decision_control/slotplanner.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <cmath>
  20 #include <list>
  21 #include <queue>
  22 #include "slotplanner.h"
  23
  24 ParallelSlot::ParallelSlot()
  25 {}
  26
  27 // getter
  28 std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
  29 {
  30         return this->cusp_;
  31 }
  32
  33 float ParallelSlot::DH() const
  34 {
  35         return this->DH_;
  36 }
  37
  38 PolygonObstacle &ParallelSlot::slot()
  39 {
  40         return this->slot_;
  41 }
  42
  43 SlotType ParallelSlot::slotType()
  44 {
  45         if (!this->slotType_) {
  46                 float d1 = EDIST(
  47                         this->slot().bnodes()[0],
  48                         this->slot().bnodes()[1]
  49                 );
  50                 float d2 = EDIST(
  51                         this->slot().bnodes()[1],
  52                         this->slot().bnodes()[2]
  53                 );
  54                 if (d1 > d2)
  55                         this->slotType_ = PERPENDICULAR;
  56                 else
  57                         this->slotType_ = PARALLEL;
  58         }
  59         return this->slotType_;
  60 }
  61
  62 // setter
  63 void ParallelSlot::DH(float dh)
  64 {
  65         this->DH_ = dh;
  66 }
  67
  68 // other
  69 void ParallelSlot::fip()
  70 {
  71         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
  72         // RRTNode.s() works as iteration level
  73         std::queue<BicycleCar *, std::list<BicycleCar *>> q;
  74
  75         // TODO add init nodes
  76         // for now just copy fpose()
  77         bool left = false; // right parking slot
  78         float di = -1;
  79         BicycleCar *CC = new BicycleCar(
  80                 this->fposecenter()->x(),
  81                 this->fposecenter()->y() - 0.01,
  82                 M_PI / 2
  83         );
  84         BicycleCar *B = new BicycleCar(
  85                 CC->x() - CC->width() / 2,
  86                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
  87                 M_PI / 2
  88         );
  89         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
  90                 left = true;
  91                 di = 1;
  92                 delete B;
  93                 B = new BicycleCar(
  94                         CC->x() + CC->width() / 2,
  95                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
  96                         M_PI / 2
  97                 );
  98         }
  99         this->DH(di * 0.01 / CC->out_radi());
 100         BicycleCar *c;
 101         int i = 0;
 102         c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 103         while (!this->slot().collide(c->frame())) {
 104                 q.push(c);
 105                 c = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 106                 i += 1;
 107         }
 108         delete c; // not in q and collide
 109         // BFS
 110         while (!q.empty()) {
 111                 c = q.front();
 112                 q.pop();
 113                 if (this->DH() > 0 && c->rfx() <= 0 && c->rrx() <= 0) {
 114                         goto createcuspandfinish;
 115                 } else if (this->DH() < 0 && c->lfx() >= 0 && c->lrx() >= 0) {
 116                         goto createcuspandfinish;
 117                 } else if (c->s() < 9) {
 118                         BicycleCar *cc = this->flnc(c);
 119                         cc->s(c->s() + 1);
 120                         cc->bcparent(c);
 121                         q.push(cc);
 122                 } else {
 123                         delete c; // not in q and collide
 124                 }
 125         }
 126 createcuspandfinish:
 127         std::vector<RRTNode *> cusp;
 128         while (c) {
 129                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 130                 c = c->bcparent();
 131         }
 132         std::reverse(cusp.begin(), cusp.end());
 133         this->cusp().push_back(cusp);
 134         std::queue<BicycleCar *, std::list<BicycleCar *>> empty;
 135         std::swap(q, empty);
 136 }
 137
 138 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 139 {
 140         // TODO find last not colliding
 141         // for now just copy flast()
 142         RRTNode *cc;
 143         if (int(B->s()) % 2 == 0)
 144                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 145         else
 146                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 147         BicycleCar *p;
 148         int i = 1;
 149         p = B->move(cc, i * this->DH());
 150         while (!this->slot().collide(p->frame())
 151                         && (
 152                                 (this->DH() > 0 && p->x() <= 0)
 153                                 || (this->DH() < 0 && p->x() >= 0)
 154                         )) {
 155                 delete p;
 156                 i += 10;
 157                 p = B->move(cc, i * this->DH());
 158         }
 159         i -= 10;
 160         p = B->move(cc, i * this->DH());
 161         while (!this->slot().collide(p->frame())
 162                         && (
 163                                 (this->DH() > 0 && p->x() <= 0)
 164                                 || (this->DH() < 0 && p->x() >= 0)
