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         std::vector<CircleObstacle>& co,
 101         std::vector<SegmentObstacle>& so
 102 )
 103 {
 104         if (this->slotType() == PERPENDICULAR) {
 105                 // TODO different slot headings
 106                 // this is jus for slot heading = pi / 2
 107                 this->DH(0.01 / BCAR_TURNING_RADIUS);
 108                 BicycleCar *perc = nullptr;
 109                 RRTNode *cc = nullptr;
 110                 BicycleCar *p = nullptr;
 111                 int i = 0;
 112                 float x;
 113                 float h;
 114                 float y;
 115                 // parking backward
 116                 x = this->slot().bnodes()[3]->x();
 117                 y = this->slot().bnodes()[3]->y();
 118                 h = 0;
 119                 // -> top
 120                 x -= BCAR_DIST_FRONT;
 121                 y = this->slot().bnodes()[3]->y();
 122                 y += BCAR_OUT_RRADI - BCAR_TURNING_RADIUS;
 123                 if (perc)
 124                         delete perc;
 125                 perc = new BicycleCar(x, y, h);
 126                 if (cc)
 127                         delete cc;
 128                 cc = perc->ccl();
 129                 if (p)
 130                         delete p;
 131                 p = perc->move(cc, i * this->DH());
 132                 while (p->x() < 0) {
 133                         delete p;
 134                         p = perc->move(cc, i * this->DH());
 135                         i++;
 136                 }
 137                 // -> bottom
 138                 // (reset for parking backward)
 139                 x = this->slot().bnodes()[0]->x();
 140                 y = this->slot().bnodes()[0]->y();
 141                 h = 0;
 142                 // -> bottom
 143                 x -= BCAR_DIST_FRONT;
 144                 // get y from quadratic equation
 145                 float tmpD = pow(-2 * this->slot().bnodes()[0]->y(), 2);
 146                 tmpD -= 4 * (
 147                         pow(x - this->slot().bnodes()[0]->x(), 2) +
 148                         pow(this->slot().bnodes()[0]->y(), 2) -
 149                         pow(BCAR_IN_RADI, 2)
 150                 );
 151                 y = 2 * this->slot().bnodes()[0]->y();
 152                 y += sqrt(tmpD);
 153                 y /= 2;
 154                 y -= BCAR_TURNING_RADIUS;
 155                 // -- end of quadratic equation
 156                 if (perc)
 157                         delete perc;
 158                 perc = new BicycleCar(x, y, h);
 159                 if (cc)
 160                         delete cc;
 161                 cc = perc->ccl();
 162                 if (p)
 163                         delete p;
 164                 p = perc->move(cc, i * this->DH());
 165                 while (p->x() < 0) {
 166                         delete p;
 167                         p = perc->move(cc, i * this->DH());
 168                         i++;
 169                 }
 170                 // store nodes
 171                 std::vector<RRTNode *> cusp;
 172                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 173                 cusp.push_back(new RRTNode(x, y, h));
 174                 this->cusp().push_back(cusp);
 175                 return;
 176         }
 177         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 178         // RRTNode.s() works as iteration level
 179         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 180         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 181         int di = -1;
 182         if (this->slotSide() == LEFT)
 183                 di = 1;
 184         BicycleCar *CC = this->getEPC();
 185         BicycleCar *B = this->getEP();
 186         this->DH(di * 0.01 / CC->out_radi());
 187         BicycleCar *c;
 188         int i = 0;
 189         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 190         while (!this->slot().collide(c->frame())) {
 191                 bool end = false;
 192                 std::vector<RRTEdge *> eds = c->frame();
 193                 for (auto o: co)
 194                         if (o.collide(eds))
 195                                 end = true;
 196                 for (auto o: so)
 197                         if (o.collide(eds))
 198                                 end = true;
 199                 for (auto e: eds)
 200                         delete e;
 201                 if (!end)
 202                         q.push(c);
 203                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 204                 i += 1;
 205         }
 206         delete c; // not in q and collide
 207         while (!q.empty()) {
 208                 c = q.front();
 209                 q.pop();
 210                 if (this->isInside(c)) {
 211                         goto createcuspandfinish;
 212                 } else if (c->s() < 9) {
 213                         BicycleCar *cc = this->flnc(c, co, so);
 214                         cc->s(c->s() + 1);
 215                         cc->bcparent(c);
 216                         q.push(cc);
 217                 } else {
 218                         delete c; // not in q and collide
 219                 }
 220         }
 221         std::swap(q, empty);
 222         return;
 223 createcuspandfinish:
 224         std::vector<RRTNode *> cusp;
 225         while (c) {
 226                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 227                 c = c->bcparent();
 228         }
 229         std::reverse(cusp.begin(), cusp.end());
 230         this->cusp().push_back(cusp);
 231         std::swap(q, empty);
 232 }
 233
 234 void ParallelSlot::fipr(RRTNode *n)
 235 {
 236         return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
 237 }
 238
 239 void ParallelSlot::fipr(BicycleCar *B)
 240 {
 241         std::vector<RRTNode *> cusp;
