#include <cmath>
+#include <list>
+#include <queue>
#include "psp.h"
bool PSPlanner::collide()
return lrs == rrs && (lrs != lfs || lrs != rfs);
}
+bool PSPlanner::parked()
+{
+ std::vector<std::tuple<double, double>> slot;
+ slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
+ slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
+ slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
+ slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
+ return inside(this->gc().lfx(), this->gc().lfy(), slot)
+ && inside(this->gc().lrx(), this->gc().lry(), slot)
+ && inside(this->gc().rrx(), this->gc().rry(), slot)
+ && inside(this->gc().rfx(), this->gc().rfy(), slot);
+}
+
// find entry
void PSPlanner::fe()
{
+ if (this->ps().parallel())
+ return this->fe_parallel();
+ else
+ return this->fe_perpendicular();
+}
+
+void PSPlanner::fe_parallel()
+{
+ // angle for distance from "entry" corner
+ double dist_angl = this->ps().heading() + M_PI;
+ dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
+ // set bicycle car `bci` basic dimensions and heading
+ BicycleCar bci = BicycleCar(this->gc());
+ BicycleCar bco = BicycleCar(this->gc());
+ bci.h(this->ps().heading());
+ // move 0.01 from the "entry" corner
+ bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
+ bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
+ // align with parking "top" of slot (move backward)
+ dist_angl = bci.h() + M_PI;
+ bci.x(bci.x() + bci.df() * cos(dist_angl));
+ bci.y(bci.y() + bci.df() * sin(dist_angl));
+ // align with "entry" to pakring slot (move outside)
+ dist_angl = this->ps().heading();
+ dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
+ bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
+ bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
+ // BFS - init all starts
+ // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
+ double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
+ if (this->ps().right())
+ dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
+ else
+ dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
+ double DIST_ANGL = dist_angl;
+ std::queue<BicycleCar, std::list<BicycleCar>> q;
+ while (
+ (
+ this->ps().right()
+ && dist_angl < DIST_ANGL + 3 * M_PI / 4
+ )
+ || (
+ !this->ps().right()
+ && dist_angl > DIST_ANGL - 3 * M_PI / 4
+ )
+ ) {
+ this->cc() = BicycleCar(bci);
+ if (this->ps().right()) {
+ this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
+ this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
+ } else {
+ this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
+ this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
+ }
+ this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
+ if (!this->collide()) {
+ this->cc().st(this->cc().wb() / this->cc().mtr());
+ if (!this->ps().right())
+ this->cc().st(this->cc().st() * -1);
+ this->cc().sp(-0.01);
+ q.push(BicycleCar(this->cc()));
+ }
+ dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
+ }
+ // BFS - find entry current car `cc` and corresponding goal car `gc`
+ unsigned int iter_cntr;
+ while (!q.empty() && iter_cntr < 9) {
+ this->cc() = BicycleCar(q.front());
+ q.pop();
+ while (
+ !this->collide()
+ && (std::abs(
+ this->cc().h() - this->ps().heading()
+ ) < M_PI / 2)
+ )
+ this->cc().next();
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->gc() = BicycleCar(this->cc());
+ if (this->parked())
+ goto successfinish;
+ this->cc().st(this->cc().st() * -1);
+ q.push(BicycleCar(this->cc()));
+ if (sgn(this->cc().st()) == sgn(q.front().st()))
+ iter_cntr++;
+ }
+ // fallback to fer
+ this->gc() = BicycleCar(bco);
+successfinish:
+ return this->fer_parallel();
+}
+
+void PSPlanner::fe_perpendicular()
+{
+ // TODO Try multiple angles when going from parking slot.
+ //
+ // Do not use just the maximum steer angle. Test angles
+ // until the whole current car `cc` is out of the parking
+ // slot `ps`.
+ //
+ // Another approach could be testing angles from the
+ // beginning of the escape parkig slot maneuver.
+ return fer_perpendicular();
}
void PSPlanner::fer()
this->cc().st(this->cc().wb() / this->cc().mtr());
if (!this->ps().right())
this->cc().st(this->cc().st() * -1);
- this->cc().sp(0.1);
+ this->cc().sp(0.01);
while (!this->left()) {
while (!this->collide() && !this->left())
this->cc().next();
PSPlanner::PSPlanner()
{
}
-
-std::tuple<bool, double, double> intersect(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3,
- double x4, double y4
-)
-{
- double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
- if (deno == 0)
- return std::make_tuple(false, 0, 0);
- double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
- t /= deno;
- double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
- u *= -1;
- u /= deno;
- if (t < 0 || t > 1 || u < 0 || u > 1)
- return std::make_tuple(false, 0, 0);
- return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
-}
projects / hubacji1 / psp.git / blobdiff