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 void ParallelSlot::fipf(
 221         std::vector<CircleObstacle>& co,
 222         std::vector<SegmentObstacle>& so
 223 )
 224 {
 225         this->setAll();
 226         std::vector<RRTNode *> tmpc;
 227         BicycleCar *tmpf = this->getFPf();
 228         BicycleCar *tmpb = this->getISPPf(tmpf);
 229         RRTNode *cc;
 230         if (this->slotSide() == LEFT)
 231                 cc = tmpb->ccl();
 232         else
 233                 cc = tmpb->ccr();
 234         if (this->slotSide() == LEFT)
 235                 this->DH(-1 * 0.5 / tmpb->out_radi());
 236         else
 237                 this->DH(1 * 0.5 / tmpb->out_radi());
 238         BicycleCar *p;
 239         int i = 1;
 240         p = tmpb->move(cc, i * this->DH());
 241         while (
 242                 !this->slot().collide(p->frame())
 243                 && ((
 244                         this->slotSide() == LEFT
 245                         && p->h() > this->slotHeading()
 246                 ) || (
 247                         this->slotSide() == RIGHT
 248                         && p->h() < this->slotHeading()
 249                 ))
 250         ) {
 251                 bool end = false;
 252                 std::vector<RRTEdge *> eds = p->frame();
 253                 for (auto o: co)
 254                         if (o.collide(eds))
 255                                 end = true;
 256                 for (auto o: so)
 257                         if (o.collide(eds))
 258                                 end = true;
 259                 for (auto e: eds)
 260                         delete e;
 261                 if (end)
 262                         break;
 263                 this->goals_.push_back(p);
 264                 tmpc.push_back(p);
 265                 i += 1;
 266                 p = tmpb->move(cc, i * this->DH());
 267         }
 268         if (tmpc.size() > 0)
 269                 this->cusp().push_back(tmpc);
 270         return;
 271 }
 272
 273 BicycleCar *ParallelSlot::flnc(
 274         BicycleCar *B,
 275         std::vector<CircleObstacle>& co,
 276         std::vector<SegmentObstacle>& so
 277 )
 278 {
 279         RRTNode *cc;
 280         if (this->slotSide() == LEFT) {
 281                 if (int(B->s()) % 2 == 0)
 282                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 283                 else
 284                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 285         } else {
 286                 if (int(B->s()) % 2 == 0)
 287                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 288                 else
 289                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 290         }
 291         BicycleCar *p;
 292         int i = 1;
 293         p = B->move(cc, i * this->DH());
 294         while (
 295                 !this->slot().collide(p->frame())
 296                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 297         ) {
 298                 delete p;
 299                 i += 10;
 300                 p = B->move(cc, i * this->DH());
 301                 bool end = false;
 302                 std::vector<RRTEdge *> eds = p->frame();
 303                 for (auto o: co)
 304                         if (o.collide(eds))
 305                                 end = true;
 306                 for (auto o: so)
 307                         if (o.collide(eds))
 308                                 end = true;
 309                 for (auto e: eds)
 310                         delete e;
 311                 if (end)
 312                         break;
 313         }
 314         i -= 10;
 315         p = B->move(cc, i * this->DH());
 316         while (
 317                 !this->slot().collide(p->frame())
 318                 && std::abs(this->slotHeading() - p->h()) < M_PI / 2
 319         ) {
 320                 if (this->isInside(p)) {
 321                         i += 1;
 322                         break;
 323                 }
 324                 delete p;
 325                 i += 1;
 326                 p = B->move(cc, i * this->DH());
 327                 bool end = false;
 328                 std::vector<RRTEdge *> eds = p->frame();
 329                 for (auto o: co)
 330                         if (o.collide(eds))
 331                                 end = true;
 332                 for (auto o: so)
 333                         if (o.collide(eds))
 334                                 end = true;
 335                 for (auto e: eds)
 336                         delete e;
 337                 if (end)
 338                         break;
 339         }
 340         delete p;
 341         return B->move(cc, (i - 1) * this->DH());
 342 }
 343
 344 void ParallelSlot::fipr(RRTNode *n)
 345 {
 346         return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
 347 }
 348
 349 void ParallelSlot::fipr(BicycleCar *B)
 350 {
 351         std::vector<RRTNode *> cusp;
 352         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 353         int di = 1;
 354         if (this->slotSide() == LEFT)
 355                 di = -1;
 356         if (this->slotType() == PERPENDICULAR) {
 357                 this->DH(di * 0.01 / B->out_radi()); // TODO car in slot h()
 358                 RRTNode *cc;
 359                 if (this->slotSide() == LEFT)
 360                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 361                 else
 362                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 363                 BicycleCar *p;
 364                 int i = 1;
 365                 p = B->move(cc, i * this->DH());
 366                 while (
 367                         !this->slot().collide(p->frame())
 368                         && this->slot().collide(p)
 369                 ) {
 370                         delete p;
