{}
// getter
+std::vector<RRTNode *> &ParallelSlot::goals()
+{
+ return this->goals_;
+}
+
+RRTNode *ParallelSlot::getMidd()
+{
+ if (this->cusp().size() > 0)
+ return this->cusp().front().front();
+ else
+ return nullptr;
+}
+
std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
{
return this->cusp_;
float ParallelSlot::slotHeading()
{
- float y0 = this->slot().bnodes()[0]->y();
- float x0 = this->slot().bnodes()[0]->x();
- float y3 = this->slot().bnodes()[3]->y();
- float x3 = this->slot().bnodes()[3]->x();
- float dy = y0 - y3;
- float dx = x0 - x3;
- return atan2(dy, dx);
+ return this->slotHeading_;
}
SlotSide ParallelSlot::slotSide()
return this->slotType_;
}
+float ParallelSlot::poseHeading()
+{
+ return this->poseHeading_;
+}
+
// setter
void ParallelSlot::DH(float dh)
{
void ParallelSlot::setAll()
{
- // slot side
+ // slot heading
float y0 = this->slot().bnodes()[0]->y();
float x0 = this->slot().bnodes()[0]->x();
- float y1 = this->slot().bnodes()[1]->y();
- float x1 = this->slot().bnodes()[1]->x();
float y3 = this->slot().bnodes()[3]->y();
float x3 = this->slot().bnodes()[3]->x();
- if (sgn((x1 - x3) * (y0 - y3) - (y1 - y3) * (x0 - x3)) < 0)
+ float dy = y3 - y0;
+ float dx = x3 - x0;
+ this->slotHeading_ = atan2(dy, dx);
+ // pose heading
+ float y1 = this->slot().bnodes()[1]->y();
+ float x1 = this->slot().bnodes()[1]->x();
+ dy = y0 - y1;
+ dx = x0 - x1;
+ this->poseHeading_ = atan2(dy, dx);
+ // slot side
+ if (sgn((x1 - x0) * (y3 - y0) - (y1 - y0) * (x3 - x0)) < 0)
this->slotSide_ = LEFT;
else
this->slotSide_ = RIGHT;
}
// other
-void ParallelSlot::fip()
+void ParallelSlot::fip(
+ std::vector<CircleObstacle>& co,
+ std::vector<SegmentObstacle>& so
+)
{
+ this->setAll();
+ if (this->slotType() == PERPENDICULAR) {
+ std::vector<RRTNode *> tmpc;
+ BicycleCar *tmpf = this->getFP();
+ BicycleCar *tmpb = this->getISPP(tmpf);
+ RRTNode *cc;
+ if (this->slotSide() == LEFT)
+ cc = tmpb->ccl();
+ else
+ cc = tmpb->ccr();
+ if (this->slotSide() == LEFT)
+ this->DH(1 * 0.5 / tmpb->out_radi());
+ else
+ this->DH(-1 * 0.5 / tmpb->out_radi());
+ BicycleCar *p;
+ int i = 1;
+ p = tmpb->move(cc, i * this->DH());
+ while (
+ !this->slot().collide(p->frame())
+ && ((
+ this->slotSide() == LEFT
+ && p->h() < this->slotHeading()
+ ) || (
+ this->slotSide() == RIGHT
+ && (
+ p->h() > this->slotHeading()
+ || p->h() < 0
+ )
+ ))
+ ) {
+ if (tmpc.size() == 0) {
+ i = 0;
+ p = this->getFP();
+ }
+ bool end = false;
+ std::vector<RRTEdge *> eds = p->frame();
+ for (auto o: co)
+ if (o.collide(eds))
+ end = true;
+ for (auto o: so)
+ if (o.collide(eds))
+ end = true;
+ for (auto e: eds)
+ delete e;
+ if (end)
+ break;
+ this->goals_.push_back(p);
+ tmpc.push_back(p);
+ i += 1;
+ p = tmpb->move(cc, i * this->DH());
+ }
+ if (tmpc.size() > 0)
+ this->cusp().push_back(tmpc);
+ return;
+ }
// see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
// RRTNode.s() works as iteration level
std::queue<BicycleCar *, std::list<BicycleCar *>> q;
int i = 0;
c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
while (!this->slot().collide(c->frame())) {
- q.push(c);
+ bool end = false;
+ std::vector<RRTEdge *> eds = c->frame();
+ for (auto o: co)
+ if (o.collide(eds))
+ end = true;
+ for (auto o: so)
+ if (o.collide(eds))
+ end = true;
+ for (auto e: eds)
+ delete e;
+ if (!end)
+ q.push(c);
