namespace bcar {
ParkingSlot::ParkingSlot(Point p, double h, double W, double L) :
- border_{p,
+ _border{p,
Point(p.x() + W * cos(h - M_PI / 2.0),
p.y() + W * sin(h - M_PI / 2.0)),
Point(p.x() + W * cos(h - M_PI / 2.0) + L * cos(h),
p.y() + W * sin(h - M_PI / 2.0) + L * sin(h)),
Point(p.x() + L * cos(h), p.y() + L * sin(h))},
- entry_(border_[0], border_[3]),
- rear_(border_[0], border_[1]),
- curb_(border_[1], border_[2]),
- front_(border_[2], border_[3])
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
{
}
ParkingSlot::ParkingSlot(double lrx, double lry, double rrx, double rry,
double rfx, double rfy, double lfx, double lfy) :
- border_{Point(lrx, lry), Point(rrx, rry),
+ _border{Point(lrx, lry), Point(rrx, rry),
Point(rfx, rfy), Point(lfx, lfy)},
- entry_(border_[0], border_[3]),
- rear_(border_[0], border_[1]),
- curb_(border_[1], border_[2]),
- front_(border_[2], border_[3])
+ _entry(_border[0], _border[3]),
+ _rear(_border[0], _border[1]),
+ _curb(_border[1], _border[2]),
+ _front(_border[2], _border[3])
{
}
double
ParkingSlot::len() const
{
- return this->entry_.len();
+ return this->_entry.len();
}
double
ParkingSlot::w() const
{
- return this->rear_.len();
+ return this->_rear.len();
}
double
ParkingSlot::lfx() const
{
- return this->border_[3].x();
+ return this->_border[3].x();
}
double
ParkingSlot::lfy() const
{
- return this->border_[3].y();
+ return this->_border[3].y();
}
double
ParkingSlot::lrx() const
{
- return this->border_[0].x();
+ return this->_border[0].x();
}
double
ParkingSlot::lry() const
{
- return this->border_[0].y();
+ return this->_border[0].y();
}
double
ParkingSlot::rrx() const
{
- return this->border_[1].x();
+ return this->_border[1].x();
}
double
ParkingSlot::rry() const
{
- return this->border_[1].y();
+ return this->_border[1].y();
}
double
ParkingSlot::rfx() const
{
- return this->border_[2].x();
+ return this->_border[2].x();
}
double
ParkingSlot::rfy() const
{
- return this->border_[2].y();
+ return this->_border[2].y();
}
double
Line
ParkingSlot::entry() const
{
- return this->entry_;
+ return this->_entry;
}
Line
ParkingSlot::rear() const
{
- return this->rear_;
+ return this->_rear;
}
Line
ParkingSlot::curb() const
{
- return this->curb_;
+ return this->_curb;
}
Line
ParkingSlot::front() const
{
- return this->front_;
+ return this->_front;
}
void
ParkingSlot::set_parking_speed(double s)
{
- this->parking_speed_ = s;
+ this->_parking_speed = s;
}
unsigned int
ParkingSlot::get_max_cusp() const
{
- return this->max_cusp_;
+ return this->_max_cusp;
}
void
ParkingSlot::set_max_cusp(unsigned int m)
{
- this->max_cusp_ = m;
+ this->_max_cusp = m;
}
void
ParkingSlot::set_delta_angle_to_slot(double d)
{
- this->delta_angle_to_slot_ = d;
+ this->_delta_angle_to_slot = d;
}
bool
ParkingSlot::parallel() const
{
- return this->entry_.len() > this->rear_.len();
+ return this->_entry.len() > this->_rear.len();
}
bool
ParkingSlot::right() const
{
- return this->border_[1].on_right_side_of(this->entry_);
+ return this->_border[1].on_right_side_of(this->_entry);
}
void
ParkingSlot::swap_side()
{
- this->border_[1].rotate(this->border_[0], M_PI);
