src/pslot.cc

   1 /*
   2  * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
   3  *
   4  * SPDX-License-Identifier: GPL-3.0-only
   5  */
   6
   7 #include <cassert>
   8 #include <cmath>
   9 #include "pslot.hh"
  10
  11 namespace bcar {
  12
  13 ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
  14                 border_({p,
  15                         Point(p.x() + W * cos(h - M_PI / 2.0),
  16                                 p.y() + W * sin(h - M_PI / 2.0)),
  17                         Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
  18                                 p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
  19                         Point(p.x() + L * cos(h), p.y() + L * sin(h))}),
  20                 entry_(border_[0], border_[3]),
  21                 rear_(border_[0], border_[1]),
  22                 curb_(border_[1], border_[2]),
  23                 front_(border_[2], border_[3])
  24 {
  25 }
  26
  27 ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
  28                 double rfx, double rfy, double lfx, double lfy) :
  29                         border_({Point(lrx, lry), Point(rrx, rry),
  30                                 Point(rfx, rfy), Point(lfx, lfy)}),
  31                         entry_(border_[0], border_[3]),
  32                         rear_(border_[0], border_[1]),
  33                         curb_(border_[1], border_[2]),
  34                         front_(border_[2], border_[3])
  35 {
  36 }
  37
  38 double
  39 ParkingSlot::len() const
  40 {
  41         return this->entry_.len();
  42 }
  43
  44 double
  45 ParkingSlot::w() const
  46 {
  47         return this->rear_.len();
  48 }
  49
  50 double
  51 ParkingSlot::lfx() const
  52 {
  53         return this->border_[3].x();
  54 }
  55
  56 double
  57 ParkingSlot::lfy() const
  58 {
  59         return this->border_[3].y();
  60 }
  61
  62 double
  63 ParkingSlot::lrx() const
  64 {
  65         return this->border_[0].x();
  66 }
  67
  68 double
  69 ParkingSlot::lry() const
  70 {
  71         return this->border_[0].y();
  72 }
  73
  74 double
  75 ParkingSlot::rrx() const
  76 {
  77         return this->border_[1].x();
  78 }
  79
  80 double
  81 ParkingSlot::rry() const
  82 {
  83         return this->border_[1].y();
  84 }
  85
  86 double
  87 ParkingSlot::rfx() const
  88 {
  89         return this->border_[2].x();
  90 }
  91
  92 double
  93 ParkingSlot::rfy() const
  94 {
  95         return this->border_[2].y();
  96 }
  97
  98 double
  99 ParkingSlot::h() const
 100 {
 101         return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
 102 }
 103
 104 Point
 105 ParkingSlot::lf() const
 106 {
 107         return Point(this->lfx(), this->lfy());
 108 }
 109
 110 Point
 111 ParkingSlot::lr() const
 112 {
 113         return Point(this->lrx(), this->lry());
 114 }
 115
 116 Point
 117 ParkingSlot::rr() const
 118 {
 119         return Point(this->rrx(), this->rry());
 120 }
 121
 122 Point
 123 ParkingSlot::rf() const
 124 {
 125         return Point(this->rfx(), this->rfy());
 126 }
 127
 128 Line
 129 ParkingSlot::entry() const
 130 {
 131         return this->entry_;
 132 }
 133
 134 Line
 135 ParkingSlot::rear() const
 136 {
 137         return this->rear_;
 138 }
 139
 140 Line
 141 ParkingSlot::curb() const
 142 {
 143         return this->curb_;
 144 }
 145
 146 Line
 147 ParkingSlot::front() const
 148 {
 149         return this->front_;
 150 }
 151
 152 void
 153 ParkingSlot::set_parking_speed(double s)
 154 {
 155         this->parking_speed_ = s;
 156 }
 157
 158 void
 159 ParkingSlot::set_max_cusp(unsigned int m)
 160 {
 161         this->max_cusp_ = m;
 162 }
 163
 164 void
 165 ParkingSlot::set_delta_angle_to_slot(double d)
 166 {
 167         this->delta_angle_to_slot_ = d;
 168 }
 169
 170 bool
 171 ParkingSlot::parallel() const
 172 {
 173         return this->entry_.len() > this->rear_.len();
 174 }
 175
 176 bool
 177 ParkingSlot::right() const
 178 {
 179         return this->border_[1].on_right_side_of(this->entry_);