 242         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 243         int di = 1;
 244         if (this->slotSide() == LEFT)
 245                 di = -1;
 246         if (this->slotType() == PERPENDICULAR) {
 247                 this->DH(di * 0.01 / B->out_radi()); // TODO car in slot h()
 248                 RRTNode *cc;
 249                 if (this->slotSide() == LEFT)
 250                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 251                 else
 252                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 253                 BicycleCar *p;
 254                 int i = 1;
 255                 p = B->move(cc, i * this->DH());
 256                 while (
 257                         !this->slot().collide(p->frame())
 258                         && this->slot().collide(p)
 259                 ) {
 260                         delete p;
 261                         i += 10;
 262                         p = B->move(cc, i * this->DH());
 263                 }
 264                 i -= 10;
 265                 p = B->move(cc, i * this->DH());
 266                 while (
 267                         !this->slot().collide(p->frame())
 268                         && this->slot().collide(p)
 269                 ) {
 270                         delete p;
 271                         i += 1;
 272                         p = B->move(cc, i * this->DH());
 273                 }
 274                 i -= 1;
 275                 p = B->move(cc, i * this->DH());
 276                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 277                 std::reverse(cusp.begin(), cusp.end());
 278                 this->cusp().push_back(cusp);
 279                 return;
 280         }
 281         this->DH(di * 0.01 / B->out_radi());
 282         BicycleCar *c;
 283         c = this->flncr(B);
 284         c->s(B->s() + 1);
 285         while ((
 286                 this->slotSide() == LEFT
 287                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 288         ) || (
 289                 this->slotSide() == RIGHT
 290                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 291         )) {
 292                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 293                 BicycleCar *cc = this->flncr(c);
 294                 cc->s(c->s() + 1);
 295                 delete c;
 296                 c = cc;
 297         }
 298         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 299         std::reverse(cusp.begin(), cusp.end());
 300         this->cusp().push_back(cusp);
 301 }
 302
 303 BicycleCar *ParallelSlot::flnc(
 304         BicycleCar *B,
 305         std::vector<CircleObstacle>& co,
 306         std::vector<SegmentObstacle>& so
 307 )
 308 {
 309         RRTNode *cc;
 310         if (this->slotSide() == LEFT) {
 311                 if (int(B->s()) % 2 == 0)
 312                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 313                 else
 314                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 315         } else {
 316                 if (int(B->s()) % 2 == 0)
 317                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 318                 else
 319                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 320         }
 321         BicycleCar *p;
 322         int i = 1;
 323         p = B->move(cc, i * this->DH());
 324         while (
 325                 !this->slot().collide(p->frame())
 326                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 327         ) {
 328                 delete p;
 329                 i += 10;
 330                 p = B->move(cc, i * this->DH());
 331                 bool end = false;
 332                 std::vector<RRTEdge *> eds = p->frame();
 333                 for (auto o: co)
 334                         if (o.collide(eds))
 335                                 end = true;
 336                 for (auto o: so)
 337                         if (o.collide(eds))
 338                                 end = true;
 339                 for (auto e: eds)
 340                         delete e;
 341                 if (end)
 342                         break;
 343         }
 344         i -= 10;
 345         p = B->move(cc, i * this->DH());
 346         while (
 347                 !this->slot().collide(p->frame())
 348                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 349         ) {
 350                 if (this->isInside(p)) {
 351                         i += 1;
 352                         break;
 353                 }
 354                 delete p;
 355                 i += 1;
 356                 p = B->move(cc, i * this->DH());
 357                 bool end = false;
 358                 std::vector<RRTEdge *> eds = p->frame();
 359                 for (auto o: co)
 360                         if (o.collide(eds))
 361                                 end = true;
 362                 for (auto o: so)
 363                         if (o.collide(eds))
 364                                 end = true;
 365                 for (auto e: eds)
 366                         delete e;
 367                 if (end)
 368                         break;
 369         }
 370         delete p;
 371         return B->move(cc, (i - 1) * this->DH());
 372 }
 373
 374 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 375 {
 376         RRTNode *cc;
 377         if (this->slotSide() == LEFT) {
 378                 if (int(B->s()) % 2 == 0)
 379                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 380                 else
 381                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 382         } else {
 383                 if (int(B->s()) % 2 == 0)
 384                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 385                 else
 386                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 387         }
 388         BicycleCar *p;
 389         int i = 1;
