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                 std::vector<RRTNode *> tmpc;
 118                 BicycleCar *tmpf = this->getFP();
 119                 BicycleCar *tmpb = this->getISPP(tmpf);
 120                 RRTNode *cc;
 121                 if (this->slotSide() == LEFT)
 122                         cc = tmpb->ccl();
 123                 else
 124                         cc = tmpb->ccr();
 125                 if (this->slotSide() == LEFT)
 126                         this->DH(1 * 0.5 / tmpb->out_radi());
 127                 else
 128                         this->DH(-1 * 0.5 / tmpb->out_radi());
 129                 BicycleCar *p;
 130                 int i = 1;
 131                 p = tmpb->move(cc, i * this->DH());
 132                 while (
 133                         !this->slot().collide(p->frame())
 134                         && ((
 135                                 this->slotSide() == LEFT
 136                                 && p->h() < this->slotHeading()
 137                         ) || (
 138                                 this->slotSide() == RIGHT
 139                                 && p->h() > this->slotHeading()
 140                         ))
 141                 ) {
 142                         bool end = false;
 143                         std::vector<RRTEdge *> eds = p->frame();
 144                         for (auto o: co)
 145                                 if (o.collide(eds))
 146                                         end = true;
 147                         for (auto o: so)
 148                                 if (o.collide(eds))
 149                                         end = true;
 150                         for (auto e: eds)
 151                                 delete e;
 152                         if (end)
 153                                 break;
 154                         this->goals_.push_back(p);
 155                         tmpc.push_back(p);
 156                         i += 1;
 157                         p = tmpb->move(cc, i * this->DH());
 158                 }
 159                 if (tmpc.size() > 0)
 160                         this->cusp().push_back(tmpc);
 161                 return;
 162         }
 163         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 164         // RRTNode.s() works as iteration level
 165         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 166         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 167         int di = -1;
 168         if (this->slotSide() == LEFT)
 169                 di = 1;
 170         BicycleCar *CC = this->getEPC();
 171         BicycleCar *B = this->getEP();
 172         this->DH(di * 0.01 / CC->out_radi());
 173         BicycleCar *c;
 174         int i = 0;
 175         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 176         while (!this->slot().collide(c->frame())) {
 177                 bool end = false;
 178                 std::vector<RRTEdge *> eds = c->frame();
 179                 for (auto o: co)
 180                         if (o.collide(eds))
 181                                 end = true;
 182                 for (auto o: so)
 183                         if (o.collide(eds))
 184                                 end = true;
 185                 for (auto e: eds)
 186                         delete e;
 187                 if (!end)
 188                         q.push(c);
 189                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 190                 i += 1;
 191         }
 192         delete c; // not in q and collide
 193         while (!q.empty()) {
 194                 c = q.front();
 195                 q.pop();
 196                 if (this->isInside(c)) {
 197                         goto createcuspandfinish;
 198                 } else if (c->s() < 9) {
 199                         BicycleCar *cc = this->flnc(c, co, so);
 200                         cc->s(c->s() + 1);
 201                         cc->bcparent(c);
 202                         q.push(cc);
 203                 } else {
 204                         delete c; // not in q and collide
 205                 }
 206         }
 207         std::swap(q, empty);
 208         return;
 209 createcuspandfinish:
 210         std::vector<RRTNode *> cusp;
 211         while (c) {
 212                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 213                 c = c->bcparent();
 214         }
 215         std::reverse(cusp.begin(), cusp.end());
 216         this->cusp().push_back(cusp);
 217         std::swap(q, empty);
 218 }
 219
 220 BicycleCar *ParallelSlot::flnc(
 221         BicycleCar *B,
 222         std::vector<CircleObstacle>& co,
 223         std::vector<SegmentObstacle>& so
 224 )
 225 {
 226         RRTNode *cc;
 227         if (this->slotSide() == LEFT) {
 228                 if (int(B->s()) % 2 == 0)
 229                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 230                 else
 231                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 232         } else {
 233                 if (int(B->s()) % 2 == 0)
 234                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 235                 else
 236                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 237         }
 238         BicycleCar *p;
 239         int i = 1;
 240         p = B->move(cc, i * this->DH());
 241         while (
 242                 !this->slot().collide(p->frame())
 243                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 244         ) {
 245                 delete p;
 246                 i += 10;
 247                 p = B->move(cc, i * this->DH());
 248                 bool end = false;
 249                 std::vector<RRTEdge *> eds = p->frame();
 250                 for (auto o: co)
 251                         if (o.collide(eds))
 252                                 end = true;
 253                 for (auto o: so)
 254                         if (o.collide(eds))
