Add testing parking scenarios

diff --git a/CHANGELOG.md b/CHANGELOG.md
index b2e18ff86ee3d454e53ebdaccffbf6d61004d78a..1866ccfaf0e2df2f87fb2a9c34f06f74dd6969e1 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -29,6 +29,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 - Bicycle car simulation.
 - Closed loop controller with PI for speed and PurePursuit based on
   [Coulter1992] paper for steering.
+- Testing parking scenarios.
 
 ### Changed
 - Adding JSON ouput for edges, samples.

diff --git a/lpar.json b/lpar.json
new file mode 100644 (file)
index 0000000..59ab23d
--- /dev/null
+++ b/lpar.json
@@ -0,0 +1,54 @@
+{
+        "init": [1.1, 6.5, 1.5707963267948966],
+        "goal": [-1.1, 14.37, 1.5707963267948966],
+        "obst": [
+                {
+                        "segment": [
+                                [0, 0],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [-2.2, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 13],
+                                [-2.2, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 19.5],
+                                [0, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 19.5],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [2.75, 0],
+                                [2.75, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 0],
+                                [2.75, 0]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [2.75, 26]
+                        ]
+                }
+        ]
+}

diff --git a/lper.json b/lper.json
new file mode 100644 (file)
index 0000000..124e2fb
--- /dev/null
+++ b/lper.json
@@ -0,0 +1,54 @@
+{
+        "init": [1.1, 6.5, 1.5707963267948966],
+        "goal": [-0.37, 14.2, 3.141592653589793],
+        "obst": [
+                {
+                        "segment": [
+                                [0, 0],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [-5.3, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-5.3, 13],
+                                [-5.3, 15.4]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-5.3, 15.4],
+                                [0, 15.4]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 15.4],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [5.5, 0],
+                                [5.5, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 0],
+                                [5.5, 0]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [5.5, 26]
+                        ]
+                }
+        ]
+}

diff --git a/rpar.json b/rpar.json
new file mode 100644 (file)
index 0000000..844d423
--- /dev/null
+++ b/rpar.json
@@ -0,0 +1,54 @@
+{
+        "init": [-1.1, 6.5, 1.5707963267948966],
+        "goal": [1.1, 14.37, 1.5707963267948966],
+        "obst": [
+                {
+                        "segment": [
+                                [0, 0],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [2.2, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [2.2, 13],
+                                [2.2, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [2.2, 19.5],
+                                [0, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 19.5],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.75, 0],
+                                [-2.75, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 0],
+                                [-2.75, 0]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [-2.75, 26]
+                        ]
+                }
+        ]
+}

diff --git a/rper.json b/rper.json
new file mode 100644 (file)
index 0000000..c76c28c
--- /dev/null
+++ b/rper.json
@@ -0,0 +1,54 @@
+{
+        "init": [-1.1, 6.5, 1.5707963267948966],
+        "goal": [0.37, 14.2, 3.141592653589793],
+        "obst": [
+                {
+                        "segment": [
+                                [0, 0],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [5.3, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [5.3, 13],
+                                [5.3, 15.4]
+                        ]
+                },
+                {
+                        "segment": [
+                                [5.3, 15.4],
+                                [0, 15.4]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 15.4],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-5.5, 0],
+                                [-5.5, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 0],
+                                [-5.5, 0]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [-5.5, 26]
+                        ]
+                }
+        ]
+}