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<RRTNode *> &ParallelSlot::goals()
  29 {
  30         return this->goals_;
  31 }
  32
  33 RRTNode *ParallelSlot::getMidd()
  34 {
  35         if (this->cusp().size() > 0)
  36                 return this->cusp().front().front();
  37         else
  38                 return nullptr;
  39 }
  40
  41 std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
  42 {
  43         return this->cusp_;
  44 }
  45
  46 float ParallelSlot::DH() const
  47 {
  48         return this->DH_;
  49 }
  50
  51 PolygonObstacle &ParallelSlot::slot()
  52 {
  53         return this->slot_;
  54 }
  55
  56 float ParallelSlot::slotHeading()
  57 {
  58         return this->slotHeading_;
  59 }
  60
  61 SlotSide ParallelSlot::slotSide()
  62 {
  63         return this->slotSide_;
  64 }
  65
  66 SlotType ParallelSlot::slotType()
  67 {
  68         return this->slotType_;
  69 }
  70
  71 // setter
  72 void ParallelSlot::DH(float dh)
  73 {
  74         this->DH_ = dh;
  75 }
  76
  77 void ParallelSlot::setAll()
  78 {
  79         // slot heading
  80         float y0 = this->slot().bnodes()[0]->y();
  81         float x0 = this->slot().bnodes()[0]->x();
  82         float y3 = this->slot().bnodes()[3]->y();
  83         float x3 = this->slot().bnodes()[3]->x();
  84         float dy = y3 - y0;
  85         float dx = x3 - x0;
  86         this->slotHeading_ = atan2(dy, dx);
  87         // slot side
  88         float y1 = this->slot().bnodes()[1]->y();
  89         float x1 = this->slot().bnodes()[1]->x();
  90         if (sgn((x1 - x0) * (y3 - y0) - (y1 - y0) * (x3 - x0)) < 0)
  91                 this->slotSide_ = LEFT;
  92         else
  93                 this->slotSide_ = RIGHT;
  94         // slot type
  95         float d1 = EDIST(
  96                 this->slot().bnodes()[0],
  97                 this->slot().bnodes()[1]
  98         );
  99         float d2 = EDIST(
 100                 this->slot().bnodes()[1],
 101                 this->slot().bnodes()[2]
 102         );
 103         if (d1 > d2)
 104                 this->slotType_ = PERPENDICULAR;
 105         else
 106                 this->slotType_ = PARALLEL;
 107 }
 108
 109 // other
 110 void ParallelSlot::fip(
 111         std::vector<CircleObstacle>& co,
 112         std::vector<SegmentObstacle>& so
 113 )
 114 {
 115         this->setAll();
 116         if (this->slotType() == PERPENDICULAR) {
 117                 // TODO different slot headings
 118                 // this is jus for slot heading = pi / 2
 119                 this->DH(0.01 / BCAR_TURNING_RADIUS);
 120                 BicycleCar *perc = nullptr;
 121                 RRTNode *cc = nullptr;
 122                 BicycleCar *p = nullptr;
 123                 int i = 0;
 124                 float x;
 125                 float h;
 126                 float y;
 127                 // parking backward
 128                 x = this->slot().bnodes()[3]->x();
 129                 y = this->slot().bnodes()[3]->y();
 130                 h = 0;
 131                 // -> top
 132                 x -= BCAR_DIST_FRONT;
 133                 y = this->slot().bnodes()[3]->y();
 134                 y += BCAR_OUT_RRADI - BCAR_TURNING_RADIUS;
 135                 if (perc)
 136                         delete perc;
 137                 perc = new BicycleCar(x, y, h);
 138                 if (cc)
 139                         delete cc;
 140                 cc = perc->ccl();
 141                 if (p)
 142                         delete p;
 143                 p = perc->move(cc, i * this->DH());
 144                 while (p->x() < 0) {
 145                         delete p;
 146                         p = perc->move(cc, i * this->DH());
 147                         i++;
 148                 }
 149                 // -> bottom
 150                 // (reset for parking backward)
 151                 x = this->slot().bnodes()[0]->x();
 152                 y = this->slot().bnodes()[0]->y();
 153                 h = 0;
 154                 // -> bottom
 155                 x -= BCAR_DIST_FRONT;
 156                 // get y from quadratic equation
 157                 float tmpD = pow(-2 * this->slot().bnodes()[0]->y(), 2);
 158                 tmpD -= 4 * (
 159                         pow(x - this->slot().bnodes()[0]->x(), 2) +
 160                         pow(this->slot().bnodes()[0]->y(), 2) -
 161                         pow(BCAR_IN_RADI, 2)
 162                 );
 163                 y = 2 * this->slot().bnodes()[0]->y();
 164                 y += sqrt(tmpD);
 165                 y /= 2;
 166                 y -= BCAR_TURNING_RADIUS;
 167                 // -- end of quadratic equation
 168                 if (perc)
 169                         delete perc;
 170                 perc = new BicycleCar(x, y, h);
 171                 if (cc)
 172                         delete cc;
 173                 cc = perc->ccl();
 174                 if (p)
 175                         delete p;
 176                 p = perc->move(cc, i * this->DH());
 177                 while (p->x() < 0) {
 178                         delete p;
 179                         p = perc->move(cc, i * this->DH());
 180                         i++;
 181                 }
 182                 // store nodes
