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                 if (sgn((x1 - x3) * (y0 - y3) - (y1 - y3) * (x0 - x3)) < 0)
  64                         this->slotSide_ = LEFT;
  65                 else
  66                         this->slotSide_ = RIGHT;
  67         }
  68         return this->slotSide_;
  69 }
  70
  71 SlotType ParallelSlot::slotType()
  72 {
  73         if (!this->slotType_) {
  74                 float d1 = EDIST(
  75                         this->slot().bnodes()[0],
  76                         this->slot().bnodes()[1]
  77                 );
  78                 float d2 = EDIST(
  79                         this->slot().bnodes()[1],
  80                         this->slot().bnodes()[2]
  81                 );
  82                 if (d1 > d2)
  83                         this->slotType_ = PERPENDICULAR;
  84                 else
  85                         this->slotType_ = PARALLEL;
  86         }
  87         return this->slotType_;
  88 }
  89
  90 // setter
  91 void ParallelSlot::DH(float dh)
  92 {
  93         this->DH_ = dh;
  94 }
  95
  96 // other
  97 void ParallelSlot::fip()
  98 {
  99         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 100         // RRTNode.s() works as iteration level
 101         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 102         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 103
 104         // TODO add init nodes
 105         // for now just copy fpose()
 106         bool left = false; // right parking slot
 107         float di = -1;
 108         // new pose for parallel parking to right slot
 109         float tnx;
 110         float tny;
 111         float nx;
 112         float ny;
 113         // temporary tnx is angle
 114         tnx = this->slotHeading() + M_PI;
 115         if (this->slotSide() == RIGHT)
 116                 tnx -= M_PI / 4;
 117         else
 118                 tnx += M_PI / 4;
 119         nx = this->fposecenter()->x() + 0.01 * cos(tnx);
 120         ny = this->fposecenter()->y() + 0.01 * sin(tnx);
 121         BicycleCar *CC = new BicycleCar(nx, ny, this->slotHeading());
 122         // move left by car width / 2
 123         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 124         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 125         // move down
 126         nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 127         ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 128         if (this->slotSide() == LEFT) {
 129                 std::cerr << "left PS" << std::endl;
 130                 left = true;
 131                 di = 1;
 132                 // move right by car width / 2
 133                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 134                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 135                 // move down
 136                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 137                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 138         }
 139         BicycleCar *B = new BicycleCar(nx, ny, CC->h());
 140         this->DH(di * 0.01 / CC->out_radi());
 141         BicycleCar *c;
 142         int i = 0;
 143         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 144         while (!this->slot().collide(c->frame())) {
 145                 q.push(c);
 146                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 147                 i += 1;
 148         }
 149         delete c; // not in q and collide
 150         // BFS
 151         while (!q.empty()) {
 152                 c = q.front();
 153                 q.pop();
 154                 if (this->isInside(c)) {
 155                         goto createcuspandfinish;
 156                 } else if (c->s() < 9) {
 157                         BicycleCar *cc = this->flnc(c);
 158                         cc->s(c->s() + 1);
 159                         cc->bcparent(c);
 160                         q.push(cc);
 161                 } else {
 162                         delete c; // not in q and collide
 163                 }
 164         }
 165         std::swap(q, empty);
 166         return;
 167 createcuspandfinish:
 168         std::vector<RRTNode *> cusp;
 169         while (c) {
 170                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 171                 c = c->bcparent();
 172         }
 173         std::reverse(cusp.begin(), cusp.end());
 174         this->cusp().push_back(cusp);
 175         std::swap(q, empty);
 176 }
 177
 178 void ParallelSlot::fipr(BicycleCar *B)
 179 {
 180         // TODO for right parallel parking also
 181         // it's only for lpar scenario now
 182         std::vector<RRTNode *> cusp;
 183         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 184         // just copied from fip()
 185         int di = 1;
 186         if (this->slotSide() == LEFT)