 255                                 end = true;
 256                 for (auto e: eds)
 257                         delete e;
 258                 if (end)
 259                         break;
 260         }
 261         i -= 10;
 262         p = B->move(cc, i * this->DH());
 263         while (
 264                 !this->slot().collide(p->frame())
 265                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 266         ) {
 267                 if (this->isInside(p)) {
 268                         i += 1;
 269                         break;
 270                 }
 271                 delete p;
 272                 i += 1;
 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         delete p;
 288         return B->move(cc, (i - 1) * this->DH());
 289 }
 290
 291 void ParallelSlot::fipr(RRTNode *n)
 292 {
 293         return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
 294 }
 295
 296 void ParallelSlot::fipr(BicycleCar *B)
 297 {
 298         std::vector<RRTNode *> cusp;
 299         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 300         int di = 1;
 301         if (this->slotSide() == LEFT)
 302                 di = -1;
 303         if (this->slotType() == PERPENDICULAR) {
 304                 this->DH(di * 0.01 / B->out_radi()); // TODO car in slot h()
 305                 RRTNode *cc;
 306                 if (this->slotSide() == LEFT)
 307                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 308                 else
 309                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 310                 BicycleCar *p;
 311                 int i = 1;
 312                 p = B->move(cc, i * this->DH());
 313                 while (
 314                         !this->slot().collide(p->frame())
 315                         && this->slot().collide(p)
 316                 ) {
 317                         delete p;
 318                         i += 10;
 319                         p = B->move(cc, i * this->DH());
 320                 }
 321                 i -= 10;
 322                 p = B->move(cc, i * this->DH());
 323                 while (
 324                         !this->slot().collide(p->frame())
 325                         && this->slot().collide(p)
 326                 ) {
 327                         delete p;
 328                         i += 1;
 329                         p = B->move(cc, i * this->DH());
 330                 }
 331                 i -= 1;
 332                 p = B->move(cc, i * this->DH());
 333                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 334                 std::reverse(cusp.begin(), cusp.end());
 335                 this->cusp().push_back(cusp);
 336                 return;
 337         }
 338         this->DH(di * 0.01 / B->out_radi());
 339         BicycleCar *c;
 340         c = this->flncr(B);
 341         c->s(B->s() + 1);
 342         while ((
 343                 this->slotSide() == LEFT
 344                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 345         ) || (
 346                 this->slotSide() == RIGHT
 347                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 348         )) {
 349                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 350                 BicycleCar *cc = this->flncr(c);
 351                 cc->s(c->s() + 1);
 352                 delete c;
 353                 c = cc;
 354         }
 355         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 356         std::reverse(cusp.begin(), cusp.end());
 357         this->cusp().push_back(cusp);
 358 }
 359
 360 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 361 {
 362         RRTNode *cc;
 363         if (this->slotSide() == LEFT) {
 364                 if (int(B->s()) % 2 == 0)
 365                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 366                 else
 367                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 368         } else {
 369                 if (int(B->s()) % 2 == 0)
 370                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 371                 else
 372                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 373         }
 374         BicycleCar *p;
 375         int i = 1;
 376         p = B->move(cc, i * this->DH());
 377         while (
 378                 !this->slot().collide(p->frame())
 379                 && ((
 380                         this->slotSide() == LEFT
 381                         && this->slot().collide(new RRTNode(
 382                                 p->lfx(),
 383                                 p->lfy(),
 384                                 0
 385                         ))
 386                 ) || (
 387                         this->slotSide() == RIGHT
 388                         && this->slot().collide(new RRTNode(
 389                                 p->rfx(),
 390                                 p->rfy(),
 391                                 0
 392                         ))
 393                 ))
 394         ) {
 395                 delete p;
 396                 i += 10;
 397                 p = B->move(cc, i * this->DH());
 398         }
 399         i -= 10;
 400         p = B->move(cc, i * this->DH());
 401         while (!this->slot().collide(p->frame())) {
 402                 if(
 403                         this->slotSide() == LEFT
 404                         && !this->slot().collide(new RRTNode(
 405                                 p->lfx(),
 406                                 p->lfy(),
 407                                 0
 408                         ))
 409                 ) {
 410                         i += 1;
 411                         break;
 412                 }
 413                 if(
 414                         this->slotSide() == RIGHT
 415                         && !this->slot().collide(new RRTNode(
 416                                 p->rfx(),
 417                                 p->rfy(),
 418                                 0