 183                 std::vector<RRTNode *> cusp;
 184                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 185                 cusp.push_back(new RRTNode(x, y, h));
 186                 this->cusp().push_back(cusp);
 187                 return;
 188         }
 189         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 190         // RRTNode.s() works as iteration level
 191         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 192         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 193         int di = -1;
 194         if (this->slotSide() == LEFT)
 195                 di = 1;
 196         BicycleCar *CC = this->getEPC();
 197         BicycleCar *B = this->getEP();
 198         this->DH(di * 0.01 / CC->out_radi());
 199         BicycleCar *c;
 200         int i = 0;
 201         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 202         while (!this->slot().collide(c->frame())) {
 203                 bool end = false;
 204                 std::vector<RRTEdge *> eds = c->frame();
 205                 for (auto o: co)
 206                         if (o.collide(eds))
 207                                 end = true;
 208                 for (auto o: so)
 209                         if (o.collide(eds))
 210                                 end = true;
 211                 for (auto e: eds)
 212                         delete e;
 213                 if (!end)
 214                         q.push(c);
 215                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 216                 i += 1;
 217         }
 218         delete c; // not in q and collide
 219         while (!q.empty()) {
 220                 c = q.front();
 221                 q.pop();
 222                 if (this->isInside(c)) {
 223                         goto createcuspandfinish;
 224                 } else if (c->s() < 9) {
 225                         BicycleCar *cc = this->flnc(c, co, so);
 226                         cc->s(c->s() + 1);
 227                         cc->bcparent(c);
 228                         q.push(cc);
 229                 } else {
 230                         delete c; // not in q and collide
 231                 }
 232         }
 233         std::swap(q, empty);
 234         return;
 235 createcuspandfinish:
 236         std::vector<RRTNode *> cusp;
 237         while (c) {
 238                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 239                 c = c->bcparent();
 240         }
 241         std::reverse(cusp.begin(), cusp.end());
 242         this->cusp().push_back(cusp);
 243         std::swap(q, empty);
 244 }
 245
 246 BicycleCar *ParallelSlot::flnc(
 247         BicycleCar *B,
 248         std::vector<CircleObstacle>& co,
 249         std::vector<SegmentObstacle>& so
 250 )
 251 {
 252         RRTNode *cc;
 253         if (this->slotSide() == LEFT) {
 254                 if (int(B->s()) % 2 == 0)
 255                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 256                 else
 257                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 258         } else {
 259                 if (int(B->s()) % 2 == 0)
 260                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 261                 else
 262                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 263         }
 264         BicycleCar *p;
 265         int i = 1;
 266         p = B->move(cc, i * this->DH());
 267         while (
 268                 !this->slot().collide(p->frame())
 269                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 270         ) {
 271                 delete p;
 272                 i += 10;
 273                 p = B->move(cc, i * this->DH());
 274                 bool end = false;
 275                 std::vector<RRTEdge *> eds = p->frame();
 276                 for (auto o: co)
 277                         if (o.collide(eds))
 278                                 end = true;
 279                 for (auto o: so)
 280                         if (o.collide(eds))
 281                                 end = true;
 282                 for (auto e: eds)
 283                         delete e;
 284                 if (end)
 285                         break;
 286         }
 287         i -= 10;
 288         p = B->move(cc, i * this->DH());
 289         while (
 290                 !this->slot().collide(p->frame())
 291                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 292         ) {
 293                 if (this->isInside(p)) {
 294                         i += 1;
 295                         break;
 296                 }
 297                 delete p;
 298                 i += 1;
 299                 p = B->move(cc, i * this->DH());
 300                 bool end = false;
 301                 std::vector<RRTEdge *> eds = p->frame();
 302                 for (auto o: co)
 303                         if (o.collide(eds))
 304                                 end = true;
 305                 for (auto o: so)
 306                         if (o.collide(eds))
 307                                 end = true;
 308                 for (auto e: eds)
 309                         delete e;
 310                 if (end)
 311                         break;
 312         }
 313         delete p;
