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 std::vector<BicycleCar> PSPlanner::possible_inits()
 116 {
 117         std::vector<BicycleCar> pi;
 118         BicycleCar orig_cc(this->cc());
 119         for (unsigned int i = 0; i < 20; i++) {
 120                 this->cc().next();
 121                 pi.push_back(BicycleCar(this->cc()));
 122         }
 123         this->cc() = BicycleCar(orig_cc);
 124         return pi;
 125 }
 126
 127 // find entry
 128 void PSPlanner::fe()
 129 {
 130         if (this->ps().parallel())
 131                 return this->fe_parallel();
 132         else
 133                 return this->fe_perpendicular();
 134 }
 135
 136 void PSPlanner::fe_parallel()
 137 {
 138         // angle for distance from "entry" corner
 139         double dist_angl = this->ps().heading() + M_PI;
 140         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 141         // set bicycle car `bci` basic dimensions and heading
 142         BicycleCar bci = BicycleCar(this->gc());
 143         BicycleCar bco = BicycleCar(this->gc());
 144         bci.h(this->ps().heading());
 145         // move 0.01 from the "entry" corner
 146         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 147         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 148         // align with parking "top" of slot (move backward)
 149         dist_angl = bci.h() + M_PI;
 150         bci.x(bci.x() + bci.df() * cos(dist_angl));
 151         bci.y(bci.y() + bci.df() * sin(dist_angl));
 152         // align with "entry" to pakring slot (move outside)
 153         dist_angl = this->ps().heading();
 154         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 155         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 156         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 157         // BFS - init all starts
 158         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 159         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 160         if (this->ps().right())
 161                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 162         else
 163                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 164         double DIST_ANGL = dist_angl;
 165         std::queue<BicycleCar, std::list<BicycleCar>> q;
 166         while (
 167                 (
 168                         this->ps().right()
 169                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 170                 )
 171                 || (
 172                         !this->ps().right()
 173                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 174                 )
 175         ) {
 176                 this->cc() = BicycleCar(bci);
 177                 if (this->ps().right()) {
 178                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 179                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 180                 } else {
 181                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 182                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 183                 }
 184                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 185                 if (!this->collide()) {
 186                         this->cc().st(this->cc().wb() / this->cc().mtr());
 187                         if (!this->ps().right())
 188                                 this->cc().st(this->cc().st() * -1);
 189                         this->cc().sp(-0.01);
 190                         q.push(BicycleCar(this->cc()));
 191                 }
 192                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 193         }
 194         // BFS - find entry current car `cc` and corresponding goal car `gc`
 195         unsigned int iter_cntr;
 196         while (!q.empty() && iter_cntr < 9) {
 197                 this->cc() = BicycleCar(q.front());
 198                 q.pop();
 199                 while (
 200                         !this->collide()
 201                         && (std::abs(
 202                                 this->cc().h() - this->ps().heading()
 203                         ) < M_PI / 2)
 204                 )
 205                         this->cc().next();
 206                 this->cc().sp(this->cc().sp() * -1);
 207                 this->cc().next();
 208                 this->gc() = BicycleCar(this->cc());
 209                 if (this->parked())
 210                         goto successfinish;
 211                 this->cc().st(this->cc().st() * -1);
 212                 q.push(BicycleCar(this->cc()));
 213                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 214                         iter_cntr++;
 215         }
 216         // fallback to fer
 217         this->gc() = BicycleCar(bco);
 218 successfinish:
 219         return this->fer_parallel();
 220 }
 221
 222 void PSPlanner::fe_perpendicular()
 223 {
 224         // TODO Try multiple angles when going from parking slot.
 225         //
 226         //      Do not use just the maximum steer angle. Test angles
 227         //      until the whole current car `cc` is out of the parking
 228         //      slot `ps`.
 229         //
 230         //      Another approach could be testing angles from the
 231         //      beginning of the escape parkig slot maneuver.