 390         p = B->move(cc, i * this->DH());
 391         while (
 392                 !this->slot().collide(p->frame())
 393                 && ((
 394                         this->slotSide() == LEFT
 395                         && this->slot().collide(new RRTNode(
 396                                 p->lfx(),
 397                                 p->lfy(),
 398                                 0
 399                         ))
 400                 ) || (
 401                         this->slotSide() == RIGHT
 402                         && this->slot().collide(new RRTNode(
 403                                 p->rfx(),
 404                                 p->rfy(),
 405                                 0
 406                         ))
 407                 ))
 408         ) {
 409                 delete p;
 410                 i += 10;
 411                 p = B->move(cc, i * this->DH());
 412         }
 413         i -= 10;
 414         p = B->move(cc, i * this->DH());
 415         while (!this->slot().collide(p->frame())) {
 416                 if(
 417                         this->slotSide() == LEFT
 418                         && !this->slot().collide(new RRTNode(
 419                                 p->lfx(),
 420                                 p->lfy(),
 421                                 0
 422                         ))
 423                 ) {
 424                         i += 1;
 425                         break;
 426                 }
 427                 if(
 428                         this->slotSide() == RIGHT
 429                         && !this->slot().collide(new RRTNode(
 430                                 p->rfx(),
 431                                 p->rfy(),
 432                                 0
 433                         ))
 434                 ) {
 435                         i += 1;
 436                         break;
 437                 }
 438                 i += 1;
 439                 p = B->move(cc, i * this->DH());
 440         }
 441         delete p;
 442         return B->move(cc, (i - 1) * this->DH());
 443 }
 444
 445 RRTNode *ParallelSlot::fposecenter()
 446 {
 447         return this->slot().bnodes().front();
 448 }
 449
 450 bool ParallelSlot::flast(
 451         RRTNode *P,
 452         bool right,
 453         int il,
 454         std::vector<RRTNode *> &cusp
 455 )
 456 {
 457         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 458         RRTNode *cc;
 459         if (right)
 460                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 461         else
 462                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 463         BicycleCar *p;
 464         int i = 1;
 465         p = B->move(cc, i * this->DH());
 466         while (!this->slot().collide(p->frame())
 467                         && (
 468                                 (this->DH() > 0 && p->x() <= 0)
 469                                 || (this->DH() < 0 && p->x() >= 0)
 470                         )) {
 471                 delete p;
 472                 i += 10;
 473                 p = B->move(cc, i * this->DH());
 474         }
 475         i -= 10;
 476         p = B->move(cc, i * this->DH());
 477         while (!this->slot().collide(p->frame())
 478                         && (
 479                                 (this->DH() > 0 && p->x() <= 0)
 480                                 || (this->DH() < 0 && p->x() >= 0)
 481                         )) {
 482                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 483                         i += 1;
 484                         break;
 485                 }
 486                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 487                         i += 1;
 488                         break;
 489                 }
 490                 delete p;
 491                 i += 1;
 492                 p = B->move(cc, i * this->DH());
 493         }
 494         delete p;
 495         p = B->move(cc, (i - 1) * this->DH());
 496         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 497                 cusp.push_back(p);
 498                 return true;
 499         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 500                 cusp.push_back(p);
 501                 return true;
 502         } else if (il < 8) {
 503                 cusp.push_back(p);
 504                 return this->flast(p, !right, il + 1, cusp);
 505         }
 506         return false;
 507 }
 508
 509 void ParallelSlot::fpose()
 510 {
 511         bool left = false; // right parking slot
 512         float di = -1;
 513         BicycleCar *CC = new BicycleCar(
 514                 this->fposecenter()->x(),
 515                 this->fposecenter()->y() - 0.01,
 516                 this->slotHeading()
 517         );
 518         BicycleCar *B = new BicycleCar(
 519                 CC->x() - CC->width() / 2,
 520                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 521                 this->slotHeading()
 522         );
 523         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 524                 left = true;
 525                 di = 1;
 526                 delete B;
 527                 B = new BicycleCar(
 528                         CC->x() + CC->width() / 2,
 529                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 530                         this->slotHeading()
 531                 );
 532         }
 533         this->DH(di * 0.01 / CC->out_radi());
 534         BicycleCar *p;
 535         int i = 0;
 536         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 537         while (!this->slot().collide(p->frame())) {
 538                 std::vector<RRTNode *> tmpcusp;
 539                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 540                 if (this->flast(p, left, 0, tmpcusp)) {
 541                         this->cusp().push_back(tmpcusp);
 542                         return;
 543                 }
 544                 i += 1;