c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
i += 1;
}
if (this->isInside(c)) {
goto createcuspandfinish;
} else if (c->s() < 9) {
- BicycleCar *cc = this->flnc(c);
+ BicycleCar *cc = this->flnc(c, co, so);
cc->s(c->s() + 1);
cc->bcparent(c);
q.push(cc);
std::swap(q, empty);
}
+void ParallelSlot::fipf(
+ std::vector<CircleObstacle>& co,
+ std::vector<SegmentObstacle>& so
+)
+{
+ this->setAll();
+ std::vector<RRTNode *> tmpc;
+ BicycleCar *tmpf = this->getFPf();
+ BicycleCar *tmpb = this->getISPPf(tmpf);
+ RRTNode *cc;
+ if (this->slotSide() == LEFT)
+ cc = tmpb->ccl();
+ else
+ cc = tmpb->ccr();
+ if (this->slotSide() == LEFT)
+ this->DH(-1 * 0.5 / tmpb->out_radi());
+ else
+ this->DH(1 * 0.5 / tmpb->out_radi());
+ BicycleCar *p;
+ int i = 1;
+ p = tmpb->move(cc, i * this->DH());
+ while (
+ !this->slot().collide(p->frame())
+ && ((
+ this->slotSide() == LEFT
+ && p->h() > this->slotHeading()
+ ) || (
+ this->slotSide() == RIGHT
+ && p->h() < this->slotHeading()
+ ))
+ ) {
+ if (tmpc.size() == 0) {
+ i = 0;
+ p = this->getFPf();
+ }
+ bool end = false;
+ std::vector<RRTEdge *> eds = p->frame();
+ for (auto o: co)
+ if (o.collide(eds))
+ end = true;
+ for (auto o: so)
+ if (o.collide(eds))
+ end = true;
+ for (auto e: eds)
+ delete e;
+ if (end)
+ break;
+ this->goals_.push_back(p);
+ tmpc.push_back(p);
+ i += 1;
+ p = tmpb->move(cc, i * this->DH());
+ }
+ if (tmpc.size() > 0)
+ this->cusp().push_back(tmpc);
+ return;
+}
+
+BicycleCar *ParallelSlot::flnc(
+ BicycleCar *B,
+ std::vector<CircleObstacle>& co,
+ std::vector<SegmentObstacle>& so
+)
+{
+ RRTNode *cc;
+ if (this->slotSide() == LEFT) {
+ if (int(B->s()) % 2 == 0)
+ cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
+ else
+ cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
+ } else {
+ if (int(B->s()) % 2 == 0)
+ cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
+ else
+ cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
+ }
+ BicycleCar *p;
+ int i = 1;
+ p = B->move(cc, i * this->DH());
+ while (
+ !this->slot().collide(p->frame())
+ && std::abs(this->slotHeading() - p->h()) < M_PI / 2
+ ) {
+ delete p;
+ i += 10;
+ p = B->move(cc, i * this->DH());
+ bool end = false;
+ std::vector<RRTEdge *> eds = p->frame();
+ for (auto o: co)
+ if (o.collide(eds))
+ end = true;
+ for (auto o: so)
+ if (o.collide(eds))
+ end = true;
+ for (auto e: eds)
+ delete e;
+ if (end)
+ break;
+ }
+ i -= 10;
+ p = B->move(cc, i * this->DH());
+ while (
+ !this->slot().collide(p->frame())
+ && std::abs(this->slotHeading() - p->h()) < M_PI / 2
+ ) {
+ if (this->isInside(p)) {
+ i += 1;
+ break;
+ }
+ delete p;
+ i += 1;
+ p = B->move(cc, i * this->DH());
+ bool end = false;
+ std::vector<RRTEdge *> eds = p->frame();
+ for (auto o: co)
+ if (o.collide(eds))
+ end = true;
+ for (auto o: so)
+ if (o.collide(eds))
+ end = true;
+ for (auto e: eds)
+ delete e;
+ if (end)
+ break;
+ }
+ delete p;
+ return B->move(cc, (i - 1) * this->DH());
+}
+
void ParallelSlot::fipr(RRTNode *n)
{
return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
this->cusp().push_back(cusp);
}
-BicycleCar *ParallelSlot::flnc(BicycleCar *B)
-{
- RRTNode *cc;
- if (this->slotSide() == LEFT) {
- if (int(B->s()) % 2 == 0)
- cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
- else
- cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
