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