 371                         i += 10;
 372                         p = B->move(cc, i * this->DH());
 373                 }
 374                 i -= 10;
 375                 p = B->move(cc, i * this->DH());
 376                 while (
 377                         !this->slot().collide(p->frame())
 378                         && this->slot().collide(p)
 379                 ) {
 380                         delete p;
 381                         i += 1;
 382                         p = B->move(cc, i * this->DH());
 383                 }
 384                 i -= 1;
 385                 p = B->move(cc, i * this->DH());
 386                 cusp.push_back(new RRTNode(p->x(), p->y(), p->h()));
 387                 std::reverse(cusp.begin(), cusp.end());
 388                 this->cusp().push_back(cusp);
 389                 return;
 390         }
 391         this->DH(di * 0.01 / B->out_radi());
 392         BicycleCar *c;
 393         c = this->flncr(B);
 394         c->s(B->s() + 1);
 395         while ((
 396                 this->slotSide() == LEFT
 397                 && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
 398         ) || (
 399                 this->slotSide() == RIGHT
 400                 && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
 401         )) {
 402                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 403                 BicycleCar *cc = this->flncr(c);
 404                 cc->s(c->s() + 1);
 405                 delete c;
 406                 c = cc;
 407         }
 408         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 409         std::reverse(cusp.begin(), cusp.end());
 410         this->cusp().push_back(cusp);
 411 }
 412
 413 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 414 {
 415         RRTNode *cc;
 416         if (this->slotSide() == LEFT) {
 417                 if (int(B->s()) % 2 == 0)
 418                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 419                 else
 420                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 421         } else {
 422                 if (int(B->s()) % 2 == 0)
 423                         cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 424                 else
 425                         cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 426         }
 427         BicycleCar *p;
 428         int i = 1;
 429         p = B->move(cc, i * this->DH());
 430         while (
 431                 !this->slot().collide(p->frame())
 432                 && ((
 433                         this->slotSide() == LEFT
 434                         && this->slot().collide(new RRTNode(
 435                                 p->lfx(),
 436                                 p->lfy(),
 437                                 0
 438                         ))
 439                 ) || (
 440                         this->slotSide() == RIGHT
 441                         && this->slot().collide(new RRTNode(
 442                                 p->rfx(),
 443                                 p->rfy(),
 444                                 0
 445                         ))
 446                 ))
 447         ) {
 448                 delete p;
 449                 i += 10;
 450                 p = B->move(cc, i * this->DH());
 451         }
 452         i -= 10;
 453         p = B->move(cc, i * this->DH());
 454         while (!this->slot().collide(p->frame())) {
 455                 if(
 456                         this->slotSide() == LEFT
 457                         && !this->slot().collide(new RRTNode(
 458                                 p->lfx(),
 459                                 p->lfy(),
 460                                 0
 461                         ))
 462                 ) {
 463                         i += 1;
 464                         break;
 465                 }
 466                 if(
 467                         this->slotSide() == RIGHT
 468                         && !this->slot().collide(new RRTNode(
 469                                 p->rfx(),
 470                                 p->rfy(),
 471                                 0
 472                         ))
 473                 ) {
 474                         i += 1;
 475                         break;
 476                 }
 477                 i += 1;
 478                 p = B->move(cc, i * this->DH());
 479         }
 480         delete p;
 481         return B->move(cc, (i - 1) * this->DH());
 482 }
 483
 484 RRTNode *ParallelSlot::fposecenter()
 485 {
 486         return this->slot().bnodes().back();
 487 }
 488
 489 bool ParallelSlot::flast(
 490         RRTNode *P,
 491         bool right,
 492         int il,
 493         std::vector<RRTNode *> &cusp
 494 )
 495 {
 496         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 497         RRTNode *cc;
 498         if (right)
 499                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 500         else
 501                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 502         BicycleCar *p;
 503         int i = 1;
 504         p = B->move(cc, i * this->DH());
 505         while (!this->slot().collide(p->frame())
 506                         && (
 507                                 (this->DH() > 0 && p->x() <= 0)
 508                                 || (this->DH() < 0 && p->x() >= 0)
 509                         )) {
 510                 delete p;
 511                 i += 10;
 512                 p = B->move(cc, i * this->DH());
 513         }
 514         i -= 10;
 515         p = B->move(cc, i * this->DH());
 516         while (!this->slot().collide(p->frame())
 517                         && (
 518                                 (this->DH() > 0 && p->x() <= 0)
 519                                 || (this->DH() < 0 && p->x() >= 0)
 520                         )) {
