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