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 float ParallelSlot::poseHeading()
  72 {
  73         return this->poseHeading_;
  74 }
  75
  76 // setter
  77 void ParallelSlot::DH(float dh)
  78 {
  79         this->DH_ = dh;
  80 }
  81
  82 void ParallelSlot::setAll()
  83 {
  84         // slot heading
  85         float y0 = this->slot().bnodes()[0]->y();
  86         float x0 = this->slot().bnodes()[0]->x();
  87         float y3 = this->slot().bnodes()[3]->y();
  88         float x3 = this->slot().bnodes()[3]->x();
  89         float dy = y3 - y0;
  90         float dx = x3 - x0;
  91         this->slotHeading_ = atan2(dy, dx);
  92         // pose heading
  93         float y1 = this->slot().bnodes()[1]->y();
  94         float x1 = this->slot().bnodes()[1]->x();
  95         dy = y0 - y1;
  96         dx = x0 - x1;
  97         this->poseHeading_ = atan2(dy, dx);
  98         // slot side
  99         if (sgn((x1 - x0) * (y3 - y0) - (y1 - y0) * (x3 - x0)) < 0)
 100                 this->slotSide_ = LEFT;
 101         else
 102                 this->slotSide_ = RIGHT;
 103         // slot type
 104         float d1 = EDIST(
 105                 this->slot().bnodes()[0],
 106                 this->slot().bnodes()[1]
 107         );
 108         float d2 = EDIST(
 109                 this->slot().bnodes()[1],
 110                 this->slot().bnodes()[2]
 111         );
 112         if (d1 > d2)
 113                 this->slotType_ = PERPENDICULAR;
 114         else
 115                 this->slotType_ = PARALLEL;
 116 }
 117
 118 // other
 119 void ParallelSlot::fip(
 120         std::vector<CircleObstacle>& co,
 121         std::vector<SegmentObstacle>& so
 122 )
 123 {
 124         this->setAll();
 125         if (this->slotType() == PERPENDICULAR) {
 126                 std::vector<RRTNode *> tmpc;
 127                 BicycleCar *tmpf = this->getFP();
 128                 BicycleCar *tmpb = this->getISPP(tmpf);
 129                 RRTNode *cc;
 130                 if (this->slotSide() == LEFT)
 131                         cc = tmpb->ccl();
 132                 else
 133                         cc = tmpb->ccr();
 134                 if (this->slotSide() == LEFT)
 135                         this->DH(1 * 0.5 / tmpb->out_radi());
 136                 else
 137                         this->DH(-1 * 0.5 / tmpb->out_radi());
 138                 BicycleCar *p;
 139                 int i = 1;
 140                 p = tmpb->move(cc, i * this->DH());
 141                 while (
 142                         !this->slot().collide(p->frame())
 143                         && ((
 144                                 this->slotSide() == LEFT
 145                                 && p->h() < this->slotHeading()
 146                         ) || (
 147                                 this->slotSide() == RIGHT
 148                                 && (
 149                                         p->h() > this->slotHeading()
 150                                         || p->h() < 0
 151                                 )
 152                         ))
 153                 ) {
 154                         if (tmpc.size() == 0) {
 155                                 i = 0;
 156                                 p = this->getFP();
 157                         }
 158                         bool end = false;
 159                         std::vector<RRTEdge *> eds = p->frame();
 160                         for (auto o: co)
 161                                 if (o.collide(eds))
 162                                         end = true;
 163                         for (auto o: so)
 164                                 if (o.collide(eds))
 165                                         end = true;
 166                         for (auto e: eds)
 167                                 delete e;
 168                         if (end)
 169                                 break;
 170                         this->goals_.push_back(p);
 171                         tmpc.push_back(p);
 172                         i += 1;
 173                         p = tmpb->move(cc, i * this->DH());
 174                 }
 175                 if (tmpc.size() > 0)
 176                         this->cusp().push_back(tmpc);
 177                 return;
 178         }
 179         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 180         // RRTNode.s() works as iteration level
 181         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 182         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 183         int di = -1;
 184         if (this->slotSide() == LEFT)
 185                 di = 1;
 186         BicycleCar *CC = this->getEPC();
 187         BicycleCar *B = this->getEP();
 188         this->DH(di * 0.01 / CC->out_radi());
 189         BicycleCar *c;
 190         int i = 0;
 191         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 192         while (!this->slot().collide(c->frame())) {
 193                 bool end = false;
 194                 std::vector<RRTEdge *> eds = c->frame();
 195                 for (auto o: co)
 196                         if (o.collide(eds))
