along with I am car. If not, see <http://www.gnu.org/licenses/>.
*/
+#include <algorithm>
#include <cmath>
-#include "bcar.h"
+#include <list>
+#include <queue>
#include "slotplanner.h"
ParallelSlot::ParallelSlot()
return this->slot_;
}
+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);
+}
+
+SlotSide ParallelSlot::slotSide()
+{
+ return this->slotSide_;
+}
+
+SlotType ParallelSlot::slotType()
+{
+ return this->slotType_;
+}
+
// setter
void ParallelSlot::DH(float dh)
{
this->DH_ = dh;
}
+void ParallelSlot::setAll()
+{
+ // slot side
+ 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)
+ this->slotSide_ = LEFT;
+ else
+ this->slotSide_ = RIGHT;
+ // slot type
+ float d1 = EDIST(
+ this->slot().bnodes()[0],
+ this->slot().bnodes()[1]
+ );
+ float d2 = EDIST(
+ this->slot().bnodes()[1],
+ this->slot().bnodes()[2]
+ );
+ if (d1 > d2)
+ this->slotType_ = PERPENDICULAR;
+ else
+ this->slotType_ = PARALLEL;
+}
+
// other
+void ParallelSlot::fip()
+{
+ // 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;
+ std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
+ int di = -1;
+ if (this->slotSide() == LEFT)
+ di = 1;
+ BicycleCar *CC = this->getEPC();
+ BicycleCar *B = this->getEP();
+ this->DH(di * 0.01 / CC->out_radi());
+ BicycleCar *c;
+ int i = 0;
+ c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
+ while (!this->slot().collide(c->frame())) {
+ q.push(c);
+ c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
+ i += 1;
+ }
+ delete c; // not in q and collide
+ while (!q.empty()) {
+ c = q.front();
+ q.pop();
+ if (this->isInside(c)) {
+ goto createcuspandfinish;
+ } else if (c->s() < 9) {
+ BicycleCar *cc = this->flnc(c);
+ cc->s(c->s() + 1);
+ cc->bcparent(c);
+ q.push(cc);
+ } else {
+ delete c; // not in q and collide
+ }
+ }
+ std::swap(q, empty);
+ return;
+createcuspandfinish:
+ std::vector<RRTNode *> cusp;
+ while (c) {
+ cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
+ c = c->bcparent();
+ }
+ std::reverse(cusp.begin(), cusp.end());
+ this->cusp().push_back(cusp);
+ std::swap(q, empty);
+}
+
+void ParallelSlot::fipr(BicycleCar *B)
+{
+ std::vector<RRTNode *> cusp;
+ cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
+ int di = 1;
+ if (this->slotSide() == LEFT)
+ di = -1;
+ if (this->slotType() == PERPENDICULAR) {
+ cusp.push_back(new RRTNode(
+ B->x() - di * B->length(),
+ B->y(),
+ B->h()
+ ));
+ std::reverse(cusp.begin(), cusp.end());
+ this->cusp().push_back(cusp);
+ return;
+ }
+ this->DH(di * 0.01 / B->out_radi());
+ BicycleCar *c;
+ c = this->flncr(B);
+ c->s(B->s() + 1);
+ while ((
+ this->slotSide() == LEFT
+ && this->slot().collide(new RRTNode(c->lfx(), c->lfy(), 0))
+ ) || (
+ this->slotSide() == RIGHT
+ && this->slot().collide(new RRTNode(c->rfx(), c->rfy(), 0))
+ )) {
+ cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
+ BicycleCar *cc = this->flncr(c);
+ cc->s(c->s() + 1);
+ delete c;
+ c = cc;
+ }
+ cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
+ std::reverse(cusp.begin(), cusp.end());
+ 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;
+ 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())
+ && ((
+ this->slotSide() == LEFT
+ && this->slot().collide(new RRTNode(
+ p->lfx(),
+ p->lfy(),
+ 0
+ ))
+ ) || (
+ this->slotSide() == RIGHT
+ && this->slot().collide(new RRTNode(
+ p->rfx(),
+ p->rfy(),
+ 0
+ ))
+ ))
+ ) {
+ 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())) {
+ if(
+ this->slotSide() == LEFT
+ && !this->slot().collide(new RRTNode(
+ p->lfx(),
+ p->lfy(),
+ 0
+ ))
+ ) {
+ i += 1;
+ break;
+ }
+ if(
+ this->slotSide() == RIGHT
+ && !this->slot().collide(new RRTNode(
+ p->rfx(),
+ p->rfy(),
+ 0
+ ))
+ ) {
+ i += 1;
+ break;
+ }
+ i += 1;
+ p = B->move(cc, i * this->DH());
+ }
+ delete p;
+ return B->move(cc, (i - 1) * this->DH());
+}
+
RRTNode *ParallelSlot::fposecenter()
{
- if (this->slot().bnodes().front()->y() >
- this->slot().bnodes().back()->y())
- return this->slot().bnodes().front();
- else
- return this->slot().bnodes().back();
+ return this->slot().bnodes().front();
}
bool ParallelSlot::flast(
BicycleCar *p;
int i = 1;
p = B->move(cc, i * this->DH());
+ while (!this->slot().collide(p->frame())