 314         return B->move(cc, (i - 1) * this->DH());
 315 }
 316
 317 void ParallelSlot::fipr(RRTNode *n)
 318 {
 319         return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
 320 }
 321
 322 void ParallelSlot::fipr(BicycleCar *B)
 323 {
 324         std::vector<RRTNode *> cusp;
 325         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 326         int di = 1;
 327         if (this->slotSide() == LEFT)
 328                 di = -1;
 329         if (this->slotType() == PERPENDICULAR) {
 330                 this->DH(di * 0.01 / B->out_radi()); // TODO car in slot h()
 331                 RRTNode *cc;
 332                 if (this->slotSide() == LEFT)
 333                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 334                 else
 335                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 336                 BicycleCar *p;
 337                 int i = 1;
 338                 p = B->move(cc, i * this->DH());
 339                 while (
 340                         !this->slot().collide(p->frame())
 341                         && this->slot().collide(p)
 342                 ) {
 343                         delete p;
 344                         i += 10;
 345                         p = B->move(cc, i * this->DH());
 346                 }
 347                 i -= 10;
 348                 p = B->move(cc, i * this->DH());
 349                 while (
 350                         !this->slot().collide(p->frame())
 351                         && this->slot().collide(p)
 352                 ) {
 353                         delete p;
 354                         i += 1;
 355                         p = B->move(cc, i * this->DH());
 356                 }
 357                 i -= 1;
 358                 p = B->move(cc, i * this->DH());
 359                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 360                 std::reverse(cusp.begin(), cusp.end());
 361                 this->cusp().push_back(cusp);
 362                 return;
 363         }
 364         this->DH(di * 0.01 / B->out_radi());
 365         BicycleCar *c;
 366         c = this->flncr(B);
 367         c->s(B->s() + 1);
 368         while ((
 369                 this->slotSide() == LEFT
 370                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 371         ) || (
 372                 this->slotSide() == RIGHT
 373                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 374         )) {
 375                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 376                 BicycleCar *cc = this->flncr(c);
 377                 cc->s(c->s() + 1);
 378                 delete c;
 379                 c = cc;
 380         }
 381         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 382         std::reverse(cusp.begin(), cusp.end());
 383         this->cusp().push_back(cusp);
 384 }
 385
 386 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 387 {
 388         RRTNode *cc;
 389         if (this->slotSide() == LEFT) {
 390                 if (int(B->s()) % 2 == 0)
 391                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 392                 else
 393                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 394         } else {
 395                 if (int(B->s()) % 2 == 0)
 396                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 397                 else
 398                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 399         }
 400         BicycleCar *p;
 401         int i = 1;
 402         p = B->move(cc, i * this->DH());
 403         while (
 404                 !this->slot().collide(p->frame())
 405                 && ((
 406                         this->slotSide() == LEFT
 407                         && this->slot().collide(new RRTNode(
 408                                 p->lfx(),
 409                                 p->lfy(),
 410                                 0
 411                         ))
 412                 ) || (
 413                         this->slotSide() == RIGHT
 414                         && this->slot().collide(new RRTNode(
 415                                 p->rfx(),
 416                                 p->rfy(),
 417                                 0
 418                         ))
 419                 ))
 420         ) {
 421                 delete p;
 422                 i += 10;
 423                 p = B->move(cc, i * this->DH());
 424         }
 425         i -= 10;
 426         p = B->move(cc, i * this->DH());
 427         while (!this->slot().collide(p->frame())) {
 428                 if(
 429                         this->slotSide() == LEFT
 430                         && !this->slot().collide(new RRTNode(
 431                                 p->lfx(),
 432                                 p->lfy(),
 433                                 0
 434                         ))
 435                 ) {
 436                         i += 1;
 437                         break;
 438                 }
 439                 if(
 440                         this->slotSide() == RIGHT
 441                         && !this->slot().collide(new RRTNode(
 442                                 p->rfx(),
 443                                 p->rfy(),
 444                                 0
 445                         ))
