if (this->ps().right() && this->cc().sp() < 0) {
double cclx = this->cc().ccl().x();
double ccly = this->cc().ccl().y();
+ double ccl_lr = edist(
+ cclx, ccly,
+ this->cc().lrx(), this->cc().lry()
+ );
+ double ccl_rr = edist(
+ cclx, ccly,
+ this->cc().rrx(), this->cc().rry()
+ );
+ double ccl_p1 = edist(
+ cclx, ccly,
+ this->ps().x1(), this->ps().y1()
+ );
+ if (ccl_rr < ccl_p1) {
+ // pass parking slot
+ continue;
+ } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
+ // partially out of parking slot
+ // TODO (p1, p2) x (lr, rr)
+ // TODO (ccl, rr) x (p2, p3)
+ } else if (ccl_lr >= ccl_p1) {
+ // in parking slot
+ // TODO (ccl, lr) x (p1, p2)
+ // TODO (ccl, rr) x (p2, p3)
+ }
double r1 = sqrt(
pow(this->cc().lry() - ccly, 2)