 165                         )) {
 166                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 167                         i += 1;
 168                         break;
 169                 }
 170                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 171                         i += 1;
 172                         break;
 173                 }
 174                 delete p;
 175                 i += 1;
 176                 p = B->move(cc, i * this->DH());
 177         }
 178         delete p;
 179         return B->move(cc, (i - 1) * this->DH());
 180 }
 181
 182 RRTNode *ParallelSlot::fposecenter()
 183 {
 184         return this->slot().bnodes().front();
 185 }
 186
 187 bool ParallelSlot::flast(
 188         RRTNode *P,
 189         bool right,
 190         int il,
 191         std::vector<RRTNode *> &cusp
 192 )
 193 {
 194         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 195         RRTNode *cc;
 196         if (right)
 197                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 198         else
 199                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 200         BicycleCar *p;
 201         int i = 1;
 202         p = B->move(cc, i * this->DH());
 203         while (!this->slot().collide(p->frame())
 204                         && (
 205                                 (this->DH() > 0 && p->x() <= 0)
 206                                 || (this->DH() < 0 && p->x() >= 0)
 207                         )) {
 208                 delete p;
 209                 i += 10;
 210                 p = B->move(cc, i * this->DH());
 211         }
 212         i -= 10;
 213         p = B->move(cc, i * this->DH());
 214         while (!this->slot().collide(p->frame())
 215                         && (
 216                                 (this->DH() > 0 && p->x() <= 0)
 217                                 || (this->DH() < 0 && p->x() >= 0)
 218                         )) {
 219                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 220                         i += 1;
 221                         break;
 222                 }
 223                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 224                         i += 1;
 225                         break;
 226                 }
 227                 delete p;
 228                 i += 1;
 229                 p = B->move(cc, i * this->DH());
 230         }
 231         delete p;
 232         p = B->move(cc, (i - 1) * this->DH());
 233         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 234                 cusp.push_back(p);
 235                 return true;
 236         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 237                 cusp.push_back(p);
 238                 return true;
 239         } else if (il < 8) {
 240                 cusp.push_back(p);
 241                 return this->flast(p, !right, il + 1, cusp);
 242         }
 243         return false;
 244 }
 245
 246 void ParallelSlot::fpose()
 247 {
 248         bool left = false; // right parking slot
 249         float di = -1;
 250         BicycleCar *CC = new BicycleCar(
 251                 this->fposecenter()->x(),
 252                 this->fposecenter()->y() - 0.01,
 253                 M_PI / 2
 254         );
 255         BicycleCar *B = new BicycleCar(
 256                 CC->x() - CC->width() / 2,
 257                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 258                 M_PI / 2
 259         );
 260         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 261                 left = true;
 262                 di = 1;
 263                 delete B;
 264                 B = new BicycleCar(
 265                         CC->x() + CC->width() / 2,
 266                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 267                         M_PI / 2
 268                 );
 269         }
 270         this->DH(di * 0.01 / CC->out_radi());
 271         BicycleCar *p;
 272         int i = 0;
 273         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 274         while (!this->slot().collide(p->frame())) {
 275                 std::vector<RRTNode *> tmpcusp;
 276                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 277                 if (this->flast(p, left, 0, tmpcusp)) {
 278                         this->cusp().push_back(tmpcusp);
 279                         return;
 280                 }
 281                 i += 1;
 282                 delete p;
 283                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 284         }
 285 }
 286
 287 struct SamplingInfo ParallelSlot::getSamplingInfo()
 288 {
 289         struct SamplingInfo si;
 290         BicycleCar *CC = new BicycleCar(
 291                 this->fposecenter()->x(),
 292                 this->fposecenter()->y() - 0.01,
 293                 M_PI / 2
 294         );
 295         si.x = this->slot().bnodes()[0]->x();
 296         si.y = this->slot().bnodes()[0]->y();
 297         si.r = CC->diag_radi();
 298         si.h = M_PI / 2 - acos(EDIST( // TODO generalize
 299                 this->slot().bnodes()[0],
 300                 this->slot().bnodes()[1]
 301         ) / BCAR_LENGTH);
 302         return si;
 303 }