 521                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 522                         i += 1;
 523                         break;
 524                 }
 525                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 526                         i += 1;
 527                         break;
 528                 }
 529                 delete p;
 530                 i += 1;
 531                 p = B->move(cc, i * this->DH());
 532         }
 533         delete p;
 534         p = B->move(cc, (i - 1) * this->DH());
 535         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 536                 cusp.push_back(p);
 537                 return true;
 538         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 539                 cusp.push_back(p);
 540                 return true;
 541         } else if (il < 8) {
 542                 cusp.push_back(p);
 543                 return this->flast(p, !right, il + 1, cusp);
 544         }
 545         return false;
 546 }
 547
 548 void ParallelSlot::fpose()
 549 {
 550         bool left = false; // right parking slot
 551         float di = -1;
 552         BicycleCar *CC = new BicycleCar(
 553                 this->fposecenter()->x(),
 554                 this->fposecenter()->y() - 0.01,
 555                 this->slotHeading()
 556         );
 557         BicycleCar *B = new BicycleCar(
 558                 CC->x() - CC->width() / 2,
 559                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 560                 this->slotHeading()
 561         );
 562         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 563                 left = true;
 564                 di = 1;
 565                 delete B;
 566                 B = new BicycleCar(
 567                         CC->x() + CC->width() / 2,
 568                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 569                         this->slotHeading()
 570                 );
 571         }
 572         this->DH(di * 0.01 / CC->out_radi());
 573         BicycleCar *p;
 574         int i = 0;
 575         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 576         while (!this->slot().collide(p->frame())) {
 577                 std::vector<RRTNode *> tmpcusp;
 578                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 579                 if (this->flast(p, left, 0, tmpcusp)) {
 580                         this->cusp().push_back(tmpcusp);
 581                         return;
 582                 }
 583                 i += 1;
 584                 delete p;
 585                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 586         }
 587 }
 588
 589 BicycleCar *ParallelSlot::getEP()
 590 {
 591         // new pose for parallel parking to right slot
 592         float tnx;
 593         float tny;
 594         float nx;
 595         float ny;
 596         BicycleCar *CC = this->getEPC();
 597         // move left by car width / 2
 598         tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
 599         tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
 600         if (this->slotSide() == LEFT) {
 601                 // move right by car width / 2
 602                 tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
 603                 tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
 604         }
 605         if (this->slotType() == PARALLEL) {
 606                 // move down
 607                 nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
 608                 ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
 609         } else {
 610                 // move down
 611                 nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
 612                 ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
 613         }
 614         return new BicycleCar(nx, ny, CC->h());
 615 }
 616
 617 BicycleCar *ParallelSlot::getEPC()
 618 {
 619         // new pose for parallel parking to right slot
 620         float ta;
 621         float nx;
 622         float ny;
 623         ta = this->slotHeading() + M_PI;
 624         if (this->slotSide() == RIGHT)
 625                 ta -= M_PI / 4;
 626         else
 627                 ta += M_PI / 4;
 628         nx = this->fposecenter()->x() + 0.01 * cos(ta);
 629         ny = this->fposecenter()->y() + 0.01 * sin(ta);
 630         return new BicycleCar(nx, ny, this->slotHeading());
 631 }
 632
 633 BicycleCar *ParallelSlot::getFP()
 634 {
 635         this->setAll();
 636         float x = this->slot().bnodes()[0]->x();
 637         float y = this->slot().bnodes()[0]->y();
 638         float h = this->slotHeading();
 639         float nx;
 640         float ny;
 641         if (this->slotType() == PARALLEL) {
 642                 if (this->slotSide() == LEFT) {
 643                         nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
 644                         ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
 645                 } else {
 646                         nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
 647                         ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
 648                 }
 649                 x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
 650                 y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
 651         } else {
 652                 if (this->slotSide() == LEFT) {
 653                         h -= M_PI / 2;
 654                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 655                                 * cos(h + M_PI);
 656                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 657                                 * sin(h + M_PI);
 658                         x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 659                         y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 660                 } else {
 661                         h += M_PI / 2;