+ && (
+ (this->DH() > 0 && p->x() <= 0)
+ || (this->DH() < 0 && p->x() >= 0)
+ )) {
+ 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())
&& (
(this->DH() > 0 && p->x() <= 0)
i += 1;
break;
}
- i += 1;
delete p;
+ i += 1;
p = B->move(cc, i * this->DH());
}
delete p;
BicycleCar *CC = new BicycleCar(
this->fposecenter()->x(),
this->fposecenter()->y() - 0.01,
- M_PI / 2
+ this->slotHeading()
);
BicycleCar *B = new BicycleCar(
CC->x() - CC->width() / 2,
CC->y() - (CC->length() + CC->wheelbase()) / 2,
- M_PI / 2
+ this->slotHeading()
);
if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
left = true;
B = new BicycleCar(
CC->x() + CC->width() / 2,
CC->y() - (CC->length() + CC->wheelbase()) / 2,
- M_PI / 2
+ this->slotHeading()
);
}
this->DH(di * 0.01 / CC->out_radi());
p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
}
}
+
+BicycleCar *ParallelSlot::getEP()
+{
+ // new pose for parallel parking to right slot
+ float tnx;
+ float tny;
+ float nx;
+ float ny;
+ BicycleCar *CC = this->getEPC();
+ // move left by car width / 2
+ tnx = CC->x() + CC->width() / 2 * cos(CC->h() + M_PI / 2);
+ tny = CC->y() + CC->width() / 2 * sin(CC->h() + M_PI / 2);
+ if (this->slotSide() == LEFT) {
+ // move right by car width / 2
+ tnx = CC->x() + CC->width() / 2 * cos(CC->h() - M_PI / 2);
+ tny = CC->y() + CC->width() / 2 * sin(CC->h() - M_PI / 2);
+ }
+ if (this->slotType() == PARALLEL) {
+ // move down
+ nx = tnx - (CC->length() + CC->wheelbase()) / 2 * cos(CC->h());
+ ny = tny - (CC->length() + CC->wheelbase()) / 2 * sin(CC->h());
+ } else {
+ // move down
+ nx = tnx + (CC->length() - CC->wheelbase()) / 2 * cos(CC->h());
+ ny = tny + (CC->length() - CC->wheelbase()) / 2 * sin(CC->h());
+ }
+ return new BicycleCar(nx, ny, CC->h());
+}
+
+BicycleCar *ParallelSlot::getEPC()
+{
+ // new pose for parallel parking to right slot
+ float ta;
+ float nx;
+ float ny;
+ ta = this->slotHeading() + M_PI;
+ if (this->slotSide() == RIGHT)
+ ta -= M_PI / 4;
+ else
+ ta += M_PI / 4;
+ nx = this->fposecenter()->x() + 0.01 * cos(ta);
+ ny = this->fposecenter()->y() + 0.01 * sin(ta);
+ return new BicycleCar(nx, ny, this->slotHeading());
+}
+
+BicycleCar *ParallelSlot::getFP()
+{
+ float x = this->slot().bnodes()[3]->x();
+ float y = this->slot().bnodes()[3]->y();
+ float h = this->slotHeading();
+ float nx;
+ float ny;
+ if (this->slotType() == PARALLEL) {
+ if (this->slotSide() == LEFT) {
+ nx = x + BCAR_WIDTH / 2 * cos(h + M_PI / 2);
+ ny = y + BCAR_WIDTH / 2 * sin(h + M_PI / 2);
+ } else {
+ nx = x + BCAR_WIDTH / 2 * cos(h - M_PI / 2);
+ ny = y + BCAR_WIDTH / 2 * sin(h - M_PI / 2);
+ }
+ x = nx + ((BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 + 0.01) * cos(h);
+ 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);
+ ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
+ * sin(h + M_PI);
+ x = nx + (BCAR_WIDTH + 0.01) * cos(h + M_PI / 2);
+ y = ny + (BCAR_WIDTH + 0.01) * sin(h + M_PI / 2);
+ } else {
+ h += M_PI / 2;
+ nx = x + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
+ * cos(h - M_PI);
+ ny = y + (BCAR_LENGTH + BCAR_WHEEL_BASE) / 2
+ * sin(h - M_PI);
+ x = nx + (BCAR_WIDTH / 2 + 0.01) * cos(h - M_PI / 2);
+ y = ny + (BCAR_WIDTH / 2 + 0.01) * sin(h - M_PI / 2);
+ }
+ }
+ return new BicycleCar(x, y, h);
+}
+
+bool ParallelSlot::isInside(BicycleCar *c)
+{
+ bool inside = true;
+ RRTNode *tmpn;
+ tmpn = new RRTNode(c->lfx(), c->lfy(), 0);
+ if (!this->slot().collide(tmpn))
+ inside = false;
+ delete tmpn;
+ tmpn = new RRTNode(c->lrx(), c->lry(), 0);
+ if (!this->slot().collide(tmpn))
+ inside = false;
+ delete tmpn;
+ tmpn = new RRTNode(c->rrx(), c->rry(), 0);
+ if (!this->slot().collide(tmpn))
+ inside = false;
+ delete tmpn;
+ tmpn = new RRTNode(c->rfx(), c->rfy(), 0);
+ if (!this->slot().collide(tmpn))
+ inside = false;
+ delete tmpn;
+ return inside;
+}
+
+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();
+ if (this->slotType() == PARALLEL) {
+ si.h = this->slotHeading() - acos(EDIST(
+ this->slot().bnodes()[0],
+ this->slot().bnodes()[1]
+ ) / BCAR_LENGTH);
+ } else {
+ si.h = M_PI /2;
+ }
+ return si;
+}
projects / hubacji1 / iamcar.git / blobdiff