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         if (!this->slotSide_) {
  57                 float y0 = this->slot().bnodes()[0]->y();
  58                 float x0 = this->slot().bnodes()[0]->x();
  59                 float y1 = this->slot().bnodes()[1]->y();
  60                 float x1 = this->slot().bnodes()[1]->x();
  61                 float y3 = this->slot().bnodes()[3]->y();
  62                 float x3 = this->slot().bnodes()[3]->x();
  63                 float h1 = atan2(y0 - y3, x0 - x3);
  64                 float h2 = atan2(y1 - y3, x1 - x3);
  65                 if (h2 - h1 > 0)
  66                         this->slotSide_ = LEFT;
  67                 else
  68                         this->slotSide_ = RIGHT;
  69         }
  70         return this->slotSide_;
  71 }
  72
  73 SlotType ParallelSlot::slotType()
  74 {
  75         if (!this->slotType_) {
  76                 float d1 = EDIST(
  77                         this->slot().bnodes()[0],
  78                         this->slot().bnodes()[1]
  79                 );
  80                 float d2 = EDIST(
  81                         this->slot().bnodes()[1],
  82                         this->slot().bnodes()[2]
  83                 );
  84                 if (d1 > d2)
  85                         this->slotType_ = PERPENDICULAR;
  86                 else
  87                         this->slotType_ = PARALLEL;
  88         }
  89         return this->slotType_;
  90 }
  91
  92 // setter
  93 void ParallelSlot::DH(float dh)
  94 {
  95         this->DH_ = dh;
  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
 105         // TODO add init nodes
 106         // for now just copy fpose()
 107         bool left = false; // right parking slot
 108         float di = -1;
 109         // new pose for parallel parking to right slot
 110         float tnx;
 111         float tny;
 112         float nx;
 113         float ny;
 114         // temporary tnx is angle
 115         tnx = this->slotHeading() + M_PI;
 116         if (this->slotSide() == RIGHT)
 117                 tnx -= M_PI / 4;
 118         else
 119                 tnx += M_PI / 4;
 120         nx = this->fposecenter()->x() + 0.01 * cos(tnx);
 121         ny = this->fposecenter()->y() + 0.01 * sin(tnx);
 122         BicycleCar *CC = new BicycleCar(nx, ny, this->slotHeading());
 123         // move left by car width / 2
 124         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 125         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 126         // move down
 127         nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 128         ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 129         if (this->slotSide() == LEFT) {
 130                 std::cerr << "left PS" << std::endl;
 131                 left = true;
 132                 di = 1;
 133                 // move right by car width / 2
 134                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 135                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 136                 // move down
 137                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 138                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 139         }
 140         BicycleCar *B = new BicycleCar(nx, ny, CC->h());
 141         this->DH(di * 0.01 / CC->out_radi());
 142         BicycleCar *c;
 143         int i = 0;
 144         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 145         while (!this->slot().collide(c->frame())) {
 146                 q.push(c);
 147                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 148                 i += 1;
 149         }
 150         delete c; // not in q and collide
 151         // BFS
 152         while (!q.empty()) {
 153                 c = q.front();
 154                 q.pop();
 155                 if (this->DH() > 0 && c->rfx() <= 0 && c->rrx() <= 0) {
 156                         goto createcuspandfinish;
 157                 } else if (this->DH() < 0 && c->lfx() >= 0 && c->lrx() >= 0) {
 158                         goto createcuspandfinish;
 159                 } else if (c->s() < 9) {
 160                         BicycleCar *cc = this->flnc(c);
 161                         cc->s(c->s() + 1);
 162                         cc->bcparent(c);
 163                         q.push(cc);
 164                 } else {
 165                         delete c; // not in q and collide
 166                 }
 167         }
 168 createcuspandfinish:
 169         std::vector<RRTNode *> cusp;
 170         while (c) {
 171                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 172                 c = c->bcparent();
 173         }
 174         std::reverse(cusp.begin(), cusp.end());
 175         this->cusp().push_back(cusp);
 176         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 177         std::swap(q, empty);
 178 }
 179
 180 void ParallelSlot::fipr(BicycleCar *B)
 181 {
 182         // TODO for right parallel parking also
 183         // it's only for lpar scenario now
 184
 185         std::vector<RRTNode *> cusp;
 186         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 187         // just copied from fip()
 188         this->DH(-0.01 / B->out_radi());
 189         BicycleCar *c;
 190         c = this->flncr(B);
 191         while (c->lfx() < 0) {
 192                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 193                 BicycleCar *cc = this->flncr(c);
 194                 cc->s(c->s() + 1);
 195                 delete c;
 196                 c = cc;
 197         }
 198         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 199         std::reverse(cusp.begin(), cusp.end());
 200         this->cusp().push_back(cusp);
 201 }
 202
 203 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 204 {
 205         // TODO find last not colliding
 206         // for now just copy flast()
 207         RRTNode *cc;
 208         if (int(B->s()) % 2 == 0)
 209                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 210         else
 211                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 212         BicycleCar *p;
 213         int i = 1;
 214         p = B->move(cc, i * this->DH());
 215         while (!this->slot().collide(p->frame())
 216                         && (
 217                                 (this->DH() > 0 && p->x() <= 0)
 218                                 || (this->DH() < 0 && p->x() >= 0)
 219                         )) {
 220                 delete p;
 221                 i += 10;
 222                 p = B->move(cc, i * this->DH());
 223         }
 224         i -= 10;
 225         p = B->move(cc, i * this->DH());
 226         while (!this->slot().collide(p->frame())
 227                         && (
 228                                 (this->DH() > 0 && p->x() <= 0)
