src/psp.cc

   1 #include <cmath>
   2 #include <list>
   3 #include <queue>
   4 #include "psp.h"
   5
   6 bool PSPlanner::collide()
   7 {
   8         std::vector<std::tuple<double, double>> bc;
   9         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  10         bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
  11         bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
  12         bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
  13         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  14         std::vector<std::tuple<double, double>> ps;
  15         ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
  16         ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
  17         ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
  18         ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
  19         return std::get<0>(::collide(bc, ps));
  20 }
  21
  22 bool PSPlanner::forward()
  23 {
  24         double heading = this->ps().heading();
  25         while (heading < 0) heading += 2 * M_PI;
  26         if (!this->ps().parallel())
  27                 heading -= M_PI / 2;
  28         double h = this->gc().h();
  29         while (h < 0) h += 2 * M_PI;
  30         if (-0.00001 < heading - h && heading - h < 0.00001)
  31                 return true;
  32         else
  33                 return false;
  34 }
  35
  36 void PSPlanner::guess_gc()
  37 {
  38         double x = this->ps().x1();
  39         double y = this->ps().y1();
  40         double h = this->ps().heading();
  41         double dts = + M_PI / 2; // direction to slot
  42         if (this->ps().right())
  43                 dts = - M_PI / 2;
  44         if (this->ps().parallel()) {
  45                 x += (this->gc().w() + 0.01) * cos(h + dts);
  46                 x += (this->gc().dr() + 0.01) * cos(h);
  47                 y += (this->gc().w() + 0.01) * sin(h + dts);
  48                 y += (this->gc().dr() + 0.01) * sin(h);
  49         } else {
  50                 x += (this->ps().x4() - this->ps().x1()) / 2;
  51                 x += (this->gc().df() + 0.01) * cos(h + dts);
  52                 y += (this->ps().y4() - this->ps().y1()) / 2;
  53                 y += (this->gc().df() + 0.01) * sin(h + dts);
  54                 if (this->ps().right())
  55                         h += M_PI / 2;
  56                 else
  57                         h -= M_PI / 2;
  58         }
  59         while (h > M_PI)
  60                 h -= 2 * M_PI;
  61         while (h <= -M_PI)
  62                 h += 2 * M_PI;
  63         this->gc().x(x);
  64         this->gc().y(y);
  65         this->gc().h(h);
  66 }
  67
  68 bool PSPlanner::left()
  69 {
  70         double lfx = this->cc().lfx();
  71         double lfy = this->cc().lfy();
  72         double lrx = this->cc().lrx();
  73         double lry = this->cc().lry();
  74         double rrx = this->cc().rrx();
  75         double rry = this->cc().rry();
  76         double rfx = this->cc().rfx();
  77         double rfy = this->cc().rfy();
  78         double lfs = sgn(
  79                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  80                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  81         );
  82         double lrs = sgn(
  83                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  84                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  85         );
  86         double rrs = sgn(
  87                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  88                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  89         );
  90         double rfs = sgn(
  91                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  92                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  93         );
  94         if (this->ps().parallel())
  95                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  96         else if (!this->forward())
  97                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  98         else
  99                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 100 }
 101
 102 bool PSPlanner::parked()
 103 {
 104         std::vector<std::tuple<double, double>> slot;
 105         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 106         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 107         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 108         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 109         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 110                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 111                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 112                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 113 }
 114
 115 // find entry
 116 void PSPlanner::fe()
 117 {
 118         if (this->ps().parallel())
 119                 return this->fe_parallel();
 120         else
 121                 return this->fe_perpendicular();
 122 }
 123
 124 void PSPlanner::fe_parallel()
 125 {
 126         // angle for distance from "entry" corner
 127         double dist_angl = this->ps().heading() + M_PI;
 128         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 129         // set bicycle car `bci` basic dimensions and heading
 130         BicycleCar bci = BicycleCar(this->gc());
 131         BicycleCar bco = BicycleCar(this->gc());
 132         bci.h(this->ps().heading());
 133         // move 0.01 from the "entry" corner
 134         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 135         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 136         // align with parking "top" of slot (move backward)
 137         dist_angl = bci.h() + M_PI;
 138         bci.x(bci.x() + bci.df() * cos(dist_angl));
 139         bci.y(bci.y() + bci.df() * sin(dist_angl));
 140         // align with "entry" to pakring slot (move outside)
 141         dist_angl = this->ps().heading();
 142         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 143         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 144         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 145         // BFS - init all starts
 146         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 147         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 148         if (this->ps().right())
 149                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 150         else
 151                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 152         double DIST_ANGL = dist_angl;
 153         std::queue<BicycleCar, std::list<BicycleCar>> q;
 154         while (
 155                 (
 156                         this->ps().right()
 157                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 158                 )
 159                 || (
 160                         !this->ps().right()
 161                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 162                 )
 163         ) {
 164                 this->cc() = BicycleCar(bci);
 165                 if (this->ps().right()) {
 166                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 167                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 168                 } else {
 169                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 170                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 171                 }
 172                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 173                 if (!this->collide()) {
 174                         this->cc().st(this->cc().wb() / this->cc().mtr());
 175                         if (!this->ps().right())
 176                                 this->cc().st(this->cc().st() * -1);
 177                         this->cc().sp(-0.01);
 178                         q.push(BicycleCar(this->cc()));
 179                 }
 180                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 181         }
 182         // BFS - find entry current car `cc` and corresponding goal car `gc`
 183         unsigned int iter_cntr;
 184         while (!q.empty() && iter_cntr < 9) {
 185                 this->cc() = BicycleCar(q.front());
 186                 q.pop();
 187                 while (
 188                         !this->collide()
 189                         && (std::abs(
 190                                 this->cc().h() - this->ps().heading()
 191                         ) < M_PI / 2)
 192                 )
 193                         this->cc().next();
 194                 this->cc().sp(this->cc().sp() * -1);
 195                 this->cc().next();
 196                 this->gc() = BicycleCar(this->cc());
 197                 if (this->parked())
 198                         goto successfinish;
 199                 this->cc().st(this->cc().st() * -1);
 200                 q.push(BicycleCar(this->cc()));
 201                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 202                         iter_cntr++;
 203         }
 204         // fallback to fer
 205         this->gc() = BicycleCar(bco);
 206 successfinish:
 207         return this->fer_parallel();
 208 }
 209
 210 void PSPlanner::fe_perpendicular()
 211 {
 212         // TODO Try multiple angles when going from parking slot.
