|| a1 < a2
)) {
this->cc().rotate(cclx, ccly, -a1);
+ if (::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
} else if (std::get<0>(cli2) && (
!std::get<0>(cli1)
|| a2 < a1
|| a1 < a2
)) {
this->cc().rotate(cclx, ccly, -a1);
+ if (::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
} else if (std::get<0>(cli2) && (
!std::get<0>(cli1)
|| a2 < a1
} else if (this->ps().right() && this->cc().sp() > 0) {
double ccrx = this->cc().ccr().x();
double ccry = this->cc().ccr().y();
-{
- double rf = sqrt(
- pow(this->cc().lfy() - ccry, 2)
- + pow(this->cc().lfx() - ccrx, 2)
- );
- auto clif = ::intersect(
- ccrx, ccry, rf,
- this->ps().x1(), this->ps().y1(),
- this->ps().x4(), this->ps().y4()
- );
- if (std::get<0>(clif)) {
- double xf = std::get<1>(clif);
- double yf = std::get<2>(clif);
- if (
- edist(
- this->ps().x4(),
- this->ps().y4(),
- std::get<3>(clif),
- std::get<4>(clif)
- ) < edist(
- this->ps().x4(),
- this->ps().y4(),
- xf, yf
- )
- ) {
- xf = std::get<3>(clif);
- yf = std::get<4>(clif);
- }
- auto af = ::angle_between_three_points(
- this->cc().lfx(),
- this->cc().lfy(),
- ccrx, ccry,
- xf, yf
- );
- auto tmp_cc = BicycleCar(this->cc());
- this->cc().rotate(ccrx, ccry, -af);
- if (
- !this->collide()
- && (edist(
- this->ps().x1(), this->ps().y1(),
- xf, yf
- ) < edist(
- this->ps().x1(), this->ps().y1(),
- this->ps().x4(), this->ps().y4()
- ))
- ) {
- this->cc().sp(-0.01);
- this->cc().set_max_steer();
- this->cc().st(this->cc().st() * -1);
- this->gc() = BicycleCar(this->cc());
- goto successfinish;
- } else {
- this->cc() = BicycleCar(tmp_cc);
- }
- } else {
- // should be parked and found in previous iteration or continue
- // with the parking process
- }
-}
- double r1 = sqrt(
- pow(this->cc().rfy() - ccry, 2)
- + pow(this->cc().rfx() - ccrx, 2)
+ double ccr_lf = edist(
+ ccrx, ccry,
+ this->cc().lfx(), this->cc().lfy()
);
- auto cli1 = ::intersect(
- ccrx, ccry, r1,
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- );
- double a11 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- ccrx, ccry,
- std::get<1>(cli1), std::get<2>(cli1)
+ double ccr_rf = edist(
+ ccrx, ccry,
+ this->cc().rfx(), this->cc().rfy()
);
- double a12 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- ccrx, ccry,
- std::get<3>(cli1), std::get<4>(cli1)
+ {
+ auto clif = ::intersect(
+ ccrx, ccry, ccr_lf,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double af = std::abs(
+ this->ps().heading()
+ - this->cc().h()
+ );
+ double xf = this->ps().x4();
+ double yf = this->ps().y4();
+ if (std::get<0>(clif)) {
+ xf = std::get<1>(clif);
+ yf = std::get<2>(clif);
+ if (
+ edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ std::get<3>(clif),
+ std::get<4>(clif)
+ ) < edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ xf, yf
+ )
+ ) {
+ xf = std::get<3>(clif);
+ yf = std::get<4>(clif);
+ }
+ af = ::angle_between_three_points(
+ this->cc().lfx(),
+ this->cc().lfy(),
+ ccrx, ccry,
+ xf, yf
+ );
+ }
+ auto tmp_cc = BicycleCar(this->cc());
+ this->cc().rotate(ccrx, ccry, -af);
+ if (
+ !this->collide()
+ && (
+ edist(
+ this->ps().x1(),
+ this->ps().y1(),
+ xf, yf
+ ) < edist(
+ this->ps().x1(),
+ this->ps().y1(),
+ this->ps().x4(),
+ this->ps().y4()
+ )
+ || !std::get<0>(clif)
+ )
+ ) {
+ this->cc().sp(this->cc().sp() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ }
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
);
- double a1 = std::min(a11, a12);
-
- double r2 = sqrt(
- pow(this->cc().lfy() - ccry, 2)
- + pow(this->cc().lfx() - ccrx, 2)
+ double a1 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
);
auto cli2 = ::intersect(
- ccrx, ccry, r2,
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
+ ccrx, ccry, ccr_rf,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
);
- double a21 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<1>(cli2), std::get<2>(cli2)
- );
- double a22 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<3>(cli2), std::get<4>(cli2)
- );
- double a2 = std::min(a21, a22);
-
- double r3 = sqrt(
- pow(this->cc().rfy() - ccry, 2)
- + pow(this->cc().rfx() - ccrx, 2)
+ double a2 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
);
auto cli3 = ::intersect(
- ccrx, ccry, r3,
- this->ps().x3(), this->ps().y3(),
- this->ps().x2(), this->ps().y2()
- );
- double a31 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<1>(cli3), std::get<2>(cli3)
+ ccrx, ccry, ccr_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
);
- double a32 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<3>(cli3), std::get<4>(cli3)
+ double a3 = smaller_angle_of_two(
+ this->cc().lfx(), this->cc().lfy(),
+ ccrx, ccry,
+ std::get<1>(cli3), std::get<2>(cli3),
+ std::get<3>(cli3), std::get<4>(cli3)
);
- double a3 = std::min(a31, a32);
-
if (std::get<0>(cli1) && (
(!std::get<0>(cli2) && !std::get<0>(cli3))
|| (a1 < a2 && !std::get<0>(cli3))
projects / hubacji1 / psp.git / blobdiff