- } else {
- if (int(B->s()) % 2 == 0)
- cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
- else
- cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
- }
- BicycleCar *p;
- int i = 1;
- p = B->move(cc, i * this->DH());
- while (
- !this->slot().collide(p->frame())
- && std::abs(this->slotHeading() - p->h()) < M_PI / 2
- ) {
- delete p;
- i += 10;
- p = B->move(cc, i * this->DH());
- }
- i -= 10;
- p = B->move(cc, i * this->DH());
- while (
- !this->slot().collide(p->frame())
- && std::abs(this->slotHeading() - p->h()) < M_PI / 2
- ) {
- if (this->isInside(p)) {
- i += 1;
- break;
- }
- delete p;
- i += 1;
- p = B->move(cc, i * this->DH());
- }
- delete p;
- return B->move(cc, (i - 1) * this->DH());
-}
-
BicycleCar *ParallelSlot::flncr(BicycleCar *B)
{
RRTNode *cc;
RRTNode *ParallelSlot::fposecenter()
{
- return this->slot().bnodes().front();
+ return this->slot().bnodes().back();
}
bool ParallelSlot::flast(
BicycleCar *ParallelSlot::getFP()
{
- float x = this->slot().bnodes()[3]->x();
- float y = this->slot().bnodes()[3]->y();
+ this->setAll();
+ float x = this->slot().bnodes()[0]->x();
+ float y = this->slot().bnodes()[0]->y();
float h = this->slotHeading();
+ float ph = this->poseHeading();
float nx;
float ny;
if (this->slotType() == PARALLEL) {
y = ny + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * sin(h);
} else {
if (this->slotSide() == LEFT) {
- h -= M_PI / 2;
nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
- * cos(h + M_PI);
+ * cos(ph + M_PI);
ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
- * sin(h + M_PI);
- x = nx + (BCAR_DIAG_RRADI) * cos(h + M_PI / 2);
- y = ny + (BCAR_DIAG_RRADI) * sin(h + M_PI / 2);
+ * sin(ph + M_PI);
+ x = nx + (BCAR_DIAG_RRADI) * cos(h);
+ y = ny + (BCAR_DIAG_RRADI) * sin(h);
} else {
- h += M_PI / 2;
nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
- * cos(h - M_PI);
+ * cos(ph + M_PI);
ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
- * sin(h - M_PI);
- x = nx + (BCAR_DIAG_RRADI) * cos(h - M_PI / 2);
- y = ny + (BCAR_DIAG_RRADI) * sin(h - M_PI / 2);
+ * sin(ph + M_PI);
+ x = nx + (BCAR_DIAG_RRADI) * cos(h);
+ y = ny + (BCAR_DIAG_RRADI) * sin(h);
}
}
- return new BicycleCar(x, y, h);
+ return new BicycleCar(x, y, ph);
+}
+
+BicycleCar *ParallelSlot::getISPP(BicycleCar *B)
+{
+ // rigt side (for right parking slot)
+ float x = this->slot().bnodes().back()->x();
+ float y = this->slot().bnodes().back()->y();
+ float x1;
+ float y1;
+ if (this->slotSide() == LEFT) {
+ x1 = B->ccl()->x();
+ y1 = B->ccl()->y();
+ } else {
+ x1 = B->ccr()->x();
+ y1 = B->ccr()->y();
+ }
+ float IR = BCAR_IN_RADI;
+ float a = 1;
+ float b = (x1 - x) * 2 * cos(B->h()) + (y1 - y) * 2 * sin(B->h());
+ float c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ float D = pow(b, 2) - 4 * a * c;
+ float delta;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ float delta_1 = delta;
+ // left front (for right parking slot)
+ x = this->slot().bnodes().front()->x();
+ y = this->slot().bnodes().front()->y();
+ IR = BCAR_OUT_RADI;
+ a = 1;
+ b = (x1 - x) * 2 * cos(B->h()) + (y1 - y) * 2 * sin(B->h());
+ c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ D = pow(b, 2) - 4 * a * c;
+ //delta = -b + sqrt(D);
+ //delta /= 2 * a;
+ float delta_2 = delta;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ float delta_3 = delta;