 213         //
 214         //      Do not use just the maximum steer angle. Test angles
 215         //      until the whole current car `cc` is out of the parking
 216         //      slot `ps`.
 217         //
 218         //      Another approach could be testing angles from the
 219         //      beginning of the escape parkig slot maneuver.
 220         return fer_perpendicular();
 221 }
 222
 223 void PSPlanner::fer()
 224 {
 225         if (this->ps().parallel())
 226                 return this->fer_parallel();
 227         else
 228                 return this->fer_perpendicular();
 229 }
 230
 231 void PSPlanner::fer_parallel()
 232 {
 233         this->cc().st(this->cc().wb() / this->cc().mtr());
 234         if (!this->ps().right())
 235                 this->cc().st(this->cc().st() * -1);
 236         this->cc().sp(0.01);
 237         while (!this->left()) {
 238                 while (!this->collide() && !this->left())
 239                         this->cc().next();
 240                 if (this->left() && !this->collide()) {
 241                         break;
 242                 } else {
 243                         this->cc().sp(this->cc().sp() * -1);
 244                         this->cc().next();
 245                         this->cc().st(this->cc().st() * -1);
 246                 }
 247         }
 248 }
 249
 250 void PSPlanner::fer_perpendicular()
 251 {
 252         bool delta_use[] = {true, true, true};
 253         double cc_h = this->cc().h();
 254         double x;
 255         double y;
 256         // check inner radius
 257         if (this->forward()) {
 258                 x = this->ps().x1();
 259                 y = this->ps().y1();
 260         } else {
 261                 x = this->ps().x4();
 262                 y = this->ps().y4();
 263         }
 264         double x1;
 265         double y1;
 266         if (this->ps().right()) {
 267                 x1 = this->cc().ccr().x();
 268                 y1 = this->cc().ccr().y();
 269         } else {
 270                 x1 = this->cc().ccl().x();
 271                 y1 = this->cc().ccl().y();
 272         }
 273         double IR = this->cc().iradi();
 274         double a = 1;
 275         double b;
 276         if (this->forward())
 277                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 278         else
 279                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 280         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 281         double D = pow(b, 2) - 4 * a * c;
 282         double delta;
 283         delta = -b - sqrt(D);
 284         delta /= 2 * a;
 285         double delta_1 = delta;
 286         if (D < 0)
 287                 delta_use[0] = false;
 288         // check outer radius
 289         if (this->forward()) {
 290                 x = this->ps().x4();
 291                 y = this->ps().y4();
 292         } else {
 293                 x = this->ps().x1();
 294                 y = this->ps().y1();
 295         }
 296         IR = this->cc().ofradi();
 297         a = 1;
 298         if (this->forward())
 299                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 300         else
 301                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 302         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 303         D = pow(b, 2) - 4 * a * c;
 304         if (this->forward()) {
 305                 delta = -b + sqrt(D);
 306                 delta /= 2 * a;
 307         }
 308         double delta_2 = delta;
 309         if (D < 0)
 310                 delta_use[1] = false;
 311         delta = -b - sqrt(D);
 312         delta /= 2 * a;
 313         double delta_3 = delta;
 314         if (D < 0)
 315                 delta_use[2] = false;
 316         if (delta_use[0] && delta_use[1] && delta_use[22])
 317                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 318         else if (delta_use[0] && delta_use[1])
 319                 delta = std::max(delta_1, delta_2);
 320         else if (delta_use[0] && delta_use[2])
 321                 delta = std::max(delta_1, delta_3);
 322         else if (delta_use[1] && delta_use[2])
 323                 delta = std::max(delta_2, delta_3);
 324         else if (delta_use[0])
 325                 delta = delta_1;
 326         else if (delta_use[1])
 327                 delta = delta_2;
 328         else if (delta_use[2])
 329                 delta = delta_3;
 330         else
 331                 return;
 332         // current car `cc` can get out of slot with max steer
 333         this->cc().x(this->cc().x() + delta * cos(cc_h));
 334         this->cc().y(this->cc().y() + delta * sin(cc_h));
 335         this->cc().h(cc_h);
 336         // get current car `cc` out of slot
 337         if (this->forward())
 338                 this->cc().sp(-0.1);
 339         else
 340                 this->cc().sp(0.1);
 341         this->cc().st(this->cc().wb() / this->cc().mtr());
 342         if (this->ps().right())
 343                 this->cc().st(this->cc().st() * -1);
 344         while (!this->left()) {
 345                 while (!this->collide() && !this->left())
 346                         this->cc().next();
 347                 if (this->left() && !this->collide()) {
 348                         break;
 349                 } else {
 350                         this->cc().sp(this->cc().sp() * -1);
 351                         this->cc().next();
 352                         this->cc().st(this->cc().st() * -1);
 353                 }
 354         }
 355 }
 356
 357 PSPlanner::PSPlanner()
 358 {
 359 }