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 void ParallelSlot::fipr(BicycleCar *B)
 139 {
 140         // TODO for right parallel parking also
 141         // it's only for lpar scenario now
 142
 143         std::vector<RRTNode *> cusp;
 144         cusp.push_back(new RRTNode(B->x(), B->y(), B->h()));
 145         // just copied from fip()
 146         this->DH(-0.01 / B->out_radi());
 147         BicycleCar *c;
 148         c = this->flncr(B);
 149         while (c->lfx() < 0) {
 150                 cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 151                 BicycleCar *cc = this->flncr(c);
 152                 cc->s(c->s() + 1);
 153                 delete c;
 154                 c = cc;
 155         }
 156         cusp.push_back(new RRTNode(c->x(), c->y(), c->h()));
 157         std::reverse(cusp.begin(), cusp.end());
 158         this->cusp().push_back(cusp);
 159 }
 160
 161 BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 162 {
 163         // TODO find last not colliding
 164         // for now just copy flast()
 165         RRTNode *cc;
 166         if (int(B->s()) % 2 == 0)
 167                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 168         else
 169                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 170         BicycleCar *p;
 171         int i = 1;
 172         p = B->move(cc, i * this->DH());
 173         while (!this->slot().collide(p->frame())
 174                         && (
 175                                 (this->DH() > 0 && p->x() <= 0)
 176                                 || (this->DH() < 0 && p->x() >= 0)
 177                         )) {
 178                 delete p;
 179                 i += 10;
 180                 p = B->move(cc, i * this->DH());
 181         }
 182         i -= 10;
 183         p = B->move(cc, i * this->DH());
 184         while (!this->slot().collide(p->frame())
 185                         && (
 186                                 (this->DH() > 0 && p->x() <= 0)
 187                                 || (this->DH() < 0 && p->x() >= 0)
 188                         )) {
 189                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 190                         i += 1;
 191                         break;
 192                 }
 193                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 194                         i += 1;
 195                         break;
 196                 }
 197                 delete p;
 198                 i += 1;
 199                 p = B->move(cc, i * this->DH());
 200         }
 201         delete p;
 202         return B->move(cc, (i - 1) * this->DH());
 203 }
 204
 205 BicycleCar *ParallelSlot::flncr(BicycleCar *B)
 206 {
 207         // TODO find last not colliding
 208         // for now just copy flast()
 209         RRTNode *cc;
 210         if (int(B->s()) % 2 == 0)
 211                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 212         else
 213                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 214         BicycleCar *p;
 215         int i = 1;
 216         p = B->move(cc, i * this->DH());
 217         while (!this->slot().collide(p->frame())
 218                         && (
 219                                 (this->DH() > 0 && p->x() >= 0)
 220                                 || (this->DH() < 0 && p->lfx() <= 0)
 221                         )) {
 222                 delete p;
 223                 i += 10;
 224                 p = B->move(cc, i * this->DH());
 225         }
 226         i -= 10;
 227         p = B->move(cc, i * this->DH());
 228         while (!this->slot().collide(p->frame())) {
 229                 if (this->DH() > 0 && p->x() <= 0) {
 230                         i += 1;
 231                         break;
 232                 }
 233                 if (this->DH() < 0 && p->lfx() >= 0) {
 234                         i += 1;
 235                         break;
 236                 }
 237                 delete p;
 238                 i += 1;
 239                 p = B->move(cc, i * this->DH());
 240         }
 241         delete p;
 242         return B->move(cc, (i - 1) * this->DH());
 243 }
 244
 245 RRTNode *ParallelSlot::fposecenter()
 246 {
 247         return this->slot().bnodes().front();
 248 }
 249
 250 bool ParallelSlot::flast(
 251         RRTNode *P,
 252         bool right,
 253         int il,
 254         std::vector<RRTNode *> &cusp