 197                                 end = true;
 198                 for (auto o: so)
 199                         if (o.collide(eds))
 200                                 end = true;
 201                 for (auto e: eds)
 202                         delete e;
 203                 if (!end)
 204                         q.push(c);
 205                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 206                 i += 1;
 207         }
 208         delete c; // not in q and collide
 209         while (!q.empty()) {
 210                 c = q.front();
 211                 q.pop();
 212                 if (this->isInside(c)) {
 213                         goto createcuspandfinish;
 214                 } else if (c->s() < 9) {
 215                         BicycleCar *cc = this->flnc(c, co, so);
 216                         cc->s(c->s() + 1);
 217                         cc->bcparent(c);
 218                         q.push(cc);
 219                 } else {
 220                         delete c; // not in q and collide
 221                 }
 222         }
 223         std::swap(q, empty);
 224         return;
 225 createcuspandfinish:
 226         std::vector<RRTNode *> cusp;
 227         while (c) {
 228                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 229                 c = c->bcparent();
 230         }
 231         std::reverse(cusp.begin(), cusp.end());
 232         this->cusp().push_back(cusp);
 233         std::swap(q, empty);
 234 }
 235
 236 void ParallelSlot::fipf(
 237         std::vector<CircleObstacle>& co,
 238         std::vector<SegmentObstacle>& so
 239 )
 240 {
 241         this->setAll();
 242         std::vector<RRTNode *> tmpc;
 243         BicycleCar *tmpf = this->getFPf();
 244         BicycleCar *tmpb = this->getISPPf(tmpf);
 245         RRTNode *cc;
 246         if (this->slotSide() == LEFT)
 247                 cc = tmpb->ccl();
 248         else
 249                 cc = tmpb->ccr();
 250         if (this->slotSide() == LEFT)
 251                 this->DH(-1 * 0.5 / tmpb->out_radi());
 252         else
 253                 this->DH(1 * 0.5 / tmpb->out_radi());
 254         BicycleCar *p;
 255         int i = 1;
 256         p = tmpb->move(cc, i * this->DH());
 257         while (
 258                 !this->slot().collide(p->frame())
 259                 && ((
 260                         this->slotSide() == LEFT
 261                         && p->h() > this->slotHeading()
 262                 ) || (
 263                         this->slotSide() == RIGHT
 264                         && p->h() < this->slotHeading()
 265                 ))
 266         ) {
 267                 if (tmpc.size() == 0) {
 268                         i = 0;
 269                         p = this->getFPf();
 270                 }
 271                 bool end = false;
 272                 std::vector<RRTEdge *> eds = p->frame();
 273                 for (auto o: co)
 274                         if (o.collide(eds))
 275                                 end = true;
 276                 for (auto o: so)
 277                         if (o.collide(eds))
 278                                 end = true;
 279                 for (auto e: eds)
 280                         delete e;
 281                 if (end)
 282                         break;
 283                 this->goals_.push_back(p);
 284                 tmpc.push_back(p);
 285                 i += 1;
 286                 p = tmpb->move(cc, i * this->DH());
 287         }
 288         if (tmpc.size() > 0)
 289                 this->cusp().push_back(tmpc);
 290         return;
 291 }
 292
 293 BicycleCar *ParallelSlot::flnc(
 294         BicycleCar *B,
 295         std::vector<CircleObstacle>& co,
 296         std::vector<SegmentObstacle>& so
 297 )
 298 {
 299         RRTNode *cc;
 300         if (this->slotSide() == LEFT) {
 301                 if (int(B->s()) % 2 == 0)
 302                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 303                 else
 304                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 305         } else {
 306                 if (int(B->s()) % 2 == 0)
 307                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 308                 else
 309                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 310         }
 311         BicycleCar *p;
 312         int i = 1;
 313         p = B->move(cc, i * this->DH());
 314         while (
 315                 !this->slot().collide(p->frame())
 316                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 317         ) {
 318                 delete p;
 319                 i += 10;
 320                 p = B->move(cc, i * this->DH());
 321                 bool end = false;
 322                 std::vector<RRTEdge *> eds = p->frame();
 323                 for (auto o: co)
 324                         if (o.collide(eds))
 325                                 end = true;
 326                 for (auto o: so)
 327                         if (o.collide(eds))
 328                                 end = true;
 329                 for (auto e: eds)
 330                         delete e;