 187                 di = -1;
 188         this->DH(di * 0.01 / B->out_radi());
 189         BicycleCar *c;
 190         c = this->flncr(B);
 191         c->s(B->s() + 1);
 192         while (this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))) {
 193                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 194                 BicycleCar *cc = this->flncr(c);
 195                 cc->s(c->s() + 1);
 196                 delete c;
 197                 c = cc;
 198         }
 199         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 200         std::reverse(cusp.begin(), cusp.end());
 201         this->cusp().push_back(cusp);
 202 }
 203
 204 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 205 {
 206         // TODO find last not colliding
 207         // for now just copy flast()
 208         RRTNode *cc;
 209         if (int(B->s()) % 2 == 0) {
 210                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 211         } else {
 212                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 213         }
 214         float di = -1;
 215         if (this->slotSide() == LEFT)
 216                 di = 1;
 217         BicycleCar *p;
 218         int i = 1;
 219         p = B->move(cc, i * di * this->DH());
 220         while (!this->slot().collide(p->frame())) {
 221                 delete p;
 222                 i += 10;
 223                 p = B->move(cc, i * this->DH());
 224         }
 225         i -= 10;
 226         p = B->move(cc, i * di * this->DH());
 227         while (!this->slot().collide(p->frame())) {
 228                 if (this->isInside(p)) {
 229                         i += 1;
 230                         break;
 231                 }
 232                 delete p;
 233                 i += 1;
 234                 p = B->move(cc, i * this->DH());
 235         }
 236         delete p;
 237         return B->move(cc, (i - 1) * this->DH());
 238 }
 239
 240 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 241 {
 242         // TODO find last not colliding
 243         // for now just copy flast()
 244         RRTNode *cc;
 245         if (int(B->s()) % 2 == 0)
 246                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 247         else
 248                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 249         BicycleCar *p;
 250         int i = 1;
 251         p = B->move(cc, i * this->DH());
 252         while (
 253                 !this->slot().collide(p->frame())
 254                 && this->slot().collide(new RRTNode(p->lfx(), p->lfy(), 0))
 255         ) {
 256                 delete p;
 257                 i += 10;
 258                 p = B->move(cc, i * this->DH());
 259         }
 260         i -= 10;
 261         p = B->move(cc, i * this->DH());
 262         while (!this->slot().collide(p->frame())) {
 263                 if(!this->slot().collide(new RRTNode(p->lfx(), p->lfy(), 0))) {
 264                         i += 1;
 265                         break;
 266                 }
 267                 //if (this->DH() < 0 && p->lfx() >= 0) {
 268                 //        i += 1;
 269                 //        break;
 270                 //}
 271                 delete p;
 272                 i += 1;
 273                 p = B->move(cc, i * this->DH());
 274         }
 275         delete p;
 276         return B->move(cc, (i - 1) * this->DH());
 277 }
 278
 279 RRTNode *ParallelSlot::fposecenter()
 280 {
 281         return this->slot().bnodes().front();
 282 }
 283
 284 bool ParallelSlot::flast(
 285         RRTNode *P,
 286         bool right,
 287         int il,
 288         std::vector<RRTNode *> &cusp
 289 )
 290 {
 291         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 292         RRTNode *cc;
 293         if (right)
 294                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 295         else
 296                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 297         BicycleCar *p;
 298         int i = 1;
 299         p = B->move(cc, i * this->DH());
 300         while (!this->slot().collide(p->frame())
 301                         && (
 302                                 (this->DH() > 0 && p->x() <= 0)
 303                                 || (this->DH() < 0 && p->x() >= 0)
 304                         )) {
 305                 delete p;
 306                 i += 10;
 307                 p = B->move(cc, i * this->DH());
 308         }
 309         i -= 10;
 310         p = B->move(cc, i * this->DH());
 311         while (!this->slot().collide(p->frame())
 312                         && (
 313                                 (this->DH() > 0 && p->x() <= 0)
 314                                 || (this->DH() < 0 && p->x() >= 0)
 315                         )) {
 316                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 317                         i += 1;
