 470                 inside = false;
 471         delete tmpn;
 472         return inside;
 473 }
 474
 475 struct SamplingInfo ParallelSlot::getSamplingInfo()
 476 {
 477         struct SamplingInfo si;
 478         BicycleCar *CC = this->getEPC();
 479         si.x = this->slot().bnodes()[0]->x();
 480         si.y = this->slot().bnodes()[0]->y();
 481         if (this->slotSide() == RIGHT) {
 482                 si.dx = 1;
 483                 si.dy = 1;
 484                 si.dh = 1;
 485         } else {
 486                 si.dx = -1;
 487                 si.dy = -1;
 488                 si.dh = -1;
 489         }
 490         si.r = CC->diag_radi();
 491         si.sh = this->slotHeading();
 492         if (this->slotType() == PARALLEL) {
 493                 si.h = this->slotHeading() - acos(EDIST(
 494                         this->slot().bnodes()[0],
 495                         this->slot().bnodes()[1]
 496                 ) / BCAR_LENGTH);
 497         } else {
 498                 si.h = M_PI /2;
 499         }
 500         return si;
 501 }