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                 float h1 = atan2(y0 - y3, x0 - x3);
  64                 float h2 = atan2(y1 - y3, x1 - x3);
  65                 if (h2 - h1 > 0)
  66                         this->slotSide_ = LEFT;
  67                 else
  68                         this->slotSide_ = RIGHT;
  69         }
  70         return this->slotSide_;
  71 }
  72
  73 SlotType ParallelSlot::slotType()
  74 {
  75         if (!this->slotType_) {
  76                 float d1 = EDIST(
  77                         this->slot().bnodes()[0],
  78                         this->slot().bnodes()[1]
  79                 );
  80                 float d2 = EDIST(
  81                         this->slot().bnodes()[1],
  82                         this->slot().bnodes()[2]
  83                 );
  84                 if (d1 > d2)
  85                         this->slotType_ = PERPENDICULAR;
  86                 else
  87                         this->slotType_ = PARALLEL;
  88         }
  89         return this->slotType_;
  90 }
  91
  92 // setter
  93 void ParallelSlot::DH(float dh)
  94 {
  95         this->DH_ = dh;
  96 }
  97
  98 // other
  99 void ParallelSlot::fip()
 100 {
 101         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 102         // RRTNode.s() works as iteration level
 103         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
 104
 105         // TODO add init nodes
 106         // for now just copy fpose()
 107         bool left = false; // right parking slot
 108         float di = -1;
 109         // new pose for parallel parking to right slot
 110         float tnx;
 111         float tny;
 112         float nx;
 113         float ny;
 114         // temporary tnx is angle
 115         tnx = this->slotHeading() + M_PI;
 116         if (this->slotSide() == RIGHT)
 117                 tnx -= M_PI / 4;
 118         else
 119                 tnx += M_PI / 4;
 120         nx = this->fposecenter()->x() + 0.01 * cos(tnx);
 121         ny = this->fposecenter()->y() + 0.01 * sin(tnx);
 122         BicycleCar *CC = new BicycleCar(nx, ny, this->slotHeading());
 123         // move left by car width / 2
 124         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 125         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 126         // move down
 127         nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 128         ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 129         if (this->slotSide() == LEFT) {
 130                 std::cerr << "left PS" << std::endl;
 131                 left = true;
 132                 di = 1;
 133                 // move right by car width / 2
 134                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 135                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 136                 // move down
 137                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 138                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 139         }
 140         BicycleCar *B = new BicycleCar(nx, ny, CC->h());
 141         this->DH(di * 0.01 / CC->out_radi());
 142         BicycleCar *c;
 143         int i = 0;
 144         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 145         while (!this->slot().collide(c->frame())) {
 146                 q.push(c);
 147                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 148                 i += 1;
 149         }
 150         delete c; // not in q and collide
 151         // BFS
 152         while (!q.empty()) {
 153                 c = q.front();
 154                 q.pop();
 155                 if (this->isInside(c)) {
 156                         goto createcuspandfinish;
 157                 } else if (c->s() < 9) {
 158                         BicycleCar *cc = this->flnc(c);
 159                         cc->s(c->s() + 1);
 160                         cc->bcparent(c);
 161                         q.push(cc);
 162                 } else {
 163                         delete c; // not in q and collide
 164                 }
 165         }
 166 createcuspandfinish:
 167         std::vector<RRTNode *> cusp;
 168         while (c) {
 169                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 170                 c = c->bcparent();
 171         }
 172         std::reverse(cusp.begin(), cusp.end());
 173         this->cusp().push_back(cusp);
 174         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 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
 183         std::vector<RRTNode *> cusp;
 184         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 185         // just copied from fip()
 186         this->DH(-0.01 / B->out_radi());
 187         BicycleCar *c;
 188         c = this->flncr(B);
 189         while (c->lfx() < 0) {
 190                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 191                 BicycleCar *cc = this->flncr(c);
 192                 cc->s(c->s() + 1);
 193                 delete c;
 194                 c = cc;
 195         }
 196         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 197         std::reverse(cusp.begin(), cusp.end());
 198         this->cusp().push_back(cusp);
 199 }
 200
 201 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 202 {
 203         // TODO find last not colliding
 204         // for now just copy flast()
 205         RRTNode *cc;
 206         if (int(B->s()) % 2 == 0) {
 207                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 208         } else {
 209                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 210         }
 211         float di = -1;
 212         if (this->slotSide() == LEFT)
 213                 di = 1;
 214         BicycleCar *p;
 215         int i = 1;
 216         p = B->move(cc, i * di * this->DH());
 217         while (!this->slot().collide(p->frame())) {
 218                 delete p;
 219                 i += 10;
 220                 p = B->move(cc, i * this->DH());
 221         }
 222         i -= 10;
 223         p = B->move(cc, i * di * this->DH());
 224         while (!this->slot().collide(p->frame())) {
 225                 if (this->isInside(p)) {
 226                         i += 1;
 227                         break;
 228                 }
 229                 delete p;
 230                 i += 1;
 231                 p = B->move(cc, i * this->DH());
 232         }
 233         delete p;
 234         return B->move(cc, (i - 1) * this->DH());
 235 }
 236
 237 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 238 {
 239         // TODO find last not colliding
 240         // for now just copy flast()
 241         RRTNode *cc;
 242         if (int(B->s()) % 2 == 0)
 243                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 244         else