 331                 if (end)
 332                         break;
 333         }
 334         i -= 10;
 335         p = B->move(cc, i * this->DH());
 336         while (
 337                 !this->slot().collide(p->frame())
 338                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 339         ) {
 340                 if (this->isInside(p)) {
 341                         i += 1;
 342                         break;
 343                 }
 344                 delete p;
 345                 i += 1;
 346                 p = B->move(cc, i * this->DH());
 347                 bool end = false;
 348                 std::vector<RRTEdge *> eds = p->frame();
 349                 for (auto o: co)
 350                         if (o.collide(eds))
 351                                 end = true;
 352                 for (auto o: so)
 353                         if (o.collide(eds))
 354                                 end = true;
 355                 for (auto e: eds)
 356                         delete e;
 357                 if (end)
 358                         break;
 359         }
 360         delete p;
 361         return B->move(cc, (i - 1) * this->DH());
 362 }
 363
 364 void ParallelSlot::fipr(RRTNode *n)
 365 {
 366         return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
 367 }
 368
 369 void ParallelSlot::fipr(BicycleCar *B)
 370 {
 371         std::vector<RRTNode *> cusp;
 372         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 373         int di = 1;
 374         if (this->slotSide() == LEFT)
 375                 di = -1;
 376         if (this->slotType() == PERPENDICULAR) {
 377                 this->DH(di * 0.01 / B->out_radi()); // TODO car in slot h()
 378                 RRTNode *cc;
 379                 if (this->slotSide() == LEFT)
 380                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 381                 else
 382                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 383                 BicycleCar *p;
 384                 int i = 1;
 385                 p = B->move(cc, i * this->DH());
 386                 while (
 387                         !this->slot().collide(p->frame())
 388                         && this->slot().collide(p)
 389                 ) {
 390                         delete p;
 391                         i += 10;
 392                         p = B->move(cc, i * this->DH());
 393                 }
 394                 i -= 10;
 395                 p = B->move(cc, i * this->DH());
 396                 while (
 397                         !this->slot().collide(p->frame())
 398                         && this->slot().collide(p)
 399                 ) {
 400                         delete p;
 401                         i += 1;
 402                         p = B->move(cc, i * this->DH());
 403                 }
 404                 i -= 1;
 405                 p = B->move(cc, i * this->DH());
 406                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 407                 std::reverse(cusp.begin(), cusp.end());
 408                 this->cusp().push_back(cusp);
 409                 return;
 410         }
 411         this->DH(di * 0.01 / B->out_radi());
 412         BicycleCar *c;
 413         c = this->flncr(B);
 414         c->s(B->s() + 1);
 415         while ((
 416                 this->slotSide() == LEFT
 417                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 418         ) || (
 419                 this->slotSide() == RIGHT
 420                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 421         )) {
 422                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 423                 BicycleCar *cc = this->flncr(c);
 424                 cc->s(c->s() + 1);
 425                 delete c;
 426                 c = cc;
 427         }
 428         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 429         std::reverse(cusp.begin(), cusp.end());
 430         this->cusp().push_back(cusp);
 431 }
 432
 433 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 434 {
 435         RRTNode *cc;
 436         if (this->slotSide() == LEFT) {
 437                 if (int(B->s()) % 2 == 0)
 438                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 439                 else
 440                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 441         } else {
 442                 if (int(B->s()) % 2 == 0)
 443                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 444                 else
 445                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 446         }
 447         BicycleCar *p;
 448         int i = 1;
 449         p = B->move(cc, i * this->DH());
 450         while (
 451                 !this->slot().collide(p->frame())
 452                 && ((
 453                         this->slotSide() == LEFT
 454                         && this->slot().collide(new RRTNode(
 455                                 p->lfx(),
 456                                 p->lfy(),
 457                                 0
 458                         ))
 459                 ) || (