- this->border_[2].rotate(this->border_[3], M_PI);
- this->entry_ = Line(this->border_[0], this->border_[3]);
- this->rear_ = Line(this->border_[0], this->border_[1]);
- this->curb_ = Line(this->border_[1], this->border_[2]);
- this->front_ = Line(this->border_[2], this->border_[3]);
+ this->_border[1].rotate(this->_border[0], M_PI);
+ this->_border[2].rotate(this->_border[3], M_PI);
+ this->_entry = Line(this->_border[0], this->_border[3]);
+ this->_rear = Line(this->_border[0], this->_border[1]);
+ this->_curb = Line(this->_border[1], this->_border[2]);
+ this->_front = Line(this->_border[2], this->_border[3]);
}
bool
ParkingSlot::parked(BicycleCar const& c) const
{
- auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
- std::vector<Point> b(this->border_, this->border_ + b_len);
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
return c.lf().inside_of(b) && c.lr().inside_of(b)
&& c.rr().inside_of(b) && c.rf().inside_of(b);
}
bool
ParkingSlot::collide(BicycleCar const& c) const
{
- return c.left().intersects_with(this->rear_)
- || c.left().intersects_with(this->curb_)
- || c.left().intersects_with(this->front_)
- || c.rear().intersects_with(this->rear_)
- || c.rear().intersects_with(this->curb_)
- || c.rear().intersects_with(this->front_)
- || c.right().intersects_with(this->rear_)
- || c.right().intersects_with(this->curb_)
- || c.right().intersects_with(this->front_)
- || c.front().intersects_with(this->rear_)
- || c.front().intersects_with(this->curb_)
- || c.front().intersects_with(this->front_);
+ return c.left().intersects_with(this->_rear)
+ || c.left().intersects_with(this->_curb)
+ || c.left().intersects_with(this->_front)
+ || c.rear().intersects_with(this->_rear)
+ || c.rear().intersects_with(this->_curb)
+ || c.rear().intersects_with(this->_front)
+ || c.right().intersects_with(this->_rear)
+ || c.right().intersects_with(this->_curb)
+ || c.right().intersects_with(this->_front)
+ || c.front().intersects_with(this->_rear)
+ || c.front().intersects_with(this->_curb)
+ || c.front().intersects_with(this->_front);
}
std::vector<BicycleCar>
assert(c.len() < this->len());
assert(c.w() < this->w());
std::vector<BicycleCar> path;
- path.reserve(this->max_cusp_ + 2);
+ path.reserve(this->_max_cusp + 2);
path.push_back(c);
unsigned int cusp = 0;
- while (cusp < this->max_cusp_ + 1) {
+ while (cusp < this->_max_cusp + 1) {
if (this->parked(c)) {
- if (cusp < this->max_cusp_) {
- this->max_cusp_ = cusp;
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
}
path.push_back(c);
return path;
assert(c.w() < this->w());
assert(this->parked(c));
std::vector<BicycleCar> path;
- path.reserve(this->max_cusp_ + 2);
+ path.reserve(this->_max_cusp + 2);
path.push_back(c);
unsigned int cusp = 0;
- auto b_len = sizeof(this->border_) / sizeof(this->border_[0]);
- std::vector<Point> b(this->border_, this->border_ + b_len);
- while (cusp < this->max_cusp_ + 1) {
+ auto b_len = sizeof(this->_border) / sizeof(this->_border[0]);
+ std::vector<Point> b(this->_border, this->_border + b_len);
+ while (cusp < this->_max_cusp + 1) {
if (!c.lf().inside_of(b) && !c.rf().inside_of(b)) {