 545                 delete p;
 546                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 547         }
 548 }
 549
 550 BicycleCar *ParallelSlot::getEP()
 551 {
 552         // new pose for parallel parking to right slot
 553         float tnx;
 554         float tny;
 555         float nx;
 556         float ny;
 557         BicycleCar *CC = this->getEPC();
 558         // move left by car width / 2
 559         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 560         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 561         if (this->slotSide() == LEFT) {
 562                 // move right by car width / 2
 563                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 564                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 565         }
 566         if (this->slotType() == PARALLEL) {
 567                 // move down
 568                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 569                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 570         } else {
 571                 // move down
 572                 nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
 573                 ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
 574         }
 575         return new BicycleCar(nx, ny, CC->h());
 576 }
 577
 578 BicycleCar *ParallelSlot::getEPC()
 579 {
 580         // new pose for parallel parking to right slot
 581         float ta;
 582         float nx;
 583         float ny;
 584         ta = this->slotHeading() + M_PI;
 585         if (this->slotSide() == RIGHT)
 586                 ta -= M_PI / 4;
 587         else
 588                 ta += M_PI / 4;
 589         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 590         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 591         return new BicycleCar(nx, ny, this->slotHeading());
 592 }
 593
 594 BicycleCar *ParallelSlot::getFP()
 595 {
 596         float x = this->slot().bnodes()[3]->x();
 597         float y = this->slot().bnodes()[3]->y();
 598         float h = this->slotHeading();
 599         float nx;
 600         float ny;
 601         if (this->slotType() == PARALLEL) {
 602                 if (this->slotSide() == LEFT) {
 603                         nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 604                         ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 605                 } else {
 606                         nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 607                         ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 608                 }
 609                 x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 610                 y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 611         } else {
 612                 if (this->slotSide() == LEFT) {
 613                         h -= M_PI / 2;
 614                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 615                                 * cos(h + M_PI);
 616                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 617                                 * sin(h + M_PI);
 618                         x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 619                         y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 620                 } else {
 621                         h += M_PI / 2;
 622                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 623                                 * cos(h - M_PI);
 624                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 625                                 * sin(h - M_PI);
 626                         x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 627                         y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 628                 }
 629         }
 630         return new BicycleCar(x, y, h);
 631 }
 632
 633 bool ParallelSlot::isInside(BicycleCar *c)
 634 {
 635         bool inside = true;
 636         RRTNode *tmpn;
 637         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 638         if (!this->slot().collide(tmpn))
 639                 inside = false;
 640         delete tmpn;
 641         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 642         if (!this->slot().collide(tmpn))
 643                 inside = false;
 644         delete tmpn;
 645         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 646         if (!this->slot().collide(tmpn))
 647                 inside = false;
 648         delete tmpn;
 649         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 650         if (!this->slot().collide(tmpn))
 651                 inside = false;
 652         delete tmpn;
 653         return inside;
 654 }
 655
 656 struct SamplingInfo ParallelSlot::getSamplingInfo()
 657 {
 658         struct SamplingInfo si;
 659         if (this->slotType() == PARALLEL) {
 660                 si.x = this->slot().bnodes().front()->x();
 661                 si.y = this->slot().bnodes().front()->y();
 662                 si.mr = BCAR_WIDTH / 2;
 663                 si.mmh = 0;
 664         } else {
 665                 si.x = this->slot().bnodes().back()->x();
 666                 si.x -= this->slot().bnodes().front()->x();
 667                 si.x /= 2;
 668                 si.x += this->slot().bnodes().front()->x();
 669                 si.y = this->slot().bnodes().back()->y();
 670                 si.y -= this->slot().bnodes().front()->y();
 671                 si.y /= 2;
 672                 si.y += this->slot().bnodes().front()->y();
 673                 si.mr = 0;
 674                 si.mmh = (M_PI - M_PI / 6) / 2;
 675         }
 676         si.r = BCAR_LENGTH;
 677         si.h = M_PI;
 678         si.mh = M_PI / 2;
 679         si.sh = this->slotHeading();
 680         if (this->slotSide() == RIGHT)
 681                 si.dh = 1;
 682         else
 683                 si.dh = -1;
 684         return si;
 685 }