 460                         this->slotSide() == RIGHT
 461                         && this->slot().collide(new RRTNode(
 462                                 p->rfx(),
 463                                 p->rfy(),
 464                                 0
 465                         ))
 466                 ))
 467         ) {
 468                 delete p;
 469                 i += 10;
 470                 p = B->move(cc, i * this->DH());
 471         }
 472         i -= 10;
 473         p = B->move(cc, i * this->DH());
 474         while (!this->slot().collide(p->frame())) {
 475                 if(
 476                         this->slotSide() == LEFT
 477                         && !this->slot().collide(new RRTNode(
 478                                 p->lfx(),
 479                                 p->lfy(),
 480                                 0
 481                         ))
 482                 ) {
 483                         i += 1;
 484                         break;
 485                 }
 486                 if(
 487                         this->slotSide() == RIGHT
 488                         && !this->slot().collide(new RRTNode(
 489                                 p->rfx(),
 490                                 p->rfy(),
 491                                 0
 492                         ))
 493                 ) {
 494                         i += 1;
 495                         break;
 496                 }
 497                 i += 1;
 498                 p = B->move(cc, i * this->DH());
 499         }
 500         delete p;
 501         return B->move(cc, (i - 1) * this->DH());
 502 }
 503
 504 RRTNode *ParallelSlot::fposecenter()
 505 {
 506         return this->slot().bnodes().back();
 507 }
 508
 509 bool ParallelSlot::flast(
 510         RRTNode *P,
 511         bool right,
 512         int il,
 513         std::vector<RRTNode *> &cusp
 514 )
 515 {
 516         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 517         RRTNode *cc;
 518         if (right)
 519                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 520         else
 521                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 522         BicycleCar *p;
 523         int i = 1;
 524         p = B->move(cc, i * this->DH());
 525         while (!this->slot().collide(p->frame())
 526                         && (
 527                                 (this->DH() > 0 && p->x() <= 0)
 528                                 || (this->DH() < 0 && p->x() >= 0)
 529                         )) {
 530                 delete p;
 531                 i += 10;
 532                 p = B->move(cc, i * this->DH());
 533         }
 534         i -= 10;
 535         p = B->move(cc, i * this->DH());
 536         while (!this->slot().collide(p->frame())
 537                         && (
 538                                 (this->DH() > 0 && p->x() <= 0)
 539                                 || (this->DH() < 0 && p->x() >= 0)
 540                         )) {
 541                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 542                         i += 1;
 543                         break;
 544                 }
 545                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 546                         i += 1;
 547                         break;
 548                 }
 549                 delete p;
 550                 i += 1;
 551                 p = B->move(cc, i * this->DH());
 552         }
 553         delete p;
 554         p = B->move(cc, (i - 1) * this->DH());
 555         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 556                 cusp.push_back(p);
 557                 return true;
 558         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 559                 cusp.push_back(p);
 560                 return true;
 561         } else if (il < 8) {
 562                 cusp.push_back(p);
 563                 return this->flast(p, !right, il + 1, cusp);
 564         }
 565         return false;
 566 }
 567
 568 void ParallelSlot::fpose()
 569 {
 570         bool left = false; // right parking slot
 571         float di = -1;
 572         BicycleCar *CC = new BicycleCar(
 573                 this->fposecenter()->x(),
 574                 this->fposecenter()->y() - 0.01,
 575                 this->slotHeading()
 576         );
 577         BicycleCar *B = new BicycleCar(
 578                 CC->x() - CC->width() / 2,
 579                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 580                 this->slotHeading()
 581         );
 582         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 583                 left = true;
 584                 di = 1;
 585                 delete B;
 586                 B = new BicycleCar(
 587                         CC->x() + CC->width() / 2,
 588                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 589                         this->slotHeading()
 590                 );
 591         }
 592         this->DH(di * 0.01 / CC->out_radi());
 593         BicycleCar *p;
 594         int i = 0;
 595         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 596         while (!this->slot().collide(p->frame())) {
