From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 3 Jan 2022 13:44:28 +0000 (+0100)
Subject: Add entry positions range executable
X-Git-Tag: v0.8.0~4
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/8c32272cb26aefffdaaa2358e097c0c6b7a67934

Add entry positions range executable
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6625d7a..dc978e6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,6 +23,9 @@ target_link_libraries(compute_pslot_table pslot)
 add_executable(prove_parallel_slot src/prove_parallel_slot.cc)
 target_link_libraries(prove_parallel_slot pslot)
 
+add_executable(entry_positions_range src/entry_positions_range.cc)
+target_link_libraries(entry_positions_range pslot)
+
 add_executable(compare_to_vorobieva src/compare_to_vorobieva.cc)
 target_link_libraries(compare_to_vorobieva pslot)
 
diff --git a/src/entry_positions_range.cc b/src/entry_positions_range.cc
new file mode 100644
index 0000000..6bc82a3
--- /dev/null
+++ b/src/entry_positions_range.cc
@@ -0,0 +1,74 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
+#include <iostream>
+#include <vector>
+#include "pslot.hh"
+
+#define CAR_CURB_TO_CURB 10.802166641822163
+#define CAR_FRONT_TRACK 1.511
+#define CAR_WIDTH 1.771
+#define CAR_WHEELBASE 2.588
+#define CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT 3.427
+#define CAR_LENGTH 4.084
+
+#define SLOT_MAX_WIDTH (CAR_WIDTH + 0.5)
+#define SLOT_STEP_WIDTH 0.01
+
+#define PARKING_SPEED -0.001
+#define DELTA_ANGLE_TO_SLOT 0.0001
+
+int main(int argc, char** argv)
+{
+	if (argc != 3) {
+		std::cerr << "Number of direction changes needed." << std::endl;
+		exit(1);
+	}
+	int max_cusp = atoi(argv[1]);
+	double slot_length = atof(argv[2]);
+	std::cout << std::fixed;
+	std::cerr << std::fixed;
+
+	bcar::BicycleCar c;
+	c.ctc(CAR_CURB_TO_CURB);
+	c.ft(CAR_FRONT_TRACK);
+	c.w(CAR_WIDTH);
+	c.wb(CAR_WHEELBASE);
+	c.df(CAR_DISTANCE_FROM_REAR_AXLE_TO_FRONT);
+	c.len(CAR_LENGTH);
+
+	bcar::Point zp(0.0, 0.0);
+	double zh = 0.0;
+
+	for (double w = c.w() + 4.5 * SLOT_STEP_WIDTH; w < SLOT_MAX_WIDTH;
+			w += SLOT_STEP_WIDTH) {
+		bcar::ParkingSlot s(zp, zh, w, slot_length);
+		s.set_parking_speed(PARKING_SPEED);
+		s.set_max_cusp(max_cusp);
+		s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
+		auto pr = s.fe(c);
+		double d = 0;
+		double fd = 0;
+		unsigned int cd = 0;
+		if (s._entries.size() > 0) {
+			for (unsigned int i = 1; i < s._entries.size(); i++) {
+				double dd = std::abs(s._entries[i].front().h()
+					- s._entries[i - 1].front().h());
+				if (dd <= 0.0001) {
+					d += dd;
+				} else {
+					fd += dd;
+					cd += 1;
+				}
+			}
+			std::cout << w << " " << slot_length << " ";
+			std::cout << max_cusp << " ";
+			std::cout << d << " " << fd << " " << cd;
+			std::cout << std::endl;
+		}
+	}
+	return 0;
+}