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 <cmath>
  19 #include "bcar.h"
  20 #include "slotplanner.h"
  21
  22 ParallelSlot::ParallelSlot()
  23 {}
  24
  25 // getter
  26 std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
  27 {
  28         return this->cusp_;
  29 }
  30
  31 float ParallelSlot::DH() const
  32 {
  33         return this->DH_;
  34 }
  35
  36 PolygonObstacle &ParallelSlot::slot()
  37 {
  38         return this->slot_;
  39 }
  40
  41 // setter
  42 void ParallelSlot::DH(float dh)
  43 {
  44         this->DH_ = dh;
  45 }
  46
  47 // other
  48 RRTNode *ParallelSlot::fposecenter()
  49 {
  50         if (this->slot().bnodes().front()->y() >
  51                         this->slot().bnodes().back()->y())
  52                 return this->slot().bnodes().front();
  53         else
  54                 return this->slot().bnodes().back();
  55 }
  56
  57 bool ParallelSlot::flast(
  58         RRTNode *P,
  59         bool right,
  60         int il,
  61         std::vector<RRTNode *> &cusp
  62 )
  63 {
  64         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
  65         RRTNode *cc;
  66         if (right)
  67                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
  68         else
  69                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
  70         BicycleCar *p;
  71         int i = 1;
  72         p = B->move(cc, i * this->DH());
  73         while (!this->slot().collide(p->frame())
  74                         && (
  75                                 (this->DH() > 0 && p->x() <= 0)
  76                                 || (this->DH() < 0 && p->x() >= 0)
  77                         )) {
  78                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
  79                         i += 1;
  80                         break;
  81                 }
  82                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
  83                         i += 1;
  84                         break;
  85                 }
  86                 i += 1;
  87                 delete p;
  88                 p = B->move(cc, i * this->DH());
  89         }
  90         delete p;
  91         p = B->move(cc, (i - 1) * this->DH());
  92         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
  93                 cusp.push_back(p);
  94                 return true;
  95         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
  96                 cusp.push_back(p);
  97                 return true;
  98         } else if (il < 8) {
  99                 cusp.push_back(p);
 100                 return this->flast(p, !right, il + 1, cusp);
 101         }
 102         return false;
 103 }
 104
 105 void ParallelSlot::fpose()
 106 {
 107         bool left = false; // right parking slot
 108         float di = -1;
 109         BicycleCar *CC = new BicycleCar(
 110                 this->fposecenter()->x(),
 111                 this->fposecenter()->y() - 0.01,
 112                 M_PI / 2
 113         );
 114         BicycleCar *B = new BicycleCar(
 115                 CC->x() - CC->width() / 2,
 116                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 117                 M_PI / 2
 118         );
 119         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 120                 left = true;
 121                 di = 1;
 122                 delete B;
 123                 B = new BicycleCar(
 124                         CC->x() + CC->width() / 2,
 125                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 126                         M_PI / 2
 127                 );
 128         }
 129         this->DH(di * 0.01 / CC->out_radi());
 130         BicycleCar *p;
 131         int i = 0;
 132         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 133         while (!this->slot().collide(p->frame())) {
 134                 std::vector<RRTNode *> tmpcusp;
 135                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 136                 if (this->flast(p, left, 0, tmpcusp)) {
 137                         this->cusp().push_back(tmpcusp);
 138                         return;
 139                 }
 140                 i += 1;
 141                 delete p;
 142                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 143         }
 144 }