 597                 std::vector<RRTNode *> tmpcusp;
 598                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 599                 if (this->flast(p, left, 0, tmpcusp)) {
 600                         this->cusp().push_back(tmpcusp);
 601                         return;
 602                 }
 603                 i += 1;
 604                 delete p;
 605                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 606         }
 607 }
 608
 609 BicycleCar *ParallelSlot::getEP()
 610 {
 611         // new pose for parallel parking to right slot
 612         float tnx;
 613         float tny;
 614         float nx;
 615         float ny;
 616         BicycleCar *CC = this->getEPC();
 617         // move left by car width / 2
 618         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 619         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 620         if (this->slotSide() == LEFT) {
 621                 // move right by car width / 2
 622                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 623                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 624         }
 625         if (this->slotType() == PARALLEL) {
 626                 // move down
 627                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 628                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 629         } else {
 630                 // move down
 631                 nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
 632                 ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
 633         }
 634         return new BicycleCar(nx, ny, CC->h());
 635 }
 636
 637 BicycleCar *ParallelSlot::getEPC()
 638 {
 639         // new pose for parallel parking to right slot
 640         float ta;
 641         float nx;
 642         float ny;
 643         ta = this->slotHeading() + M_PI;
 644         if (this->slotSide() == RIGHT)
 645                 ta -= M_PI / 4;
 646         else
 647                 ta += M_PI / 4;
 648         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 649         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 650         return new BicycleCar(nx, ny, this->slotHeading());
 651 }
 652
 653 BicycleCar *ParallelSlot::getFP()
 654 {
 655         this->setAll();
 656         float x = this->slot().bnodes()[0]->x();
 657         float y = this->slot().bnodes()[0]->y();
 658         float h = this->slotHeading();
 659         float ph = this->poseHeading();
 660         float nx;
 661         float ny;
 662         if (this->slotType() == PARALLEL) {
 663                 if (this->slotSide() == LEFT) {
 664                         nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 665                         ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 666                 } else {
 667                         nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 668                         ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 669                 }
 670                 x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 671                 y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 672         } else {
 673                 if (this->slotSide() == LEFT) {
 674                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 675                                 * cos(ph + M_PI);
 676                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 677                                 * sin(ph + M_PI);
 678                         x = nx + (BCAR_DIAG_RRADI) * cos(h);
 679                         y = ny + (BCAR_DIAG_RRADI) * sin(h);
 680                 } else {
 681                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 682                                 * cos(ph + M_PI);
 683                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 684                                 * sin(ph + M_PI);
 685                         x = nx + (BCAR_DIAG_RRADI) * cos(h);
 686                         y = ny + (BCAR_DIAG_RRADI) * sin(h);
 687                 }
 688         }
 689         return new BicycleCar(x, y, ph);
 690 }
 691
 692 BicycleCar *ParallelSlot::getISPP(BicycleCar *B)
 693 {
 694         // rigt side (for right parking slot)
 695         float x = this->slot().bnodes().back()->x();
 696         float y = this->slot().bnodes().back()->y();
 697         float x1;
 698         float y1;
 699         if (this->slotSide() == LEFT) {
 700                 x1 = B->ccl()->x();
 701                 y1 = B->ccl()->y();
 702         } else {
 703                 x1 = B->ccr()->x();
 704                 y1 = B->ccr()->y();
 705         }
 706         float IR = BCAR_IN_RADI;
 707         float a = 1;
 708         float b = (x1 - x) * 2 * cos(B->h()) + (y1 - y) * 2 * sin(B->h());
 709         float c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 710         float D = pow(b, 2) - 4 * a * c;
 711         float delta;
 712         delta = -b - sqrt(D);
 713         delta /= 2 * a;
 714         float delta_1 = delta;
 715         // left front (for right parking slot)