 318                         break;
 319                 }
 320                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 321                         i += 1;
 322                         break;
 323                 }
 324                 delete p;
 325                 i += 1;
 326                 p = B->move(cc, i * this->DH());
 327         }
 328         delete p;
 329         p = B->move(cc, (i - 1) * this->DH());
 330         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 331                 cusp.push_back(p);
 332                 return true;
 333         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 334                 cusp.push_back(p);
 335                 return true;
 336         } else if (il < 8) {
 337                 cusp.push_back(p);
 338                 return this->flast(p, !right, il + 1, cusp);
 339         }
 340         return false;
 341 }
 342
 343 void ParallelSlot::fpose()
 344 {
 345         bool left = false; // right parking slot
 346         float di = -1;
 347         BicycleCar *CC = new BicycleCar(
 348                 this->fposecenter()->x(),
 349                 this->fposecenter()->y() - 0.01,
 350                 this->slotHeading()
 351         );
 352         BicycleCar *B = new BicycleCar(
 353                 CC->x() - CC->width() / 2,
 354                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 355                 this->slotHeading()
 356         );
 357         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 358                 left = true;
 359                 di = 1;
 360                 delete B;
 361                 B = new BicycleCar(
 362                         CC->x() + CC->width() / 2,
 363                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 364                         this->slotHeading()
 365                 );
 366         }
 367         this->DH(di * 0.01 / CC->out_radi());
 368         BicycleCar *p;
 369         int i = 0;
 370         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 371         while (!this->slot().collide(p->frame())) {
 372                 std::vector<RRTNode *> tmpcusp;
 373                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 374                 if (this->flast(p, left, 0, tmpcusp)) {
 375                         this->cusp().push_back(tmpcusp);
 376                         return;
 377                 }
 378                 i += 1;
 379                 delete p;
 380                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 381         }
 382 }
 383
 384 BicycleCar *ParallelSlot::getFP()
 385 {
 386         float x = this->slot().bnodes()[3]->x();
 387         float y = this->slot().bnodes()[3]->y();
 388         float h = this->slotHeading();
 389         float nx;
 390         float ny;
 391         if (this->slotSide() == LEFT) {
 392                 nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 393                 ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 394         } else {
 395                 nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 396                 ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 397         }
 398         x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 399         y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 400         return new BicycleCar(x, y, h);
 401 }
 402
 403 bool ParallelSlot::isInside(BicycleCar *c)
 404 {
 405         bool inside = true;
 406         RRTNode *tmpn;
 407         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 408         if (!this->slot().collide(tmpn))
 409                 inside = false;
 410         delete tmpn;
 411         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 412         if (!this->slot().collide(tmpn))
 413                 inside = false;
 414         delete tmpn;
 415         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 416         if (!this->slot().collide(tmpn))
 417                 inside = false;
 418         delete tmpn;
 419         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 420         if (!this->slot().collide(tmpn))
 421                 inside = false;
 422         delete tmpn;
 423         return inside;
 424 }
 425
 426 struct SamplingInfo ParallelSlot::getSamplingInfo()
 427 {
 428         struct SamplingInfo si;
 429         BicycleCar *CC = new BicycleCar(
 430                 this->fposecenter()->x(),
 431                 this->fposecenter()->y() - 0.01,
 432                 this->slotHeading()
 433         );
 434         si.x = this->slot().bnodes()[0]->x();
 435         si.y = this->slot().bnodes()[0]->y();
 436         si.r = CC->diag_radi();
 437         si.h = this->slotHeading() - acos(EDIST( // TODO generalize
 438                 this->slot().bnodes()[0],
 439                 this->slot().bnodes()[1]
 440         ) / BCAR_LENGTH);
 441         return si;
 442 }