+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
/*! \file */
#ifndef BCAR_BCAR_H
#define BCAR_BCAR_H
class Point {
private:
- double x_ = 0.0;
- double y_ = 0.0;
+ double _x = 0.0;
+ double _y = 0.0;
public:
Point();
Point(double x, double y);
*/
bool inside_of(std::vector<Point> const& poly) const;
+ /*! \brief Return `true` if `this` point is inside the circle `c`, `r`.
+ *
+ * \see * https://math.stackexchange.com/questions/198764/how-to-know-if-a-point-is-inside-a-circle#198769
+ */
+ bool inside_of(Point const& c, double const r) const;
+
/*! \brief Return `true` if on the right side of the plane.
*
* The plane is given by the line `li`, where `li->b()` is the base
/*! Return Euclidean distance to `p`. */
double edist(Point const& p) const;
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
bool operator==(Point const& p);
friend std::ostream& operator<<(std::ostream& out, Point const& p);
};
class Line {
private:
- Point b_;
- Point e_;
- Point i1_;
- Point i2_;
+ Point _b;
+ Point _e;
+ Point _i1;
+ Point _i2;
public:
Line(Point const& fp, Point const& lp);
double h() const;
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out);
+
friend std::ostream& operator<<(std::ostream& out, Line const& li);
};
/*! Store coordinates `x`, `y`, and heading `h`. */
class Pose : public virtual Point {
private:
- double h_ = 0.0;
+ double _h = 0.0;
public:
using Point::Point;
Pose(double x, double y, double h);
class PoseRange : public virtual Pose {
private:
- Pose bp_;
- Pose ep_;
+ Pose _bp;
+ Pose _ep;
void set_xyh();
public:
PoseRange(Pose bp, Pose ep);
/*! \brief Store car size.
*
- * - Default is https://en.wikipedia.org/wiki/Fiat_Punto
+ * - The default is Renault ZOE (www.car.info)
*/
class CarSize {
private:
- double curb_to_curb_ = 10.820;
- double width_ = 1.625;
- double wheelbase_ = 2.450;
- double distance_to_front_ = 3.105;
- double length_ = 3.760;
+ double _curb_to_curb = 10.802166641822163;
+ double _width_with_mirrors = 1.945;
+ double _width = 1.771;
+ double _wheelbase = 2.588;
+ double _distance_to_front = 3.427;
+ double _length = 4.084;
+ double _front_track = 1.511;
public:
/*! Get curb-to-curb distance. */
double ctc() const;
/*! Set width. */
void w(double w);
+ /*! Get width with mirrors. */
+ double wwm() const;
+
+ /*! Set width with mirrors. */
+ void wwm(double w);
+
/*! Get length. */
double len() const;
/*! Get distance from rear axle to rear. */
double dr() const;
+ /*! Set front track. */
+ void ft(double ft);
+
+ /*! Get front track. */
+ double ft() const;
+
+ /*! Return rear axle center to right rear corner Euclidean distance. */
+ double edist_to_rr() const;
+
+ /*! Return rear axle center to left front corner Euclidean distance. */
+ double edist_to_lf() const;
+
/*! \brief Get minimum turning radius.
*
* Please, note that the method returns really _minimum turning radius_,
* which is the distance from the rear axle center to the center of
* left or right rotation given by the kinematics constrants, i.e.
- * _wheelbase_ and _curb-to-curb_ distance.
+ * _wheelbase and _curb-to-curb_ distance.
*
- * Sometimes _minimum turning radius_ is not radius, not minimum, or not
- * turning. In this method, _minimum turning radius_ is minimum turning
+ * Sometimes _minimum turning _radius is not radius, not minimum, or not
+ * turning. In this method, _minimum turning _radius is minimum turning
* radius.
*/
double mtr() const;
*/
double orradi() const;
+ /*! \brief Return inner mirror radius.
+ *
+ * The inner mirror radius is the distance from minimum turning radius
+ * circle center to the farther mirror (from the rear axle view).
+ */
+ double imradi() const;
+
+ /*! \brief Return outer mirror radius.