 716         x = this->slot().bnodes().front()->x();
 717         y = this->slot().bnodes().front()->y();
 718         IR = BCAR_OUT_RADI;
 719         a = 1;
 720         b = (x1 - x) * 2 * cos(B->h()) + (y1 - y) * 2 * sin(B->h());
 721         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 722         D = pow(b, 2) - 4 * a * c;
 723         //delta = -b + sqrt(D);
 724         //delta /= 2 * a;
 725         float delta_2 = delta;
 726         delta = -b - sqrt(D);
 727         delta /= 2 * a;
 728         float delta_3 = delta;
 729         delta = std::max(delta_1, std::max(delta_2, delta_3));
 730         return new BicycleCar(
 731                 B->x() + delta * cos(B->h()),
 732                 B->y() + delta * sin(B->h()),
 733                 B->h()
 734         );
 735 }
 736
 737 BicycleCar *ParallelSlot::getFPf()
 738 {
 739         this->setAll();
 740         float x = this->slot().bnodes().front()->x();
 741         float y = this->slot().bnodes().front()->y();
 742         float h = this->slotHeading();
 743         float ph = this->poseHeading();
 744         ph += M_PI;
 745         while (ph > M_PI)
 746                 ph -= 2 * M_PI;
 747         while (ph <= -M_PI)
 748                 ph += 2 * M_PI;
 749         float nx;
 750         float ny;
 751         nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * cos(ph);
 752         ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * sin(ph);
 753         x = nx + (BCAR_DIAG_RRADI) * cos(h);
 754         y = ny + (BCAR_DIAG_RRADI) * sin(h);
 755         return new BicycleCar(x, y, ph);
 756 }
 757
 758 BicycleCar *ParallelSlot::getISPPf(BicycleCar *B)
 759 {
 760         // right rear (for right parking slot)
 761         float x = this->slot().bnodes().front()->x();
 762         float y = this->slot().bnodes().front()->y();
 763         float x1;
 764         float y1;
 765         if (this->slotSide() == LEFT) {
 766                 x1 = B->ccl()->x();
 767                 y1 = B->ccl()->y();
 768         } else {
 769                 x1 = B->ccr()->x();
 770                 y1 = B->ccr()->y();
 771         }
 772         float IR = BCAR_IN_RADI;
 773         float a = 1;
 774         float b = (x - x1) * 2 * cos(B->h()) + (y - y1) * 2 * sin(B->h());
 775         float c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 776         float D = pow(b, 2) - 4 * a * c;
 777         float delta;
 778         delta = -b - sqrt(D); // TODO why this works?
 779         delta /= 2 * a;
 780         float delta_1 = delta;
 781         // left front (for right parking slot)
 782         x = this->slot().bnodes().back()->x();
 783         y = this->slot().bnodes().back()->y();
 784         IR = BCAR_OUT_RADI;
 785         a = 1;
 786         b = (x - x1) * 2 * cos(B->h()) + (y - y1) * 2 * sin(B->h());
 787         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 788         D = pow(b, 2) - 4 * a * c;
 789         delta = -b + sqrt(D);
 790         delta /= 2 * a;
 791         float delta_2 = delta;
 792         delta = -b - sqrt(D);
 793         delta /= 2 * a;
 794         float delta_3 = delta;
 795         delta = std::max(delta_1, std::max(delta_2, delta_3));
 796         return new BicycleCar(
 797                 B->x() - delta * cos(B->h()),
 798                 B->y() - delta * sin(B->h()),
 799                 B->h()
 800         );
 801 }
 802
 803 bool ParallelSlot::isInside(BicycleCar *c)
 804 {
 805         bool inside = true;
 806         RRTNode *tmpn;
 807         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 808         if (!this->slot().collide(tmpn))
 809                 inside = false;
 810         delete tmpn;
 811         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 812         if (!this->slot().collide(tmpn))
 813                 inside = false;
 814         delete tmpn;
 815         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 816         if (!this->slot().collide(tmpn))
 817                 inside = false;
 818         delete tmpn;
 819         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 820         if (!this->slot().collide(tmpn))
 821                 inside = false;
 822         delete tmpn;
 823         return inside;
 824 }
 825
 826 struct SamplingInfo ParallelSlot::getSamplingInfo()
 827 {
 828         struct SamplingInfo si;
 829         RRTNode *n = this->getMidd();
 830         if (this->slotType() == PARALLEL) {
 831                 if (n != nullptr) {
 832                         si.x0 = n->x() + 1.5 * BCAR_LENGTH * cos(n->h());
 833                         si.y0 = n->y() + 1.5 * BCAR_LENGTH * sin(n->h());
 834                         si.h0 = n->h();
 835                 } else {
 836                         si.x0 = this->slot().bnodes().front()->x();
 837                         si.y0 = this->slot().bnodes().front()->y();
 838                         si.h0 = this->slotHeading();
 839                 }
 840                 si.x = BCAR_WIDTH;
 841                 si.y = BCAR_WIDTH;
 842                 si.h = M_PI / 8;
 843         } else {
 844                 // TODO
 845         }
 846         return si;
 847 }