From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 19 Jan 2022 17:50:45 +0000 (+0100)
Subject: Add width with mirrors
X-Git-Tag: v0.9.0~5^2~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/d504fa83fcd1c1c6a7600593ca3c817e468aaf03

Add width with mirrors
---

diff --git a/incl/bcar.hh b/incl/bcar.hh
index 9e70986..cf2020f 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -201,7 +201,8 @@ public:
 class CarSize {
 private:
 	double _curb_to_curb = 10.802166641822163;
-	double _width = 1.945; // including mirrors
+	double _width_with_mirrors = 1.945;
+	double _width = 1.771;
 	double _wheelbase = 2.588;
 	double _distance_to_front = 3.427;
 	double _length = 4.084;
@@ -225,6 +226,12 @@ public:
 	/*! 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;
 
@@ -417,6 +424,24 @@ public:
 	/*! Get frame's right front axle point. */
 	Point rfa() 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;
 
diff --git a/src/bcar.cc b/src/bcar.cc
index d5b6b02..1e205a7 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -465,6 +465,18 @@ CarSize::w(double w)
 	this->_width = w;
 }
 
+double
+CarSize::wwm() const
+{
+	return this->_width_with_mirrors;
+}
+
+void
+CarSize::wwm(double w)
+{
+	this->_width_with_mirrors = w;
+}
+
 double
 CarSize::len() const
 {
@@ -543,7 +555,7 @@ CarSize::perfect_parking_slot_len() const
 	auto r = this->ctc() / 2.0;
 	auto l = this->wb();
 	auto k = this->df() - this->wb();
-	auto w = this->w();
+	auto w = this->w(); // FIXME use wwm()?
 	auto r2l2 = r * r - l * l;
 	auto s = r2l2 + pow(l + k, 2.0) - pow(sqrt(r2l2) - w, 2.0);
 	return this->len() + sqrt(s) - l - k;
@@ -868,6 +880,54 @@ BicycleCar::rfa() const
 	return Point(this->rfax(), this->rfay());
 }
 
+double
+BicycleCar::lfmx() const
+{
+	double x = this->x();
+	x += (this->wwm() / 2.0) * cos(this->h() + M_PI / 2.0);
+	x += this->wb() * cos(this->h());
+	return x;
+}
+
+double
+BicycleCar::lfmy() const
+{
+	double y = this->y();
+	y += (this->wwm() / 2.0) * sin(this->h() + M_PI / 2.0);
+	y += this->wb() * sin(this->h());
+	return y;
+}
+
+double
+BicycleCar::rfmx() const
+{
+	double x = this->x();
+	x += (this->wwm() / 2.0) * cos(this->h() - M_PI / 2.0);
+	x += this->wb() * cos(this->h());
+	return x;
+}
+
+double
+BicycleCar::rfmy() const
+{
+	double y = this->y();
+	y += (this->wwm() / 2.0) * sin(this->h() - M_PI / 2.0);
+	y += this->wb() * sin(this->h());
+	return y;
+}
+
+Point
+BicycleCar::lfm() const
+{
+	return Point(this->lfmx(), this->lfmy());
+}
+
+Point
+BicycleCar::rfm() const
+{
+	return Point(this->rfmx(), this->rfmy());
+}
+
 double
 BicycleCar::cfx() const
 {