 446                 ) {
 447                         i += 1;
 448                         break;
 449                 }
 450                 i += 1;
 451                 p = B->move(cc, i * this->DH());
 452         }
 453         delete p;
 454         return B->move(cc, (i - 1) * this->DH());
 455 }
 456
 457 RRTNode *ParallelSlot::fposecenter()
 458 {
 459         return this->slot().bnodes().back();
 460 }
 461
 462 bool ParallelSlot::flast(
 463         RRTNode *P,
 464         bool right,
 465         int il,
 466         std::vector<RRTNode *> &cusp
 467 )
 468 {
 469         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 470         RRTNode *cc;
 471         if (right)
 472                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 473         else
 474                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 475         BicycleCar *p;
 476         int i = 1;
 477         p = B->move(cc, i * this->DH());
 478         while (!this->slot().collide(p->frame())
 479                         && (
 480                                 (this->DH() > 0 && p->x() <= 0)
 481                                 || (this->DH() < 0 && p->x() >= 0)
 482                         )) {
 483                 delete p;
 484                 i += 10;
 485                 p = B->move(cc, i * this->DH());
 486         }
 487         i -= 10;
 488         p = B->move(cc, i * this->DH());
 489         while (!this->slot().collide(p->frame())
 490                         && (
 491                                 (this->DH() > 0 && p->x() <= 0)
 492                                 || (this->DH() < 0 && p->x() >= 0)
 493                         )) {
 494                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 495                         i += 1;
 496                         break;
 497                 }
 498                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 499                         i += 1;
 500                         break;
 501                 }
 502                 delete p;
 503                 i += 1;
 504                 p = B->move(cc, i * this->DH());
 505         }
 506         delete p;
 507         p = B->move(cc, (i - 1) * this->DH());
 508         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 509                 cusp.push_back(p);
 510                 return true;
 511         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 512                 cusp.push_back(p);
 513                 return true;
 514         } else if (il < 8) {
 515                 cusp.push_back(p);
 516                 return this->flast(p, !right, il + 1, cusp);
 517         }
 518         return false;
 519 }
 520
 521 void ParallelSlot::fpose()
 522 {
 523         bool left = false; // right parking slot
 524         float di = -1;
 525         BicycleCar *CC = new BicycleCar(
 526                 this->fposecenter()->x(),
 527                 this->fposecenter()->y() - 0.01,
 528                 this->slotHeading()
 529         );
 530         BicycleCar *B = new BicycleCar(
 531                 CC->x() - CC->width() / 2,
 532                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 533                 this->slotHeading()
 534         );
 535         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 536                 left = true;
 537                 di = 1;
 538                 delete B;
 539                 B = new BicycleCar(
 540                         CC->x() + CC->width() / 2,
 541                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 542                         this->slotHeading()
 543                 );
 544         }
 545         this->DH(di * 0.01 / CC->out_radi());
 546         BicycleCar *p;
 547         int i = 0;
 548         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 549         while (!this->slot().collide(p->frame())) {
 550                 std::vector<RRTNode *> tmpcusp;
 551                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 552                 if (this->flast(p, left, 0, tmpcusp)) {
 553                         this->cusp().push_back(tmpcusp);
 554                         return;
 555                 }
 556                 i += 1;
 557                 delete p;
 558                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 559         }
 560 }
 561
 562 BicycleCar *ParallelSlot::getEP()
 563 {
 564         // new pose for parallel parking to right slot
 565         float tnx;
 566         float tny;
 567         float nx;
 568         float ny;
 569         BicycleCar *CC = this->getEPC();
 570         // move left by car width / 2
 571         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 572         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 573         if (this->slotSide() == LEFT) {
 574                 // move right by car width / 2
 575                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 576                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 577         }
 578         if (this->slotType() == PARALLEL) {
 579                 // move down
 580                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 581                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 582         } else {
 583                 // move down
