+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cassert>
#include <cmath>
#include "pslot.hh"
return atan2(this->lfy() - this->lry(), this->lfx() - this->lrx());
}
+Point
+ParkingSlot::lf() const
+{
+ return Point(this->lfx(), this->lfy());
+}
+
+Point
+ParkingSlot::lr() const
+{
+ return Point(this->lrx(), this->lry());
+}
+
+Point
+ParkingSlot::rr() const
+{
+ return Point(this->rrx(), this->rry());
+}
+
+Point
+ParkingSlot::rf() const
+{
+ return Point(this->rfx(), this->rfy());
+}
+
+Line
+ParkingSlot::entry() const
+{
+ return this->entry_;
+}
+
+Line
+ParkingSlot::rear() const
+{
+ return this->rear_;
+}
+
+Line
+ParkingSlot::curb() const
+{
+ return this->curb_;
+}
+
+Line
+ParkingSlot::front() const
+{
+ return this->front_;
+}
+
+void
+ParkingSlot::set_parking_speed(double s)
+{
+ this->parking_speed_ = s;
+}
+
+unsigned int
+ParkingSlot::get_max_cusp() const
+{
+ return this->max_cusp_;
+}
+
+void
+ParkingSlot::set_max_cusp(unsigned int m)
+{
+ this->max_cusp_ = m;
+}
+
+void
+ParkingSlot::set_delta_angle_to_slot(double d)
+{
+ this->delta_angle_to_slot_ = d;
+}
+
bool
ParkingSlot::parallel() const
{
}
std::vector<BicycleCar>
-ParkingSlot::drive_in_slot(BicycleCar c, unsigned int& max)
+ParkingSlot::drive_in_slot(BicycleCar c)
{
assert(this->parallel());
assert(this->right());
assert(c.len() < this->len());
assert(c.w() < this->w());
std::vector<BicycleCar> path;
- path.reserve(max + 2);
+ path.reserve(this->max_cusp_ + 2);
path.push_back(c);
unsigned int cusp = 0;
- while (cusp < max + 1) {
+ while (cusp < this->max_cusp_ + 1) {
if (this->parked(c)) {
- if (cusp < max) {
- max = cusp;
+ if (cusp < this->max_cusp_) {
+ this->max_cusp_ = cusp;
}
path.push_back(c);
return path;
}
- if (c.h() < this->h()) {
+ double sx = c.x() + 10.0 * cos(this->h());
+ double sy = c.y() + 10.0 * sin(this->h());
+ double cx = c.x() + 10.0 * cos(c.h());
+ double cy = c.y() + 10.0 * sin(c.h());
+ if (Point(cx, cy).on_right_side_of(
+ Line(Point(c.x(), c.y()), Point(sx, sy)))) {
return std::vector<BicycleCar>();
}
c.next();
return std::vector<BicycleCar>();
}
+std::vector<BicycleCar>
+ParkingSlot::drive_of_slot(BicycleCar c)
+{
+ assert(this->parallel());
+ assert(this->right());
+ assert(c.len() < this->len());
+ assert(c.w() < this->w());
+ assert(this->parked(c));
+ std::vector<BicycleCar> path;
+ 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) {
+ if (!c.lf().inside_of(b) && !c.rf().inside_of(b)) {
+ if (cusp < this->max_cusp_) {
+ this->max_cusp_ = cusp;
+ }
+ path.push_back(c);
+ return path;
+ }
+ c.next();
+ if (this->collide(c)) {
+ c.sp(c.sp() * -1.0);
+ c.next();
+ path.push_back(c);
+ c.st(c.st() * -1.0);
+ cusp += 1;
+ }
+ }
+ return std::vector<BicycleCar>();
+}
+
std::vector<Pose>
ParkingSlot::steer_in_slot(BicycleCar c)
{
c.st(c.st() * -1.0);
}
}
- path.push_back(c);
return path;
}
PoseRange
-ParkingSlot::fe(BicycleCar c, unsigned int& max)
+ParkingSlot::fe(BicycleCar c)
{
- assert(this->parallel());
- assert(this->right());
+ if (!this->parallel()) {
+ double gd = 0.0;
+ double dd = 0.0;
+ double radi = 0.0;
+ if (this->parking_speed_ < 0) {
+ gd = c.df();
+ c.h(this->rear_.h() + M_PI);
+ c.sp(1.0);
+ radi = c.iradi();
+ } else {
+ gd = c.dr();
+ 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()));
+ 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()));
+ c.st(0.0);
+ c.sp(c.sp() * dd);
+ c.next();
+ c.sp(this->parking_speed_);
+ return PoseRange(c.x(), c.y(), c.h(), c.h());
+ }
+ bool swapped = false;
+ if (!this->right()) {
+ this->swap_side();
+ swapped = true;
+ }
c.h(this->h());
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();
- c.sp(-0.001);
+ assert(this->parking_speed_ < 0.0);
+ c.sp(this->parking_speed_);
auto const rc = c.rf();
this->curb_.intersects_with(rc, c.len());
double max_to_slot;
std::vector<BicycleCar> starts;
double a_to_slot = 0.0;
while (a_to_slot < max_to_slot) {
- a_to_slot += 0.0001;
- c.rotate(rc, 0.0001);
+ a_to_slot += this->delta_angle_to_slot_;
+ c.rotate(rc, this->delta_angle_to_slot_);
starts.push_back(c);
}
std::vector<std::vector<BicycleCar>> entries;
for (auto s: starts) {
- auto r = this->drive_in_slot(s, max);
+ auto r = this->drive_in_slot(s);
if (r.size() > 0) {
entries.push_back(r);
}
}
if (entries.size() == 0) {
- return PoseRange();
+ return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
}
if (entries.size() == 1) {
- PoseRange pr;
- pr.x(entries.front().front().x());
- pr.y(entries.front().front().y());
- pr.b(entries.front().front().h());
- pr.e(entries.front().front().h());
- return pr;
+ auto f = entries.front().front();
+ return PoseRange(f, f);
}
auto& c1 = entries.front().front();
auto& c2 = entries.back().front();
- double b = std::min(c1.h(), c2.h());
- double e = std::max(c1.h(), c2.h());
- clen = c.len();
- Point b1(c1.x() - clen * cos(c1.h()), c1.y() - clen * sin(c1.h()));
- Point b2(c2.x() - clen * cos(c2.h()), c2.y() - clen * sin(c2.h()));
- Point e1(c1.x() + clen * cos(c1.h()), c1.y() + clen * sin(c1.h()));
- Point e2(c2.x() + clen * cos(c2.h()), c2.y() + clen * sin(c2.h()));
- Line li1(b1, e1);
- Line li2(b2, e2);
- li1.intersects_with(li2);
- PoseRange pr;
- pr.x(li1.i1().x());
- pr.y(li1.i1().y());
- pr.b(b);
- pr.e(e);
- return pr;
+ PoseRange p(c1, c2);
+ if (swapped) {
+ this->swap_side();
+ p.reflect(this->entry_);
+ }
+ return p;
}
PoseRange
ParkingSlot::recompute_entry(PoseRange p)
{
p.rotate(Point(0.0, 0.0), this->h());
- p.x(p.x() + this->lrx());
- p.y(p.y() + this->lry());
+ p.translate(this->border_[0]);
if (!this->right()) {
p.reflect(this->entry_);
}
projects / hubacji1 / bcar.git / blobdiff