this->ps().x2() - this->ps().x1()
);
while (h < 0) h += 2 * M_PI;
-
- //// This is for backward parking only.
- //double entry_width = edist(
- // this->ps().x1(), this->ps().y1(),
- // this->ps().x4(), this->ps().y4()
- //);
- //double dist_l =
- // this->gc().orradi()
- // - (this->gc().mtr() + this->gc().w() / 2)
- //;
- //double move1 = dist_l + this->gc().w() / 2;
- //double dist_r = entry_width - this->gc().w() - dist_l;
- //double move2 = sqrt(
- // pow(this->gc().iradi(), 2)
- // - pow(this->gc().iradi() - dist_r, 2)
- //);
- //move2 -= this->gc().dr() / 2; // workaround
- //x += move1 * cos(h);
- //y += move1 * sin(h);
- //dts = atan2(
- // this->ps().y2() - this->ps().y1(),
- // this->ps().x2() - this->ps().x1()
- //);
- //while (dts < 0) dts += 2 * M_PI;
- //x += move2 * cos(h + dts);
- //y += move2 * sin(h + dts);
- //h += dts - M_PI / 2;
+ x += this->gc().dr() * cos(h + M_PI);
+ y += this->gc().dr() * sin(h + M_PI);
#endif
} else {
// Backward parking
this->ps().x1() - this->ps().x2()
);
while (h < 0) h += 2 * M_PI;
+ x += this->gc().df() * cos(h + M_PI);
+ y += this->gc().df() * sin(h + M_PI);
}
while (h > M_PI)
h -= 2 * M_PI;