Add init pose for forward perpendicular parking

[hubacji1/iamcar.git] / incl / slotplanner.h

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index 0be18453da67e660b9111e9c9d3f731626856dda..ef539cd314b7a0d05e19a63786561a5a26e4951a 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -19,14 +19,10 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #define SLOTPLANNER_H
 
 #include <vector>
+#include "aux.h"
 #include "bcar.h"
 #include "obstacle.h"
 
-#define EDIST(a, b) ({ __typeof__ (a) _a = (a); \
-                __typeof__ (b) _b = (b); \
-                pow(pow((_b)->x() - (_a)->x(), 2) + \
-                                pow((_b)->y() - (_a)->y(), 2), 0.5); })
-
 enum SlotSide {
         LEFT,
         RIGHT
@@ -38,9 +34,11 @@ enum SlotType {
 };
 
 struct SamplingInfo {
+        float x0;
+        float y0;
+        float h0;
         float x;
         float y;
-        float r;
         float h;
 };
 
@@ -48,13 +46,18 @@ class ParallelSlot {
         private:
                 float DH_ = 0.01;
                 std::vector<std::vector<RRTNode *>> cusp_;
+                std::vector<RRTNode *> goals_;
                 PolygonObstacle slot_;
+                float slotHeading_;
                 SlotSide slotSide_;
                 SlotType slotType_;
         public:
                 ParallelSlot();
 
                 // getter
+                /** Get slot entry point */
+                std::vector<RRTNode *> &goals();
+                RRTNode *getMidd();
                 std::vector<std::vector<RRTNode *>> &cusp();
                 float DH() const;
                 PolygonObstacle &slot();
@@ -64,25 +67,34 @@ class ParallelSlot {
 
                 // setter
                 void DH(float dh);
+                void setAll();
 
                 // other
                 /** BFS to _Find Init Pose_. */
-                void fip();
+                void fip(
+                        std::vector<CircleObstacle>& co,
+                        std::vector<SegmentObstacle>& so
+                );
+                /** _Find Last Not Colliding_ BicycleCar pose
+
+                @param B Find from?
+                */
+                BicycleCar *flnc(
+                        BicycleCar *B,
+                        std::vector<CircleObstacle>& co,
+                        std::vector<SegmentObstacle>& so
+                );
                 /** _Find Init Pose by Reverse_ approach, see Vorobieva2015
 
                 @param B Last pose of vehicle when it is parked.
                 */
+                void fipr(RRTNode *n);
                 void fipr(BicycleCar *B);
                 /** _Find Last Not Colliding for Reverse_ BicycleCar pose
 
                 @param B Find from?
                 */
                 BicycleCar *flncr(BicycleCar *B);
-                /** _Find Last Not Colliding_ BicycleCar pose
-
-                @param B Find from?
-                */
-                BicycleCar *flnc(BicycleCar *B);
                 RRTNode *fposecenter();
                 /** Recursive function to find out the moves */
                 bool flast(
@@ -93,8 +105,22 @@ class ParallelSlot {
                 );
                 /** Test possible init poses */
                 void fpose();
+                /** Return start pose for fip method */
+                BicycleCar *getEP();
+                /** Return center of rotation for start pose for fip method */
+                BicycleCar *getEPC();
                 /** Return start pose for fipr method */
                 BicycleCar *getFP();
+                BicycleCar *getFPf(); // parked forward, only for perpendicular
+                /** In slot perpendicular pose getter
+
+                This method returns a pose of perpendicular parking slot from
+                where it is possible to get out of the slot with full steer to
+                farther corner side (i.e. right corner for the RIGHT side).
+
+                @param B The pose to start from.
+                */
+                BicycleCar *getISPP(BicycleCar *B);
                 /** Return true if car is inside slot */
                 bool isInside(BicycleCar *c);
                 /** Return values to set sampling function of RRT */