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 // setter
  44 void ParallelSlot::DH(float dh)
  45 {
  46         this->DH_ = dh;
  47 }
  48
  49 // other
  50 void ParallelSlot::fip()
  51 {
  52         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
  53         // RRTNode.s() works as iteration level
  54         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
  55
  56         // TODO add init nodes
  57         // for now just copy fpose()
  58         bool left = false; // right parking slot
  59         float di = -1;
  60         BicycleCar *CC = new BicycleCar(
  61                 this->fposecenter()->x(),
  62                 this->fposecenter()->y() - 0.01,
  63                 M_PI / 2
  64         );
  65         BicycleCar *B = new BicycleCar(
  66                 CC->x() - CC->width() / 2,
  67                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
  68                 M_PI / 2
  69         );
  70         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
  71                 left = true;
  72                 di = 1;
  73                 delete B;
  74                 B = new BicycleCar(
  75                         CC->x() + CC->width() / 2,
  76                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
  77                         M_PI / 2
  78                 );
  79         }
  80         this->DH(di * 0.01 / CC->out_radi());
  81         BicycleCar *c;
  82         int i = 0;
  83         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
  84         while (!this->slot().collide(c->frame())) {
  85                 q.push(c);
  86                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
  87                 i += 1;
  88         }
  89         delete c; // not in q and collide
  90         // BFS
  91         while (!q.empty()) {
  92                 c = q.front();
  93                 q.pop();
  94                 if (this->DH() > 0 && c->rfx() <= 0 && c->rrx() <= 0) {
  95                         goto createcuspandfinish;
  96                 } else if (this->DH() < 0 && c->lfx() >= 0 && c->lrx() >= 0) {
  97                         goto createcuspandfinish;
  98                 } else if (c->s() < 9) {
  99                         BicycleCar *cc = this->flnc(c);
 100                         cc->s(c->s() + 1);
 101                         cc->bcparent(c);
 102                         q.push(cc);
 103                 } else {
 104                         delete c; // not in q and collide
 105                 }
 106         }
 107 createcuspandfinish:
 108         std::vector<RRTNode *> cusp;
 109         while (c) {
 110                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 111                 c = c->bcparent();
 112         }
 113         std::reverse(cusp.begin(), cusp.end());
 114         this->cusp().push_back(cusp);
 115         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 116         std::swap(q, empty);
 117 }
 118
 119 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 120 {
 121         // TODO find last not colliding
 122         // for now just copy flast()
 123         RRTNode *cc;
 124         if (int(B->s()) % 2 == 0)
 125                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 126         else
 127                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 128         BicycleCar *p;
 129         int i = 1;
 130         p = B->move(cc, i * this->DH());
 131         while (!this->slot().collide(p->frame())
 132                         && (
 133                                 (this->DH() > 0 && p->x() <= 0)
 134                                 || (this->DH() < 0 && p->x() >= 0)
 135                         )) {
 136                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 137                         i += 1;
 138                         break;
 139                 }
 140                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 141                         i += 1;
 142                         break;
 143                 }
 144                 i += 1;
 145                 delete p;
 146                 p = B->move(cc, i * this->DH());
 147         }
 148         delete p;
 149         return B->move(cc, (i - 1) * this->DH());
 150 }
 151
 152 RRTNode *ParallelSlot::fposecenter()
 153 {
 154         return this->slot().bnodes().front();
 155 }
 156
 157 bool ParallelSlot::flast(
 158         RRTNode *P,
 159         bool right,
 160         int il,
 161         std::vector<RRTNode *> &cusp
 162 )
 163 {
 164         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 165         RRTNode *cc;
 166         if (right)
 167                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 168         else
 169                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 170         BicycleCar *p;
 171         int i = 1;
 172         p = B->move(cc, i * this->DH());
 173         while (!this->slot().collide(p->frame())
 174                         && (
 175                                 (this->DH() > 0 && p->x() <= 0)
 176                                 || (this->DH() < 0 && p->x() >= 0)
 177                         )) {
 178                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 179                         i += 1;
 180                         break;
 181                 }
 182                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 183                         i += 1;
 184                         break;
 185                 }
 186                 i += 1;
 187                 delete p;
 188                 p = B->move(cc, i * this->DH());
 189         }
 190         delete p;
 191         p = B->move(cc, (i - 1) * this->DH());
 192         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 193                 cusp.push_back(p);
 194                 return true;
 195         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 196                 cusp.push_back(p);
 197                 return true;
 198         } else if (il < 8) {
 199                 cusp.push_back(p);
 200                 return this->flast(p, !right, il + 1, cusp);
 201         }
 202         return false;
 203 }
 204
 205 void ParallelSlot::fpose()
 206 {
 207         bool left = false; // right parking slot
 208         float di = -1;
 209         BicycleCar *CC = new BicycleCar(
 210                 this->fposecenter()->x(),
 211                 this->fposecenter()->y() - 0.01,
 212                 M_PI / 2
 213         );
 214         BicycleCar *B = new BicycleCar(
 215                 CC->x() - CC->width() / 2,
 216                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 217                 M_PI / 2
 218         );
 219         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 220                 left = true;
 221                 di = 1;
 222                 delete B;
 223                 B = new BicycleCar(
 224                         CC->x() + CC->width() / 2,
 225                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 226                         M_PI / 2
 227                 );
 228         }
 229         this->DH(di * 0.01 / CC->out_radi());
 230         BicycleCar *p;
 231         int i = 0;
 232         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 233         while (!this->slot().collide(p->frame())) {
 234                 std::vector<RRTNode *> tmpcusp;
 235                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 236                 if (this->flast(p, left, 0, tmpcusp)) {
 237                         this->cusp().push_back(tmpcusp);
 238                         return;
 239                 }
 240                 i += 1;
 241                 delete p;
 242                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 243         }
 244 }