- if (cusp < this->max_cusp_) {
- this->max_cusp_ = cusp;
+ if (cusp < this->_max_cusp) {
+ this->_max_cusp = cusp;
}
path.push_back(c);
return path;
double gd = 0.0;
double dd = 0.0;
double radi = 0.0;
- if (this->parking_speed_ < 0) {
+ if (this->_parking_speed < 0) {
gd = c.df();
- c.h(this->rear_.h() + M_PI);
+ c.h(this->_rear.h() + M_PI);
c.sp(1.0);
radi = c.iradi();
} else {
gd = c.dr();
- c.h(this->rear_.h());
+ c.h(this->_rear.h());
c.sp(-1.0);
radi = c.ofradi();
}
- c.x(this->entry_.m().x() + gd * cos(this->rear_.h()));
- c.y(this->entry_.m().y() + gd * sin(this->rear_.h()));
+ c.x(this->_entry.m().x() + gd * cos(this->_rear.h()));
+ c.y(this->_entry.m().y() + gd * sin(this->_rear.h()));
Point cc(0.0, 0.0);
if (this->right()) {
cc = c.ccl();
} else {
cc = c.ccr();
}
- this->rear_.intersects_with(cc, radi);
- dd = std::min(this->border_[0].edist(this->rear_.i1()),
- this->border_[0].edist(this->rear_.i2()));
+ this->_rear.intersects_with(cc, radi);
+ dd = std::min(this->_border[0].edist(this->_rear.i1()),
+ this->_border[0].edist(this->_rear.i2()));
c.st(0.0);
c.sp(c.sp() * dd);
c.next();
- c.sp(this->parking_speed_);
+ c.sp(this->_parking_speed);
return PoseRange(c.x(), c.y(), c.h(), c.h());
}
bool swapped = false;
swapped = true;
}
c.h(this->h());
- double clen = -this->offset_ + this->len() - c.df();
+ double clen = -this->_offset + this->len() - c.df();
double cw = c.w() / 2.0;
c.x(this->lrx() + clen * cos(c.h()) + cw * cos(c.h() + M_PI / 2.0));
c.y(this->lry() + clen * sin(c.h()) + cw * sin(c.h() + M_PI / 2.0));
c.set_max_steer();
- assert(this->parking_speed_ < 0.0);
- c.sp(this->parking_speed_);
+ assert(this->_parking_speed < 0.0);
+ c.sp(this->_parking_speed);
auto const rc = c.rf();
- this->curb_.intersects_with(rc, c.len());
+ this->_curb.intersects_with(rc, c.len());
double max_to_slot;
auto const& rr = c.rr();
- auto const& i1 = this->curb_.i1();
- auto const& i2 = this->curb_.i2();
+ auto const& i1 = this->_curb.i1();
+ auto const& i2 = this->_curb.i2();
if (rr.edist(i1) < rr.edist(i2)) {
max_to_slot = rr.min_angle_between(rc, i1);
} else {
std::vector<BicycleCar> starts;
double a_to_slot = 0.0;
while (a_to_slot < max_to_slot) {
- a_to_slot += this->delta_angle_to_slot_;
- c.rotate(rc, this->delta_angle_to_slot_);
+ a_to_slot += this->_delta_angle_to_slot;
+ c.rotate(rc, this->_delta_angle_to_slot);
starts.push_back(c);
}
for (auto s: starts) {
PoseRange p(c1, c2);
if (swapped) {
this->swap_side();
- p.reflect(this->entry_);
+ p.reflect(this->_entry);
}
return p;
}
ParkingSlot::recompute_entry(PoseRange p)
{
p.rotate(Point(0.0, 0.0), this->h());
- p.translate(this->border_[0]);
+ p.translate(this->_border[0]);
if (!this->right()) {
- p.reflect(this->entry_);
+ p.reflect(this->_entry);
}
return p;
}
operator<<(std::ostream& o, ParkingSlot const& s)
{
o << "[";
- o << s.border_[0] << ",";
- o << s.border_[1] << ",";
- o << s.border_[2] << ",";
- o << s.border_[3];
+ o << s._border[0] << ",";
+ o << s._border[1] << ",";
+ o << s._border[2] << ",";
+ o << s._border[3];
o << "]";
return o;
}
projects / hubacji1 / bcar.git / blobdiff