} else if (this->ps().right() && this->cc().sp() > 0) {
double ccrx = this->cc().ccr().x();
double ccry = this->cc().ccr().y();
-
- // TODO can I park by moving forward?
+{
+ 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
+ }
+}
double r1 = sqrt(
pow(this->cc().rfy() - ccry, 2)
+ pow(this->cc().rfx() - ccrx, 2)