 584                 nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
 585                 ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
 586         }
 587         return new BicycleCar(nx, ny, CC->h());
 588 }
 589
 590 BicycleCar *ParallelSlot::getEPC()
 591 {
 592         // new pose for parallel parking to right slot
 593         float ta;
 594         float nx;
 595         float ny;
 596         ta = this->slotHeading() + M_PI;
 597         if (this->slotSide() == RIGHT)
 598                 ta -= M_PI / 4;
 599         else
 600                 ta += M_PI / 4;
 601         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 602         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 603         return new BicycleCar(nx, ny, this->slotHeading());
 604 }
 605
 606 BicycleCar *ParallelSlot::getFP()
 607 {
 608         this->setAll();
 609         float x = this->slot().bnodes()[0]->x();
 610         float y = this->slot().bnodes()[0]->y();
 611         float h = this->slotHeading();
 612         float nx;
 613         float ny;
 614         if (this->slotType() == PARALLEL) {
 615                 if (this->slotSide() == LEFT) {
 616                         nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 617                         ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 618                 } else {
 619                         nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 620                         ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 621                 }
 622                 x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 623                 y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 624         } else {
 625                 if (this->slotSide() == LEFT) {
 626                         h -= M_PI / 2;
 627                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 628                                 * cos(h + M_PI);
 629                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 630                                 * sin(h + M_PI);
 631                         x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 632                         y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 633                 } else {
 634                         h += M_PI / 2;
 635                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 636                                 * cos(h - M_PI);
 637                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 638                                 * sin(h - M_PI);
 639                         x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 640                         y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 641                 }
 642         }
 643         return new BicycleCar(x, y, h);
 644 }
 645
 646 BicycleCar *ParallelSlot::getISPP(BicycleCar *B)
 647 {
 648         float x = this->slot().bnodes().back()->x();
 649         float y = this->slot().bnodes().back()->y();
 650         float y0;
 651         if (this->slotSide() == LEFT) // TODO only for backward parking now
 652                 y0 = B->ccl()->y();
 653         else
 654                 y0 = B->ccr()->y();
 655         float IR = BCAR_IN_RADI;
 656         float a = 1;
 657         float b = -2 * x;
 658         float c = pow(x, 2) + pow(y - y0, 2) - pow(IR, 2);
 659         float D = pow(b, 2) - 4 * a * c;
 660         float x0 = -b + sqrt(D);
 661         x0 /= 2 * a;
 662         return new BicycleCar(x0, B->y(), B->h());
 663 }
 664
 665 bool ParallelSlot::isInside(BicycleCar *c)
 666 {
 667         bool inside = true;
 668         RRTNode *tmpn;
 669         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 670         if (!this->slot().collide(tmpn))
 671                 inside = false;
 672         delete tmpn;
 673         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 674         if (!this->slot().collide(tmpn))
 675                 inside = false;
 676         delete tmpn;
 677         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 678         if (!this->slot().collide(tmpn))
 679                 inside = false;
 680         delete tmpn;
 681         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 682         if (!this->slot().collide(tmpn))
 683                 inside = false;
 684         delete tmpn;
 685         return inside;
 686 }
 687
 688 struct SamplingInfo ParallelSlot::getSamplingInfo()
 689 {
 690         struct SamplingInfo si;
 691         RRTNode *n = this->getMidd();
 692         if (this->slotType() == PARALLEL) {
 693                 if (n != nullptr) {
 694                         si.x0 = n->x() + 1.5 * BCAR_LENGTH * cos(n->h());
 695                         si.y0 = n->y() + 1.5 * BCAR_LENGTH * sin(n->h());
 696                         si.h0 = n->h();
 697                 } else {
 698                         si.x0 = this->slot().bnodes().front()->x();
 699                         si.y0 = this->slot().bnodes().front()->y();
 700                         si.h0 = this->slotHeading();
 701                 }
 702                 si.x = BCAR_WIDTH;
 703                 si.y = BCAR_WIDTH;
 704                 si.h = M_PI / 8;
 705         } else {
 706                 // TODO
 707         }
 708         return si;
 709 }