#include "psp.h"
-WVTEST_MAIN("parking slot planner basic test")
+WVTEST_MAIN("parallel parking slot planner")
{
PSPlanner psp;
psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
psp.gc().he(1.5);
psp.gc().df(2 + 0.5);
psp.gc().dr(0.5);
+ psp.cc() = BicycleCar(psp.gc());
// init orientation
+ WVPASS(!psp.collide());
+ WVPASS(psp.forward());
WVPASSEQ_DOUBLE(psp.ps().heading(), psp.gc().h(), 0.00001);
+
+ // entry point found by reverse
+ WVPASS(!psp.left());
+ psp.fer();
+ WVPASS(psp.left());
+
+ // find entry
+ psp.cc() = BicycleCar(psp.gc());
+ WVPASS(!psp.left());
+ psp.fe();
+ WVPASS(psp.left());
+
+ // collide
+ auto tmpi1 = intersect(1, 1, 3, 3, 1, 3, 3, 1);
+ WVPASS(std::get<0>(tmpi1));
+ WVPASSEQ_DOUBLE(std::get<1>(tmpi1), 2, 0.00001);
+ WVPASSEQ_DOUBLE(std::get<2>(tmpi1), 2, 0.00001);
+ auto tmpi2 = intersect(1, 1, 1, 3, 3, 1, 3, 3);
+ WVPASS(!std::get<0>(tmpi2));
+ PSPlanner tpsp;
+ tpsp.ps().border(2, 3, 4, 3, 4, 8, 2, 8);
+ tpsp.gc() = BicycleCar(psp.gc());
+ tpsp.cc() = BicycleCar(tpsp.gc());
+ WVPASS(tpsp.collide());
+ WVPASS(!tpsp.left());
+ tpsp.ps().border(3, 4.1, 3, 2.1, 8, 2.1, 8, 4.1);
+ WVPASS(tpsp.left());
+}
+
+WVTEST_MAIN("backward perpendicullar parking slot planner")
+{
+ PSPlanner psp;
+ psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
+ psp.gc().x(7);
+ psp.gc().y(4);
+ psp.gc().h(M_PI);
+ psp.gc().mtr(10);
+ psp.gc().wb(2);
+ psp.gc().w(1);
+ psp.gc().l(3);
+ psp.gc().he(1.5);
+ psp.gc().df(2 + 0.5);
+ psp.gc().dr(0.5);
+ psp.cc() = BicycleCar(psp.gc());
+
+ // init orientation
+ WVPASS(!psp.collide());
+ WVPASS(!psp.forward());
+ WVPASSEQ_DOUBLE(psp.ps().heading() + M_PI / 2, psp.gc().h(), 0.00001);
+
+ // entry point found by reverse
+ WVPASS(!psp.left());
+ psp.fer();
+ WVPASS(psp.left());
+
+ // find entry
+ psp.cc() = BicycleCar(psp.gc());
+ WVPASS(!psp.left());
+ psp.fe();
+ WVPASS(psp.left());
+}
+
+WVTEST_MAIN("forward perpendicullar parking slot planner")
+{
+ PSPlanner psp;
+ psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
+ psp.gc().x(4);
+ psp.gc().y(4);
+ psp.gc().h(0);
+ psp.gc().mtr(10);
+ psp.gc().wb(2);
+ psp.gc().w(1);
+ psp.gc().l(3);
+ psp.gc().he(1.5);
+ psp.gc().df(2 + 0.5);
+ psp.gc().dr(0.5);
+ psp.cc() = BicycleCar(psp.gc());
+
+ // init orientation
+ WVPASS(!psp.collide());
+ WVPASS(psp.forward());
+ WVPASSEQ_DOUBLE(psp.ps().heading() - M_PI / 2, psp.gc().h(), 0.00001);
+
+ // entry point found by reverse
+ WVPASS(!psp.left());
+ psp.fer();
+ WVPASS(psp.left());
+
+ // find entry
+ psp.cc() = BicycleCar(psp.gc());
+ WVPASS(!psp.left());
+ psp.fe();
+ WVPASS(psp.left());
}