 419                         ))
 420                 ) {
 421                         i += 1;
 422                         break;
 423                 }
 424                 i += 1;
 425                 p = B->move(cc, i * this->DH());
 426         }
 427         delete p;
 428         return B->move(cc, (i - 1) * this->DH());
 429 }
 430
 431 RRTNode *ParallelSlot::fposecenter()
 432 {
 433         return this->slot().bnodes().back();
 434 }
 435
 436 bool ParallelSlot::flast(
 437         RRTNode *P,
 438         bool right,
 439         int il,
 440         std::vector<RRTNode *> &cusp
 441 )
 442 {
 443         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 444         RRTNode *cc;
 445         if (right)
 446                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 447         else
 448                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 449         BicycleCar *p;
 450         int i = 1;
 451         p = B->move(cc, i * this->DH());
 452         while (!this->slot().collide(p->frame())
 453                         && (
 454                                 (this->DH() > 0 && p->x() <= 0)
 455                                 || (this->DH() < 0 && p->x() >= 0)
 456                         )) {
 457                 delete p;
 458                 i += 10;
 459                 p = B->move(cc, i * this->DH());
 460         }
 461         i -= 10;
 462         p = B->move(cc, i * this->DH());
 463         while (!this->slot().collide(p->frame())
 464                         && (
 465                                 (this->DH() > 0 && p->x() <= 0)
 466                                 || (this->DH() < 0 && p->x() >= 0)
 467                         )) {
 468                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 469                         i += 1;
 470                         break;
 471                 }
 472                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 473                         i += 1;
 474                         break;
 475                 }
 476                 delete p;
 477                 i += 1;
 478                 p = B->move(cc, i * this->DH());
 479         }
 480         delete p;
 481         p = B->move(cc, (i - 1) * this->DH());
 482         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 483                 cusp.push_back(p);
 484                 return true;
 485         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 486                 cusp.push_back(p);
 487                 return true;
 488         } else if (il < 8) {
 489                 cusp.push_back(p);
 490                 return this->flast(p, !right, il + 1, cusp);
 491         }
 492         return false;
 493 }
 494
 495 void ParallelSlot::fpose()
 496 {
 497         bool left = false; // right parking slot
 498         float di = -1;
 499         BicycleCar *CC = new BicycleCar(
 500                 this->fposecenter()->x(),
 501                 this->fposecenter()->y() - 0.01,
 502                 this->slotHeading()
 503         );
 504         BicycleCar *B = new BicycleCar(
 505                 CC->x() - CC->width() / 2,
 506                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 507                 this->slotHeading()
 508         );
 509         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 510                 left = true;
 511                 di = 1;
 512                 delete B;
 513                 B = new BicycleCar(
 514                         CC->x() + CC->width() / 2,
 515                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 516                         this->slotHeading()
 517                 );
 518         }
 519         this->DH(di * 0.01 / CC->out_radi());
 520         BicycleCar *p;
 521         int i = 0;
 522         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 523         while (!this->slot().collide(p->frame())) {
 524                 std::vector<RRTNode *> tmpcusp;
 525                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 526                 if (this->flast(p, left, 0, tmpcusp)) {
 527                         this->cusp().push_back(tmpcusp);
 528                         return;
 529                 }
 530                 i += 1;
 531                 delete p;
 532                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 533         }
 534 }
 535
 536 BicycleCar *ParallelSlot::getEP()
 537 {
 538         // new pose for parallel parking to right slot
 539         float tnx;
 540         float tny;
 541         float nx;
 542         float ny;
 543         BicycleCar *CC = this->getEPC();
 544         // move left by car width / 2
 545         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 546         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 547         if (this->slotSide() == LEFT) {
 548                 // move right by car width / 2
 549                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 550                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 551         }
 552         if (this->slotType() == PARALLEL) {
 553                 // move down
 554                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 555                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 556         } else {
 557                 // move down
 558                 nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
 559                 ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
 560         }
 561         return new BicycleCar(nx, ny, CC->h());
 562 }
 563
 564 BicycleCar *ParallelSlot::getEPC()
 565 {
 566         // new pose for parallel parking to right slot
 567         float ta;
 568         float nx;
 569         float ny;
 570         ta = this->slotHeading() + M_PI;
 571         if (this->slotSide() == RIGHT)
 572                 ta -= M_PI / 4;
 573         else
 574                 ta += M_PI / 4;