 180 }
 181
 182 void
 183 ParkingSlot::swap_side()
 184 {
 185         this->border_[1].rotate(this->border_[0], M_PI);
 186         this->border_[2].rotate(this->border_[3], M_PI);
 187         this->entry_ = Line(this->border_[0], this->border_[3]);
 188         this->rear_ = Line(this->border_[0], this->border_[1]);
 189         this->curb_ = Line(this->border_[1], this->border_[2]);
 190         this->front_ = Line(this->border_[2], this->border_[3]);
 191 }
 192
 193 bool
 194 ParkingSlot::parked(BicycleCar const& c) const
 195 {
 196         auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
 197         std::vector<Point> b(this->border_, this->border_ + b_len);
 198         return c.lf().inside_of(b) && c.lr().inside_of(b)
 199                 && c.rr().inside_of(b) && c.rf().inside_of(b);
 200 }
 201
 202 bool
 203 ParkingSlot::collide(BicycleCar const& c) const
 204 {
 205         return c.left().intersects_with(this->rear_)
 206                 || c.left().intersects_with(this->curb_)
 207                 || c.left().intersects_with(this->front_)
 208                 || c.rear().intersects_with(this->rear_)
 209                 || c.rear().intersects_with(this->curb_)
 210                 || c.rear().intersects_with(this->front_)
 211                 || c.right().intersects_with(this->rear_)
 212                 || c.right().intersects_with(this->curb_)
 213                 || c.right().intersects_with(this->front_)
 214                 || c.front().intersects_with(this->rear_)
 215                 || c.front().intersects_with(this->curb_)
 216                 || c.front().intersects_with(this->front_);
 217 }
 218
 219 std::vector<BicycleCar>
 220 ParkingSlot::drive_in_slot(BicycleCar c)
 221 {
 222         assert(this->parallel());
 223         assert(this->right());
 224         assert(c.len() < this->len());
 225         assert(c.w() < this->w());
 226         std::vector<BicycleCar> path;
 227         path.reserve(this->max_cusp_ + 2);
 228         path.push_back(c);
 229         unsigned int cusp = 0;
 230         while (cusp < this->max_cusp_ + 1) {
 231                 if (this->parked(c)) {
 232                         if (cusp < this->max_cusp_) {
 233                                 this->max_cusp_ = cusp;
 234                         }
 235                         path.push_back(c);
 236                         return path;
 237                 }
 238                 double sx = c.x() + 10.0 * cos(this->h());
 239                 double sy = c.y() + 10.0 * sin(this->h());
 240                 double cx = c.x() + 10.0 * cos(c.h());
 241                 double cy = c.y() + 10.0 * sin(c.h());
 242                 if (Point(cx, cy).on_right_side_of(
 243                                 Line(Point(c.x(), c.y()), Point(sx, sy)))) {
 244                         return std::vector<BicycleCar>();
 245                 }
 246                 c.next();
 247                 if (this->collide(c)) {
 248                         c.sp(c.sp() * -1.0);
 249                         c.next();
 250                         path.push_back(c);
 251                         c.st(c.st() * -1.0);
 252                         cusp += 1;
 253                 }
 254         }
 255         return std::vector<BicycleCar>();
 256 }
 257
 258 std::vector<Pose>
 259 ParkingSlot::steer_in_slot(BicycleCar c)
 260 {
 261         std::vector<Pose> path;
 262         while (!this->parked(c)) {
 263                 path.push_back(c);
 264                 c.next();
 265                 if (this->collide(c)) {
 266                         c.sp(c.sp() * -1.0);
 267                         c.next();
 268                         c.st(c.st() * -1.0);
 269                 }
 270         }
 271         return path;
 272 }
 273
 274 PoseRange
 275 ParkingSlot::fe(BicycleCar c)
 276 {
 277         if (!this->parallel()) {
 278                 double gd = 0.0;
 279                 double dd = 0.0;
 280                 double radi = 0.0;
 281                 if (this->parking_speed_ < 0) {