 232         return fer_perpendicular();
 233 }
 234
 235 void PSPlanner::fer()
 236 {
 237         if (this->ps().parallel())
 238                 return this->fer_parallel();
 239         else
 240                 return this->fer_perpendicular();
 241 }
 242
 243 void PSPlanner::fer_parallel()
 244 {
 245         this->cc().st(this->cc().wb() / this->cc().mtr());
 246         if (!this->ps().right())
 247                 this->cc().st(this->cc().st() * -1);
 248         this->cc().sp(0.01);
 249         while (!this->left()) {
 250                 while (!this->collide() && !this->left())
 251                         this->cc().next();
 252                 if (this->left() && !this->collide()) {
 253                         break;
 254                 } else {
 255                         this->cc().sp(this->cc().sp() * -1);
 256                         this->cc().next();
 257                         this->cc().st(this->cc().st() * -1);
 258                 }
 259         }
 260 }
 261
 262 void PSPlanner::fer_perpendicular()
 263 {
 264         bool delta_use[] = {true, true, true};
 265         double cc_h = this->cc().h();
 266         double x;
 267         double y;
 268         // check inner radius
 269         if (this->forward()) {
 270                 x = this->ps().x1();
 271                 y = this->ps().y1();
 272         } else {
 273                 x = this->ps().x4();
 274                 y = this->ps().y4();
 275         }
 276         double x1;
 277         double y1;
 278         if (this->ps().right()) {
 279                 x1 = this->cc().ccr().x();
 280                 y1 = this->cc().ccr().y();
 281         } else {
 282                 x1 = this->cc().ccl().x();
 283                 y1 = this->cc().ccl().y();
 284         }
 285         double IR = this->cc().iradi();
 286         double a = 1;
 287         double b;
 288         if (this->forward())
 289                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 290         else
 291                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 292         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 293         double D = pow(b, 2) - 4 * a * c;
 294         double delta;
 295         delta = -b - sqrt(D);
 296         delta /= 2 * a;
 297         double delta_1 = delta;
 298         if (D < 0)
 299                 delta_use[0] = false;
 300         // check outer radius
 301         if (this->forward()) {
 302                 x = this->ps().x4();
 303                 y = this->ps().y4();
 304         } else {
 305                 x = this->ps().x1();
 306                 y = this->ps().y1();
 307         }
 308         IR = this->cc().ofradi();
 309         a = 1;
 310         if (this->forward())
 311                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 312         else
 313                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 314         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 315         D = pow(b, 2) - 4 * a * c;
 316         if (this->forward()) {
 317                 delta = -b + sqrt(D);
 318                 delta /= 2 * a;
 319         }
 320         double delta_2 = delta;
 321         if (D < 0)
 322                 delta_use[1] = false;
 323         delta = -b - sqrt(D);
 324         delta /= 2 * a;
 325         double delta_3 = delta;
 326         if (D < 0)
 327                 delta_use[2] = false;
 328         if (delta_use[0] && delta_use[1] && delta_use[22])
 329                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 330         else if (delta_use[0] && delta_use[1])
 331                 delta = std::max(delta_1, delta_2);
 332         else if (delta_use[0] && delta_use[2])
 333                 delta = std::max(delta_1, delta_3);
 334         else if (delta_use[1] && delta_use[2])
 335                 delta = std::max(delta_2, delta_3);
 336         else if (delta_use[0])
 337                 delta = delta_1;
 338         else if (delta_use[1])
 339                 delta = delta_2;
 340         else if (delta_use[2])
 341                 delta = delta_3;
 342         else
 343                 return;
 344         // current car `cc` can get out of slot with max steer
 345         this->cc().x(this->cc().x() + delta * cos(cc_h));
 346         this->cc().y(this->cc().y() + delta * sin(cc_h));
 347         this->cc().h(cc_h);
 348         // get current car `cc` out of slot
 349         if (this->forward())
 350                 this->cc().sp(-0.1);
 351         else
 352                 this->cc().sp(0.1);
 353         this->cc().st(this->cc().wb() / this->cc().mtr());
 354         if (this->ps().right())
 355                 this->cc().st(this->cc().st() * -1);
 356         while (!this->left()) {
 357                 while (!this->collide() && !this->left())
 358                         this->cc().next();
 359                 if (this->left() && !this->collide()) {
 360                         break;
 361                 } else {
 362                         this->cc().sp(this->cc().sp() * -1);
 363                         this->cc().next();
 364                         this->cc().st(this->cc().st() * -1);
 365                 }
 366         }
 367 }
 368
 369 PSPlanner::PSPlanner()
 370 {
 371 }