2 This file is part of I am car.
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.
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.
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/>.
21 float CircleObstacle::r()
26 bool CircleObstacle::collide(RRTNode *n)
28 float xx = n->x() - this->x();
30 float yy = n->y() - this->y();
32 float rr = this->r() * this->r();
39 bool CircleObstacle::collide(RRTEdge *e)
41 std::vector<RRTEdge *> edges;
43 return this->collide(edges);
46 bool CircleObstacle::collide(std::vector<RRTEdge *> &edges)
48 std::vector<RRTEdge *> bedges;
49 float radi = this->r() / cos(M_PI / 4); // TODO 4 is square
50 float angl = 2 * M_PI / 4;
56 for (i = 0; i < 4; i++) {
57 x1 = radi * cos(i * angl);
58 y1 = radi * sin(i * angl);
59 x2 = radi * cos((i + 1) * angl);
60 y2 = radi * sin((i + 1) * angl);
65 bedges.push_back(new RRTEdge(
66 new RRTNode(x1, y1, 0),
67 new RRTNode(x2, y2, 0)));
69 for (auto &be: bedges) {
70 for (auto &e: edges) {
82 bool SegmentObstacle::collide(RRTNode *n)
87 bool SegmentObstacle::collide(RRTEdge *e)
89 // see https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection
90 float x1 = this->init()->x();
91 float y1 = this->init()->y();
92 float x2 = this->goal()->x();
93 float y2 = this->goal()->y();
94 float x3 = e->init()->x();
95 float y3 = e->init()->y();
96 float x4 = e->goal()->x();
97 float y4 = e->goal()->y();
98 float deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
100 return false; // parallel
102 //return true; // colliding lines, not line segments
103 //float px = (x1 * y2 - y1 * x2) * (x3 - x4) -
104 // (x1 - x2) * (x3 * y4 - y3 * x4);
106 //float py = (x1 * y2 - y1 * x2) * (y3 - y4) -
107 // (y1 - y2) * (x3 * y4 - y3 * x4);
109 float s = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
111 if (s < 0 || s > 1) {
114 float t = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
117 if (t < 0 || t > 1) {
123 bool SegmentObstacle::collide(std::vector<RRTEdge *> &edges)
125 for (auto &e: edges) {
126 if (this->collide(e)) {