 282                         gd = c.df();
 283                         c.h(this->rear_.h() + M_PI);
 284                         c.sp(1.0);
 285                         radi = c.iradi();
 286                 } else {
 287                         gd = c.dr();
 288                         c.h(this->rear_.h());
 289                         c.sp(-1.0);
 290                         radi = c.ofradi();
 291                 }
 292                 c.x(this->entry_.m().x() + gd * cos(this->rear_.h()));
 293                 c.y(this->entry_.m().y() + gd * sin(this->rear_.h()));
 294                 Point cc(0.0, 0.0);
 295                 if (this->right()) {
 296                         cc = c.ccl();
 297                 } else {
 298                         cc = c.ccr();
 299                 }
 300                 this->rear_.intersects_with(cc, radi);
 301                 dd = std::min(this->border_[0].edist(this->rear_.i1()),
 302                         this->border_[0].edist(this->rear_.i2()));
 303                 c.st(0.0);
 304                 c.sp(c.sp() * dd);
 305                 c.next();
 306                 c.sp(this->parking_speed_);
 307                 return PoseRange(c.x(), c.y(), c.h(), c.h());
 308         }
 309         bool swapped = false;
 310         if (!this->right()) {
 311                 this->swap_side();
 312                 swapped = true;
 313         }
 314         c.h(this->h());
 315         double clen = -this->offset_ + this->len() - c.df();
 316         double cw = c.w() / 2.0;
 317         c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
 318         c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
 319         c.set_max_steer();
 320         c.sp(this->parking_speed_);
 321         auto const rc = c.rf();
 322         this->curb_.intersects_with(rc, c.len());
 323         double max_to_slot;
 324         auto const& rr = c.rr();
 325         auto const& i1 = this->curb_.i1();
 326         auto const& i2 = this->curb_.i2();
 327         if (rr.edist(i1) < rr.edist(i2)) {
 328                 max_to_slot = rr.min_angle_between(rc, i1);
 329         } else {
 330                 max_to_slot = rr.min_angle_between(rc, i2);
 331         }
 332         std::vector<BicycleCar> starts;
 333         double a_to_slot = 0.0;
 334         while (a_to_slot < max_to_slot) {
 335                 a_to_slot += this->delta_angle_to_slot_;
 336                 c.rotate(rc, this->delta_angle_to_slot_);
 337                 starts.push_back(c);
 338         }
 339         std::vector<std::vector<BicycleCar>> entries;
 340         for (auto s: starts) {
 341                 auto r = this->drive_in_slot(s);
 342                 if (r.size() > 0) {
 343                         entries.push_back(r);
 344                 }
 345         }
 346         if (entries.size() == 0) {
 347                 return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
 348         }
 349         if (entries.size() == 1) {
 350                 auto f = entries.front().front();
 351                 return PoseRange(f, f);
 352         }
 353         auto& c1 = entries.front().front();
 354         auto& c2 = entries.back().front();
 355         PoseRange p(c1, c2);
 356         if (swapped) {
 357                 this->swap_side();
 358                 p.reflect(this->entry_);
 359         }
 360         return p;
 361 }
 362
 363 PoseRange
 364 ParkingSlot::recompute_entry(PoseRange p)
 365 {
 366         p.rotate(Point(0.0, 0.0), this->h());
 367         p.translate(this->border_[0]);
 368         if (!this->right()) {
 369                 p.reflect(this->entry_);
 370         }
 371         return p;
 372 }
 373
 374 std::ostream&
 375 operator<<(std::ostream& o, ParkingSlot const& s)
 376 {
 377         o << "[";
 378         o << s.border_[0] << ",";
 379         o << s.border_[1] << ",";
 380         o << s.border_[2] << ",";
 381         o << s.border_[3];
 382         o << "]";
 383         return o;
 384 }
 385
 386 } // namespace bcar