 229                                 || (this->DH() < 0 && p->x() >= 0)
 230                         )) {
 231                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 232                         i += 1;
 233                         break;
 234                 }
 235                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 236                         i += 1;
 237                         break;
 238                 }
 239                 delete p;
 240                 i += 1;
 241                 p = B->move(cc, i * this->DH());
 242         }
 243         delete p;
 244         return B->move(cc, (i - 1) * this->DH());
 245 }
 246
 247 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 248 {
 249         // TODO find last not colliding
 250         // for now just copy flast()
 251         RRTNode *cc;
 252         if (int(B->s()) % 2 == 0)
 253                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 254         else
 255                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 256         BicycleCar *p;
 257         int i = 1;
 258         p = B->move(cc, i * this->DH());
 259         while (!this->slot().collide(p->frame())
 260                         && (
 261                                 (this->DH() > 0 && p->x() >= 0)
 262                                 || (this->DH() < 0 && p->lfx() <= 0)
 263                         )) {
 264                 delete p;
 265                 i += 10;
 266                 p = B->move(cc, i * this->DH());
 267         }
 268         i -= 10;
 269         p = B->move(cc, i * this->DH());
 270         while (!this->slot().collide(p->frame())) {
 271                 if (this->DH() > 0 && p->x() <= 0) {
 272                         i += 1;
 273                         break;
 274                 }
 275                 if (this->DH() < 0 && p->lfx() >= 0) {
 276                         i += 1;
 277                         break;
 278                 }
 279                 delete p;
 280                 i += 1;
 281                 p = B->move(cc, i * this->DH());
 282         }
 283         delete p;
 284         return B->move(cc, (i - 1) * this->DH());
 285 }
 286
 287 RRTNode *ParallelSlot::fposecenter()
 288 {
 289         return this->slot().bnodes().front();
 290 }
 291
 292 bool ParallelSlot::flast(
 293         RRTNode *P,
 294         bool right,
 295         int il,
 296         std::vector<RRTNode *> &cusp
 297 )
 298 {
 299         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 300         RRTNode *cc;
 301         if (right)
 302                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 303         else
 304                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 305         BicycleCar *p;
 306         int i = 1;
 307         p = B->move(cc, i * this->DH());
 308         while (!this->slot().collide(p->frame())
 309                         && (
 310                                 (this->DH() > 0 && p->x() <= 0)
 311                                 || (this->DH() < 0 && p->x() >= 0)
 312                         )) {
 313                 delete p;
 314                 i += 10;
 315                 p = B->move(cc, i * this->DH());
 316         }
 317         i -= 10;
 318         p = B->move(cc, i * this->DH());
 319         while (!this->slot().collide(p->frame())
 320                         && (
 321                                 (this->DH() > 0 && p->x() <= 0)
 322                                 || (this->DH() < 0 && p->x() >= 0)
 323                         )) {
 324                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 325                         i += 1;
 326                         break;
 327                 }
 328                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 329                         i += 1;
 330                         break;
 331                 }
 332                 delete p;
 333                 i += 1;
 334                 p = B->move(cc, i * this->DH());
 335         }
 336         delete p;
 337         p = B->move(cc, (i - 1) * this->DH());
 338         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 339                 cusp.push_back(p);
 340                 return true;
 341         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 342                 cusp.push_back(p);
 343                 return true;
 344         } else if (il < 8) {
 345                 cusp.push_back(p);
 346                 return this->flast(p, !right, il + 1, cusp);
 347         }
 348         return false;
 349 }
 350
 351 void ParallelSlot::fpose()
 352 {
 353         bool left = false; // right parking slot
 354         float di = -1;
 355         BicycleCar *CC = new BicycleCar(
 356                 this->fposecenter()->x(),
 357                 this->fposecenter()->y() - 0.01,
 358                 this->slotHeading()
 359         );
 360         BicycleCar *B = new BicycleCar(
 361                 CC->x() - CC->width() / 2,
 362                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 363                 this->slotHeading()
 364         );
 365         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 366                 left = true;
 367                 di = 1;
 368                 delete B;
 369                 B = new BicycleCar(
 370                         CC->x() + CC->width() / 2,
 371                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 372                         this->slotHeading()
 373                 );
 374         }
 375         this->DH(di * 0.01 / CC->out_radi());
 376         BicycleCar *p;
 377         int i = 0;
 378         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 379         while (!this->slot().collide(p->frame())) {
 380                 std::vector<RRTNode *> tmpcusp;
 381                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 382                 if (this->flast(p, left, 0, tmpcusp)) {
 383                         this->cusp().push_back(tmpcusp);
 384                         return;
 385                 }
 386                 i += 1;
 387                 delete p;
 388                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 389         }
 390 }
 391
 392 struct SamplingInfo ParallelSlot::getSamplingInfo()
 393 {
 394         struct SamplingInfo si;
 395         BicycleCar *CC = new BicycleCar(
 396                 this->fposecenter()->x(),
 397                 this->fposecenter()->y() - 0.01,
 398                 this->slotHeading()
 399         );
 400         si.x = this->slot().bnodes()[0]->x();
 401         si.y = this->slot().bnodes()[0]->y();
 402         si.r = CC->diag_radi();
 403         si.h = this->slotHeading() - acos(EDIST( // TODO generalize
 404                 this->slot().bnodes()[0],
 405                 this->slot().bnodes()[1]
 406         ) / BCAR_LENGTH);
 407         return si;
 408 }