From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 20 Jul 2020 11:26:29 +0000 (+0200)
Subject: Update forward parking goal guess
X-Git-Tag: v0.4.0~3^2~2
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/commitdiff_plain/43359b55f3853e82249843e3ec19c2a6f618303b

Update forward parking goal guess
---

diff --git a/src/psp.cc b/src/psp.cc
index 35e92ac..f69e1f2 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -116,33 +116,8 @@ void PSPlanner::guess_gc()
                         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
@@ -157,6 +132,8 @@ void PSPlanner::guess_gc()
                         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;