+ delta = std::max(delta_1, std::max(delta_2, delta_3));
+ return new BicycleCar(
+ B->x() + delta * cos(B->h()),
+ B->y() + delta * sin(B->h()),
+ B->h()
+ );
+}
+
+BicycleCar *ParallelSlot::getFPf()
+{
+ this->setAll();
+ float x = this->slot().bnodes().front()->x();
+ float y = this->slot().bnodes().front()->y();
+ float h = this->slotHeading();
+ float ph = this->poseHeading();
+ ph += M_PI;
+ while (ph > M_PI)
+ ph -= 2 * M_PI;
+ while (ph <= -M_PI)
+ ph += 2 * M_PI;
+ float nx;
+ float ny;
+ nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * cos(ph);
+ ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * sin(ph);
+ x = nx + (BCAR_DIAG_RRADI) * cos(h);
+ y = ny + (BCAR_DIAG_RRADI) * sin(h);
+ return new BicycleCar(x, y, ph);
+}
+
+BicycleCar *ParallelSlot::getISPPf(BicycleCar *B)
+{
+ // right rear (for right parking slot)
+ float x = this->slot().bnodes().front()->x();
+ float y = this->slot().bnodes().front()->y();
+ float x1;
+ float y1;
+ if (this->slotSide() == LEFT) {
+ x1 = B->ccl()->x();
+ y1 = B->ccl()->y();
+ } else {
+ x1 = B->ccr()->x();
+ y1 = B->ccr()->y();
+ }
+ float IR = BCAR_IN_RADI;
+ float a = 1;
+ float b = (x - x1) * 2 * cos(B->h()) + (y - y1) * 2 * sin(B->h());
+ float c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ float D = pow(b, 2) - 4 * a * c;
+ float delta;
+ delta = -b - sqrt(D); // TODO why this works?
+ delta /= 2 * a;
+ float delta_1 = delta;
+ // left front (for right parking slot)
+ x = this->slot().bnodes().back()->x();
+ y = this->slot().bnodes().back()->y();
+ IR = BCAR_OUT_RADI;
+ a = 1;
+ b = (x - x1) * 2 * cos(B->h()) + (y - y1) * 2 * sin(B->h());
+ c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ D = pow(b, 2) - 4 * a * c;
+ delta = -b + sqrt(D);
+ delta /= 2 * a;
+ float delta_2 = delta;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ float delta_3 = delta;
+ delta = std::max(delta_1, std::max(delta_2, delta_3));
+ return new BicycleCar(
+ B->x() - delta * cos(B->h()),
+ B->y() - delta * sin(B->h()),
+ B->h()
+ );
}
bool ParallelSlot::isInside(BicycleCar *c)
struct SamplingInfo ParallelSlot::getSamplingInfo()
{
struct SamplingInfo si;
- BicycleCar *CC = this->getEPC();
- si.x = this->slot().bnodes()[0]->x();
- si.y = this->slot().bnodes()[0]->y();
- if (this->slotSide() == RIGHT) {
- si.dx = 1;
- si.dy = 1;
- si.dh = 1;
- } else {
- si.dx = -1;
- si.dy = -1;
- si.dh = -1;
- }
- si.r = CC->diag_radi();
- si.sh = this->slotHeading();
+ RRTNode *n = this->getMidd();
+ if (n == nullptr)
+ return si;
+ BicycleCar *bc = new BicycleCar(n->x(), n->y(), n->h());
+ RRTNode *cc;
+ if (this->slotSide() == LEFT)
+ cc = bc->ccl();
+ else
+ cc = bc->ccr();
if (this->slotType() == PARALLEL) {
- si.h = this->slotHeading() - acos(EDIST(
- this->slot().bnodes()[0],
- this->slot().bnodes()[1]
- ) / BCAR_LENGTH);
+ BicycleCar *nbc = bc->move(cc, this->slotHeading() - n->h());
+ si.x0 = nbc->x();
+ si.y0 = nbc->y();
+ si.h0 = nbc->h();
+ si.x = BCAR_WIDTH;
+ si.y = BCAR_WIDTH;
+ si.h = M_PI / 8;
} else {
- si.h = M_PI /2;
+ BicycleCar *nbc;
+ if (this->slotSide() == LEFT)
+ nbc = bc->move(cc, M_PI/4);
+ else
+ nbc = bc->move(cc, -M_PI/4);
+ si.x0 = nbc->x();
+ si.y0 = nbc->y();
+ si.h0 = nbc->h();
+ si.x = BCAR_WIDTH;
+ si.y = BCAR_WIDTH;
+ si.h = M_PI / 8;
}
return si;
}
projects / hubacji1 / iamcar.git / blobdiff