2 This file is part of I am car.
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.
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.
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/>.
20 #include "reeds_shepp.h"
25 #define ST2WHEELBASE 2.450
26 #define ST2TURNINGRADI 10.82
27 #define ST2MAXSTEERING atan(ST2WHEELBASE / ST2TURNINGRADI)
33 std::vector<RRTNode *> st1(RRTNode *init, RRTNode *goal)
39 std::vector<RRTNode *> nodes;
41 for (i = 1; i < ST1COUNT + 1; i++) {
42 angl = atan2(goal->y() - init->y(), goal->x() - init->x());
43 new_x = init->x() + i * ST1STEP * cos(angl);
44 new_y = init->y() + i * ST1STEP * sin(angl);
46 nodes.push_back(new RRTNode(new_x, new_y, new_h));
51 std::vector<RRTNode *> st2(RRTNode *init, RRTNode *goal)
54 float angl = atan2(goal->y() - init->y(), goal->x() - init->x());
55 float sa = angl - init->h(); // steering angle
56 float co = cos(angl - init->h());
57 float si = sin(angl - init->h());
66 if (sa > ST2MAXSTEERING)
68 if (sa < -ST2MAXSTEERING)
70 float new_h = init->h() + (speed / ST2WHEELBASE) * tan(sa);
71 float new_x = init->x() + speed * cos(new_h);
72 float new_y = init->y() + speed * sin(new_h);
73 std::vector<RRTNode *> nodes;
74 nodes.push_back(new RRTNode(new_x, new_y, new_h));
78 int cb_st3(double q[3], void *user_data)
80 std::vector<RRTNode *> *nodes = (std::vector<RRTNode *> *) user_data;
81 nodes->push_back(new RRTNode(q[0], q[1], q[2]));
85 std::vector<RRTNode *> st3(RRTNode *init, RRTNode *goal)
87 std::vector<RRTNode *> nodes;
88 double q0[] = {init->x(), init->y(), init->h()};
89 double q1[] = {goal->x(), goal->y(), goal->h()};
90 ReedsSheppStateSpace rsss(10.82); // TODO const param
91 rsss.sample(q0, q1, 1, cb_st3, &nodes); // TODO const
95 std::vector<RRTNode *> st4(RRTNode *init, RRTNode *goal)
97 std::vector<RRTNode *> nodes;
98 BicycleCar bc(init->x(), init->y(), init->h());
100 float angl = atan2(goal->y() - init->y(), goal->x() - init->x());
101 float co = cos(angl - init->h());
102 //float si = sin(angl - init->h());
104 float speed = 1; // desired
105 float gx = goal->x();
106 float gy = goal->y();
111 float rx = 0; // recomputed goal x
112 float ry = 0; // recomputed goal y
115 for (i = 0; i < ST4COUNT; i++) {
117 cerr = speed - bc.speed();
118 bc.speed(ST4KP * cerr + ST4KI * lerr);
121 rx = (gx - bc.x()) * cos(-bc.h()) -
122 (gy - bc.y()) * sin(-bc.h());
123 ry = (gx - bc.x()) * sin(-bc.h()) -
124 (gy - bc.y()) * cos(-bc.h());
126 r = pow(rx, 2) + pow(ry, 2) / (2 * ry);
131 nodes.push_back(new RRTNode(bc.x(), bc.y(), bc.h()));