6 WVTEST_MAIN("parallel parking slot planner")
9 psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
20 psp.cc() = BicycleCar(psp.gc());
23 WVPASS(!psp.collide());
24 WVPASS(psp.forward());
25 WVPASSEQ_DOUBLE(psp.ps().heading(), psp.gc().h(), 0.00001);
27 // entry point found by reverse
33 auto tmpi1 = intersect(1, 1, 3, 3, 1, 3, 3, 1);
34 WVPASS(std::get<0>(tmpi1));
35 WVPASSEQ_DOUBLE(std::get<1>(tmpi1), 2, 0.00001);
36 WVPASSEQ_DOUBLE(std::get<2>(tmpi1), 2, 0.00001);
37 auto tmpi2 = intersect(1, 1, 1, 3, 3, 1, 3, 3);
38 WVPASS(!std::get<0>(tmpi2));
40 tpsp.ps().border(2, 3, 4, 3, 4, 8, 2, 8);
41 tpsp.gc() = BicycleCar(psp.gc());
42 tpsp.cc() = BicycleCar(tpsp.gc());
43 WVPASS(tpsp.collide());
45 tpsp.ps().border(3, 4.1, 3, 2.1, 8, 2.1, 8, 4.1);
49 WVTEST_MAIN("backward perpendicullar parking slot planner")
52 psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
63 psp.cc() = BicycleCar(psp.gc());
66 WVPASS(!psp.collide());
67 WVPASS(!psp.forward());
68 WVPASSEQ_DOUBLE(psp.ps().heading() + M_PI / 2, psp.gc().h(), 0.00001);
70 // entry point found by reverse
76 WVTEST_MAIN("forward perpendicullar parking slot planner")
79 psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
90 psp.cc() = BicycleCar(psp.gc());
93 WVPASS(!psp.collide());
94 WVPASS(psp.forward());
95 WVPASSEQ_DOUBLE(psp.ps().heading() - M_PI / 2, psp.gc().h(), 0.00001);
97 // entry point found by reverse