+ *
+ * The outer mirror radius is the distance from minimum turning radius
+ * circle center to the farther mirror (from the rear axle view).
+ */
+ double omradi() const;
+
/*! \brief Return length of perfect parking slot.
*
* The width of the slot is the same as the width of the car.
/*! Store car motion. */
class CarMove {
private:
- double speed_ = 0.0;
- double steer_ = 0.0;
+ double _speed = 0.0;
+ double _steer = 0.0;
public:
/*! Get speed. */
double sp() const;
/*! Get frame's front side. */
Line front() const;
- /*! Get rear axle's left x coordinate. */
- double ralx() const;
+ /*! Get frame's left rear axle x coordinate. */
+ double lrax() const;
+
+ /*! Get frame's left rear axle y coordinate. */
+ double lray() const;
+
+ /*! Get frame's right rear axle x coordinate. */
+ double rrax() const;
+
+ /*! Get frame's right rear axle y coordinate. */
+ double rray() const;
+
+ /*! Get frame's left rear axle point. */
+ Point lra() const;
+
+ /*! Get frame's right rear axle point. */
+ Point rra() const;
+
+ /*! Get frame's left front axle x coordinate. */
+ double lfax() const;
+
+ /*! Get frame's left front axle y coordinate. */
+ double lfay() const;
+
+ /*! Get frame's right front axle x coordinate. */
+ double rfax() const;
+
+ /*! Get frame's right front axle y coordinate. */
+ double rfay() const;
- /*! Get rear axle's left y coordinate. */
- double raly() const;
+ /*! Get iframe's left front axle point. */
+ Point lfa() const;
- /*! Get rear axle's right x coordinate. */
- double rarx() const;
+ /*! Get frame's right front axle point. */
+ Point rfa() const;
- /*! Get rear axle's right y coordinate. */
- double rary() const;
+ /*! Get frame's left front mirror x coordinate. */
+ double lfmx() const;
+
+ /*! Get frame's left front mirror y coordinate. */
+ double lfmy() const;
+
+ /*! Get frame's right front mirror x coordinate. */
+ double rfmx() const;
+
+ /*! Get frame's right front mirror y coordinate. */
+ double rfmy() const;
+
+ /*! Get iframe's left front mirror point. */
+ Point lfm() const;
+
+ /*! Get frame's right front mirror point. */
+ Point rfm() const;
+
+ /*! Get frame's center front x coordinate. */
+ double cfx() const;
+
+ /*! Get frame's center front y coordinate. */
+ double cfy() const;
+
+ /*! Get frame's center front point. */
+ Point cf() const;
/*! Min. turning radius circle center on left. */
Point ccl() const;
/*! Next car position based on speed `sp` and steer `st`. */
void next();
+
+ /*! Options for generating output for gnuplot. */
+ class GenPlotOpts {
+ public:
+ bool LF_POINT = false;
+ bool LR_POINT = false;
+ bool RR_POINT = false;
+ bool RF_POINT = false;
+ bool LFM_POINT = false;
+ bool RFM_POINT = false;
+ bool CRA_POINT = false;
+ bool CAR_POINT = false;
+ bool LRA_POINT = false;
+ bool RRA_POINT = false;
+
+ bool LEFT = false;
+ bool RIGHT = false;
+ bool REAR = false;
+ bool FRONT = false;
+ bool FRAME = false; // LEFT, RIGHT, REAR, FRONT
+ bool ARROW = false;
+ bool CROSS = false;
+ bool CAR = false; // CROSS, ARROW, FRAME
+ bool LEFT_MIRROR = false;
+ bool RIGHT_MIRROR = false;
+ bool MIRRORS = false; // RIGHT_MIRROR, LEFT_MIRROR
+ bool ALL = true; // MIRRORS, CAR
+ };
+
+ /*! Generate output for plotting with gnuplot. */
+ void gen_gnuplot_to(std::ostream& out, GenPlotOpts opts);
};
} // namespace bcar
projects / hubacji1 / bcar.git / blobdiff