 255 )
 256 {
 257         BicycleCar *B = new BicycleCar(P->x(), P->y(), P->h());
 258         RRTNode *cc;
 259         if (right)
 260                 cc = BicycleCar(B->x(), B->y(), B->h()).ccr();
 261         else
 262                 cc = BicycleCar(B->x(), B->y(), B->h()).ccl();
 263         BicycleCar *p;
 264         int i = 1;
 265         p = B->move(cc, i * this->DH());
 266         while (!this->slot().collide(p->frame())
 267                         && (
 268                                 (this->DH() > 0 && p->x() <= 0)
 269                                 || (this->DH() < 0 && p->x() >= 0)
 270                         )) {
 271                 delete p;
 272                 i += 10;
 273                 p = B->move(cc, i * this->DH());
 274         }
 275         i -= 10;
 276         p = B->move(cc, i * this->DH());
 277         while (!this->slot().collide(p->frame())
 278                         && (
 279                                 (this->DH() > 0 && p->x() <= 0)
 280                                 || (this->DH() < 0 && p->x() >= 0)
 281                         )) {
 282                 if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 283                         i += 1;
 284                         break;
 285                 }
 286                 if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 287                         i += 1;
 288                         break;
 289                 }
 290                 delete p;
 291                 i += 1;
 292                 p = B->move(cc, i * this->DH());
 293         }
 294         delete p;
 295         p = B->move(cc, (i - 1) * this->DH());
 296         if (this->DH() > 0 && p->rfx() <= 0 && p->rrx() <= 0) {
 297                 cusp.push_back(p);
 298                 return true;
 299         } else if (this->DH() < 0 && p->lfx() >= 0 && p->lrx() >= 0) {
 300                 cusp.push_back(p);
 301                 return true;
 302         } else if (il < 8) {
 303                 cusp.push_back(p);
 304                 return this->flast(p, !right, il + 1, cusp);
 305         }
 306         return false;
 307 }
 308
 309 void ParallelSlot::fpose()
 310 {
 311         bool left = false; // right parking slot
 312         float di = -1;
 313         BicycleCar *CC = new BicycleCar(
 314                 this->fposecenter()->x(),
 315                 this->fposecenter()->y() - 0.01,
 316                 M_PI / 2
 317         );
 318         BicycleCar *B = new BicycleCar(
 319                 CC->x() - CC->width() / 2,
 320                 CC->y() - (CC->length() + CC->wheelbase()) / 2,
 321                 M_PI / 2
 322         );
 323         if (this->slot().bnodes()[0]->x() > this->slot().bnodes()[1]->x()) {
 324                 left = true;
 325                 di = 1;
 326                 delete B;
 327                 B = new BicycleCar(
 328                         CC->x() + CC->width() / 2,
 329                         CC->y() - (CC->length() + CC->wheelbase()) / 2,
 330                         M_PI / 2
 331                 );
 332         }
 333         this->DH(di * 0.01 / CC->out_radi());
 334         BicycleCar *p;
 335         int i = 0;
 336         p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 337         while (!this->slot().collide(p->frame())) {
 338                 std::vector<RRTNode *> tmpcusp;
 339                 tmpcusp.push_back(new BicycleCar(p->x(), p->y(), p->h()));
 340                 if (this->flast(p, left, 0, tmpcusp)) {
 341                         this->cusp().push_back(tmpcusp);
 342                         return;
 343                 }
 344                 i += 1;
 345                 delete p;
 346                 p = B->move(CC, -i * di * 0.01 / CC->diag_radi());
 347         }
 348 }
 349
 350 struct SamplingInfo ParallelSlot::getSamplingInfo()
 351 {
 352         struct SamplingInfo si;
 353         BicycleCar *CC = new BicycleCar(
 354                 this->fposecenter()->x(),
 355                 this->fposecenter()->y() - 0.01,
 356                 M_PI / 2
 357         );
 358         si.x = this->slot().bnodes()[0]->x();
 359         si.y = this->slot().bnodes()[0]->y();
 360         si.r = CC->diag_radi();
 361         si.h = M_PI / 2 - acos(EDIST( // TODO generalize
 362                 this->slot().bnodes()[0],
 363                 this->slot().bnodes()[1]
 364         ) / BCAR_LENGTH);
 365         return si;
 366 }