 575         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 576         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 577         return new BicycleCar(nx, ny, this->slotHeading());
 578 }
 579
 580 BicycleCar *ParallelSlot::getFP()
 581 {
 582         this->setAll();
 583         float x = this->slot().bnodes()[0]->x();
 584         float y = this->slot().bnodes()[0]->y();
 585         float h = this->slotHeading();
 586         float nx;
 587         float ny;
 588         if (this->slotType() == PARALLEL) {
 589                 if (this->slotSide() == LEFT) {
 590                         nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 591                         ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 592                 } else {
 593                         nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 594                         ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 595                 }
 596                 x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 597                 y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 598         } else {
 599                 if (this->slotSide() == LEFT) {
 600                         h -= M_PI / 2;
 601                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 602                                 * cos(h + M_PI);
 603                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 604                                 * sin(h + M_PI);
 605                         x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 606                         y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 607                 } else {
 608                         h += M_PI / 2;
 609                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 610                                 * cos(h - M_PI);
 611                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 612                                 * sin(h - M_PI);
 613                         x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 614                         y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 615                 }
 616         }
 617         return new BicycleCar(x, y, h);
 618 }
 619
 620 BicycleCar *ParallelSlot::getISPP(BicycleCar *B)
 621 {
 622         float x = this->slot().bnodes().back()->x();
 623         float y = this->slot().bnodes().back()->y();
 624         float y0;
 625         if (this->slotSide() == LEFT) // TODO only for backward parking now
 626                 y0 = B->ccl()->y();
 627         else
 628                 y0 = B->ccr()->y();
 629         float IR = BCAR_IN_RADI;
 630         float a = 1;
 631         float b = -2 * x;
 632         float c = pow(x, 2) + pow(y - y0, 2) - pow(IR, 2);
 633         float D = pow(b, 2) - 4 * a * c;
 634         float x0;
 635         if (this->slotSide() == LEFT)
 636                 x0 = -b - sqrt(D);
 637         else
 638                 x0 = -b + sqrt(D);
 639         x0 /= 2 * a;
 640         return new BicycleCar(x0, B->y(), B->h());
 641 }
 642
 643 BicycleCar *ParallelSlot::getFPf()
 644 {
 645         this->setAll();
 646         float x = this->slot().bnodes().front()->x();
 647         float y = this->slot().bnodes().front()->y();
 648         float h = this->slotHeading();
 649         float nx;
 650         float ny;
 651         if (this->slotSide() == LEFT) {
 652                 h += M_PI / 2;
 653                 nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 654                         * cos(h);
 655                 ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 656                         * sin(h);
 657                 x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 658                 y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 659         } else {
 660                 h -= M_PI / 2;
 661                 nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 662                         * cos(h);
 663                 ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 664                         * sin(h);
 665                 x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 666                 y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 667         }
 668         return new BicycleCar(x, y, h);
 669 }
 670
 671 bool ParallelSlot::isInside(BicycleCar *c)
 672 {
 673         bool inside = true;
 674         RRTNode *tmpn;
 675         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 676         if (!this->slot().collide(tmpn))
 677                 inside = false;
 678         delete tmpn;
 679         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 680         if (!this->slot().collide(tmpn))
 681                 inside = false;
 682         delete tmpn;
 683         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 684         if (!this->slot().collide(tmpn))
 685                 inside = false;
 686         delete tmpn;
 687         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 688         if (!this->slot().collide(tmpn))
 689                 inside = false;
 690         delete tmpn;
 691         return inside;
 692 }
 693
 694 struct SamplingInfo ParallelSlot::getSamplingInfo()
 695 {
 696         struct SamplingInfo si;
 697         RRTNode *n = this->getMidd();
 698         if (this->slotType() == PARALLEL) {
 699                 if (n != nullptr) {
 700                         si.x0 = n->x() + 1.5 * BCAR_LENGTH * cos(n->h());
 701                         si.y0 = n->y() + 1.5 * BCAR_LENGTH * sin(n->h());
 702                         si.h0 = n->h();
 703                 } else {
 704                         si.x0 = this->slot().bnodes().front()->x();
 705                         si.y0 = this->slot().bnodes().front()->y();
 706                         si.h0 = this->slotHeading();
 707                 }
 708                 si.x = BCAR_WIDTH;
 709                 si.y = BCAR_WIDTH;
 710                 si.h = M_PI / 8;
 711         } else {
 712                 // TODO
 713         }
 714         return si;
 715 }