 245                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 246         BicycleCar *p;
 247         int i = 1;
 248         p = B->move(cc, i * this->DH());
 249         while (!this->slot().collide(p->frame())
 250                         && (
 251                                 (this->DH() > 0 && p->x() >= 0)
 252                                 || (this->DH() < 0 && p->lfx() <= 0)
 253                         )) {
 254                 delete p;
 255                 i += 10;
 256                 p = B->move(cc, i * this->DH());
 257         }
 258         i -= 10;
 259         p = B->move(cc, i * this->DH());
 260         while (!this->slot().collide(p->frame())) {
 261                 if (this->DH() > 0 && p->x() <= 0) {
 262                         i += 1;
 263                         break;
 264                 }
 265                 if (this->DH() < 0 && p->lfx() >= 0) {
 266                         i += 1;
 267                         break;
 268                 }
 269                 delete p;
 270                 i += 1;
 271                 p = B->move(cc, i * this->DH());
 272         }
 273         delete p;
 274         return B->move(cc, (i - 1) * this->DH());
 275 }
 276
 277 RRTNode *ParallelSlot::fposecenter()
 278 {
 279         return this->slot().bnodes().front();
 280 }
 281
 282 bool ParallelSlot::flast(
 283         RRTNode *P,
 284         bool right,
 285         int il,
 286         std::vector<RRTNode *> &cusp
 287 )
 288 {
 289         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 290         RRTNode *cc;
 291         if (right)
 292                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 293         else
 294                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 295         BicycleCar *p;
 296         int i = 1;
 297         p = B->move(cc, i * this->DH());
 298         while (!this->slot().collide(p->frame())
 299                         && (
 300                                 (this->DH() > 0 && p->x() <= 0)
 301                                 || (this->DH() < 0 && p->x() >= 0)
 302                         )) {
 303                 delete p;
 304                 i += 10;
 305                 p = B->move(cc, i * this->DH());
 306         }
 307         i -= 10;
 308         p = B->move(cc, i * this->DH());
 309         while (!this->slot().collide(p->frame())
 310                         && (
 311                                 (this->DH() > 0 && p->x() <= 0)
 312                                 || (this->DH() < 0 && p->x() >= 0)
 313                         )) {
 314                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 315                         i += 1;
 316                         break;
 317                 }
 318                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 319                         i += 1;
 320                         break;
 321                 }
 322                 delete p;
 323                 i += 1;
 324                 p = B->move(cc, i * this->DH());
 325         }
 326         delete p;
 327         p = B->move(cc, (i - 1) * this->DH());
 328         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 329                 cusp.push_back(p);
 330                 return true;
 331         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 332                 cusp.push_back(p);
 333                 return true;
 334         } else if (il < 8) {
 335                 cusp.push_back(p);
 336                 return this->flast(p, !right, il + 1, cusp);
 337         }
 338         return false;
 339 }
 340
 341 void ParallelSlot::fpose()
 342 {
 343         bool left = false; // right parking slot
 344         float di = -1;
 345         BicycleCar *CC = new BicycleCar(
 346                 this->fposecenter()->x(),
 347                 this->fposecenter()->y() - 0.01,
 348                 this->slotHeading()
 349         );
 350         BicycleCar *B = new BicycleCar(
 351                 CC->x() - CC->width() / 2,
 352                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 353                 this->slotHeading()
 354         );
 355         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 356                 left = true;
 357                 di = 1;
 358                 delete B;
 359                 B = new BicycleCar(
 360                         CC->x() + CC->width() / 2,
 361                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 362                         this->slotHeading()
 363                 );
 364         }
 365         this->DH(di * 0.01 / CC->out_radi());
 366         BicycleCar *p;
 367         int i = 0;
 368         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 369         while (!this->slot().collide(p->frame())) {
 370                 std::vector<RRTNode *> tmpcusp;
 371                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 372                 if (this->flast(p, left, 0, tmpcusp)) {
 373                         this->cusp().push_back(tmpcusp);
 374                         return;
 375                 }
 376                 i += 1;
 377                 delete p;
 378                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 379         }
 380 }
 381
 382 bool ParallelSlot::isInside(BicycleCar *c)
 383 {
 384         bool inside = true;
 385         RRTNode *tmpn;
 386         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 387         if (!this->slot().collide(tmpn))
 388                 inside = false;
 389         delete tmpn;
 390         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 391         if (!this->slot().collide(tmpn))
 392                 inside = false;
 393         delete tmpn;
 394         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 395         if (!this->slot().collide(tmpn))
 396                 inside = false;
 397         delete tmpn;
 398         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 399         if (!this->slot().collide(tmpn))
 400                 inside = false;
 401         delete tmpn;
 402         return inside;
 403 }
 404
 405 struct SamplingInfo ParallelSlot::getSamplingInfo()
 406 {
 407         struct SamplingInfo si;
 408         BicycleCar *CC = new BicycleCar(
 409                 this->fposecenter()->x(),
 410                 this->fposecenter()->y() - 0.01,
 411                 this->slotHeading()
 412         );
 413         si.x = this->slot().bnodes()[0]->x();
 414         si.y = this->slot().bnodes()[0]->y();
 415         si.r = CC->diag_radi();
 416         si.h = this->slotHeading() - acos(EDIST( // TODO generalize
 417                 this->slot().bnodes()[0],
 418                 this->slot().bnodes()[1]
 419         ) / BCAR_LENGTH);
 420         return si;
 421 }