 662                         nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 663                                 * cos(h - M_PI);
 664                         ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
 665                                 * sin(h - M_PI);
 666                         x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 667                         y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 668                 }
 669         }
 670         return new BicycleCar(x, y, h);
 671 }
 672
 673 BicycleCar *ParallelSlot::getISPP(BicycleCar *B)
 674 {
 675         float x = this->slot().bnodes().back()->x();
 676         float y = this->slot().bnodes().back()->y();
 677         float y0;
 678         if (this->slotSide() == LEFT) // TODO only for backward parking now
 679                 y0 = B->ccl()->y();
 680         else
 681                 y0 = B->ccr()->y();
 682         float IR = BCAR_IN_RADI;
 683         float a = 1;
 684         float b = -2 * x;
 685         float c = pow(x, 2) + pow(y - y0, 2) - pow(IR, 2);
 686         float D = pow(b, 2) - 4 * a * c;
 687         float x0;
 688         if (this->slotSide() == LEFT)
 689                 x0 = -b - sqrt(D);
 690         else
 691                 x0 = -b + sqrt(D);
 692         x0 /= 2 * a;
 693         return new BicycleCar(x0, B->y(), B->h());
 694 }
 695
 696 BicycleCar *ParallelSlot::getFPf()
 697 {
 698         this->setAll();
 699         float x = this->slot().bnodes().front()->x();
 700         float y = this->slot().bnodes().front()->y();
 701         float h = this->slotHeading();
 702         float nx;
 703         float ny;
 704         if (this->slotSide() == LEFT) {
 705                 h += M_PI / 2;
 706                 nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 707                         * cos(h);
 708                 ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 709                         * sin(h);
 710                 x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
 711                 y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
 712         } else {
 713                 h -= M_PI / 2;
 714                 nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 715                         * cos(h);
 716                 ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2
 717                         * sin(h);
 718                 x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
 719                 y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
 720         }
 721         return new BicycleCar(x, y, h);
 722 }
 723
 724 BicycleCar *ParallelSlot::getISPPf(BicycleCar *B)
 725 {
 726         float x = this->slot().bnodes().front()->x();
 727         float y = this->slot().bnodes().front()->y();
 728         float y0;
 729         if (this->slotSide() == LEFT)
 730                 y0 = B->ccl()->y();
 731         else
 732                 y0 = B->ccr()->y();
 733         float IR = BCAR_IN_RADI;
 734         float a = 1;
 735         float b = -2 * x;
 736         float c = pow(x, 2) + pow(y - y0, 2) - pow(IR, 2);
 737         float D = pow(b, 2) - 4 * a * c;
 738         float x0;
 739         if (this->slotSide() == LEFT)
 740                 x0 = -b - sqrt(D);
 741         else
 742                 x0 = -b + sqrt(D);
 743         x0 /= 2 * a;
 744         float x0_1 = x0;
 745         // left front
 746         x = this->slot().bnodes().back()->x();
 747         y = this->slot().bnodes().back()->y();
 748         IR = BCAR_OUT_RADI;
 749         a = 1;
 750         b = -2 * x;
 751         c = pow(x, 2) + pow(y - y0, 2) - pow(IR, 2);
 752         D = pow(b, 2) - 4 * a * c;
 753         if (this->slotSide() == LEFT)
 754                 x0 = -b + sqrt(D);
 755         else
 756                 x0 = -b - sqrt(D);
 757         x0 /= 2 * a;
 758         float x0_2 = x0;
 759         if (this->slotSide() == LEFT)
 760                 x0 = std::max(x0_1, x0_2);
 761         else
 762                 x0 = std::min(x0_1, x0_2);
 763         return new BicycleCar(x0, B->y(), B->h());
 764 }
 765
 766 bool ParallelSlot::isInside(BicycleCar *c)
 767 {
 768         bool inside = true;
 769         RRTNode *tmpn;
 770         tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
 771         if (!this->slot().collide(tmpn))
 772                 inside = false;
 773         delete tmpn;
 774         tmpn = new RRTNode(c->lrx(), c->lry(), 0);
 775         if (!this->slot().collide(tmpn))
 776                 inside = false;
 777         delete tmpn;
 778         tmpn = new RRTNode(c->rrx(), c->rry(), 0);
 779         if (!this->slot().collide(tmpn))
 780                 inside = false;
 781         delete tmpn;
 782         tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
 783         if (!this->slot().collide(tmpn))
 784                 inside = false;
 785         delete tmpn;
 786         return inside;
 787 }
 788
 789 struct SamplingInfo ParallelSlot::getSamplingInfo()
 790 {
 791         struct SamplingInfo si;
 792         RRTNode *n = this->getMidd();
 793         if (this->slotType() == PARALLEL) {
 794                 if (n != nullptr) {
 795                         si.x0 = n->x() + 1.5 * BCAR_LENGTH * cos(n->h());
 796                         si.y0 = n->y() + 1.5 * BCAR_LENGTH * sin(n->h());
 797                         si.h0 = n->h();
 798                 } else {
 799                         si.x0 = this->slot().bnodes().front()->x();
 800                         si.y0 = this->slot().bnodes().front()->y();
 801                         si.h0 = this->slotHeading();
 802                 }
 803                 si.x = BCAR_WIDTH;
 804                 si.y = BCAR_WIDTH;
 805                 si.h = M_PI / 8;
 806         } else {
 807                 // TODO
 808         }
 809         return si;
 810 }