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()
+ ))
+ ) {
+ 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<CircleObstacle>& co,
std::vector<SegmentObstacle>& so
);
+ void fipf(
+ std::vector<CircleObstacle>& co,
+ std::vector<SegmentObstacle>& so
+ ); // perpendicular forward parking
/** _Find Last Not Colliding_ BicycleCar pose
@param B Find from?