src/psp.cc

   1 #include <cmath>
   2 #include <list>
   3 #include <queue>
   4 #include "psp.h"
   5
   6 bool PSPlanner::collide()
   7 {
   8         std::vector<std::tuple<double, double>> bc;
   9         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  10         bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
  11         bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
  12         bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
  13         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  14         std::vector<std::tuple<double, double>> ps;
  15         ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
  16         ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
  17         ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
  18         ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
  19         return std::get<0>(::collide(bc, ps));
  20 }
  21
  22 bool PSPlanner::forward()
  23 {
  24         if (this->ps().parallel())
  25                 return false;
  26         double heading = atan2(
  27                 this->ps().y2() - this->ps().y1(),
  28                 this->ps().x2() - this->ps().x1()
  29         );
  30         while (heading < 0) heading += 2 * M_PI;
  31         double h = this->gc().h();
  32         while (h < 0) h += 2 * M_PI;
  33         if (std::abs(heading - h) < M_PI / 4)
  34                 return true;
  35         return false;
  36 }
  37
  38 void PSPlanner::gc_to_4()
  39 {
  40         double angl_slot = atan2(
  41                 this->ps().y3() - this->ps().y4(),
  42                 this->ps().x3() - this->ps().x4()
  43         );
  44         double angl_delta = M_PI / 2;
  45         if (this->ps().right())
  46                 angl_delta = -M_PI / 2;
  47         double x = this->ps().x4();
  48         double y = this->ps().y4();
  49         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  50         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  51         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  52         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  53         this->gc().x(x);
  54         this->gc().y(y);
  55         this->gc().h(angl_slot);
  56 }
  57
  58 std::tuple<double, double, double, double> circle_line_intersection(
  59         double cx, double cy, double r,
  60         double x1, double y1,
  61         double x2, double y2
  62 )
  63 {
  64         double t = (y2 - y1) / (x2 - x1);
  65         //double a = 1 + pow(t, 2);
  66         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  67         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  68         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  69         //        - pow(r, 2);
  70         double a = 1 + pow(t, 2);
  71         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  72         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  73         c += pow(-t * x1 + y1, 2);
  74         c += 2 * cy * t * x1 - 2 * cy * y1;
  75         double D = pow(b, 2) - 4 * a * c;
  76         if (D < 0)
  77                 return std::make_tuple(cx, cy, cx, cy);
  78         double res_x1 = (-b + sqrt(D)) / (2 * a);
  79         double res_y1 = t * (res_x1 - x1) + y1;
  80         double res_x2 = (-b - sqrt(D)) / (2 * a);
  81         double res_y2 = t * (res_x2 - x1) + y1;
  82         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  83 }
  84
  85 double edist(double x1, double y1, double x2, double y2)
  86 {
  87         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  88 }
  89
  90 void PSPlanner::guess_gc()
  91 {
  92         double x = this->ps().x1();
  93         double y = this->ps().y1();
  94         double h = this->ps().heading();
  95         double dts = + M_PI / 2; // direction to slot
  96         if (this->ps().right())
  97                 dts = - M_PI / 2;
  98         if (this->ps().parallel()) {
  99                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 100                 x += (this->gc().dr() + 0.01) * cos(h);
 101                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 102                 y += (this->gc().dr() + 0.01) * sin(h);
 103         } else {
 104                 if (std::abs(
 105                         atan2(
 106                                 this->ps().y2() - this->ps().y1(),
 107                                 this->ps().x2() - this->ps().x1()
 108                         )
 109                         - this->ps().heading()
 110                 ) < M_PI / 2) {
 111                         // forward parking
 112                         this->gc_to_4();
 113                         double bx;
 114                         double by;
 115                         double cx;
 116                         double cy;
 117                         if (this->ps().right()) {
 118                                 bx = this->gc().lfx();
 119                                 by = this->gc().lfy();
 120                                 cx = this->gc().ccr().x();
 121                                 cy = this->gc().ccr().y();
 122                         } else {
 123                                 bx = this->gc().rfx();
 124                                 by = this->gc().rfy();
 125                                 cx = this->gc().ccl().x();
 126                                 cy = this->gc().ccl().y();
 127                         }
 128                         double radi_angl = atan2(by - cy, bx - cx);
 129                         radi_angl += dts;
 130                         double angl_delta = this->gc().h() - radi_angl;
 131                         this->gc().rotate(bx, by, angl_delta);
 132                         // TODO there is a bug somewhere :/
 133                         //
 134                         // cli returns not exact intersection, therefore the
 135                         // distance to x1, y1 of border is shorter. Then, when
 136                         // moving, the distance `dist_o` is not sufficient and
 137                         // car still collide with parking slot. It shouldn't be
 138                         // problem until it collides with obstacle.
 139                         //
 140                         if (this->ps().right()) {
 141                                 cx = this->gc().ccr().x();
 142                                 cy = this->gc().ccr().y();
 143                         } else {
 144                                 cx = this->gc().ccl().x();
 145                                 cy = this->gc().ccl().y();
 146                         }
 147                         auto cli = circle_line_intersection(
 148                                 cx, cy, this->gc().iradi(),
 149                                 this->ps().x1(), this->ps().y1(),
 150                                 this->ps().x2(), this->ps().y2()
 151                         );
 152                         double d1 = edist(
 153                                 this->ps().x1(), this->ps().y1(),
 154                                 std::get<0>(cli), std::get<1>(cli)
 155                         );
 156                         double d2 = edist(
 157                                 this->ps().x1(), this->ps().y1(),
 158                                 std::get<2>(cli), std::get<3>(cli)
 159                         );
 160                         double dist_o = std::min<double>(d1, d2);
 161                         double angl_o = atan2(
 162                                 this->ps().y4() - this->ps().y3(),
 163                                 this->ps().x4() - this->ps().x3()
 164                         );
 165                         // projection
 166                         double angl_d = atan2(
 167                                 this->ps().y1() - this->ps().y2(),
 168                                 this->ps().x1() - this->ps().x2()
 169                         );
 170                         angl_d -= angl_o;
 171                         dist_o *= cos(angl_d);
 172                         this->gc().x(this->gc().x() + dist_o * cos(angl_o));
 173                         this->gc().y(this->gc().y() + dist_o * sin(angl_o));
 174                         // --- ENDTODO ---
 175                         this->gc().sp(-0.01);
 176                         this->gc().st(dts);
 177                         return;
 178                 } else {
 179                         dts = atan2(
 180                                 this->ps().y2() - this->ps().y1(),
 181                                 this->ps().x2() - this->ps().x1()
 182                         );
 183                         dts *= 1.01; // precision workaround
 184                         // backward parking
 185                         h = dts + M_PI;
 186                         x += -(this->gc().df() + 0.01) * cos(h);
 187                         y += -(this->gc().df() + 0.01) * sin(h);
 188                         if (this->ps().right())
 189                                 dts += M_PI / 2;
 190                         else
 191                                 dts -= M_PI / 2;
 192                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 193                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 194                 }
 195         }
 196         while (h > M_PI)
 197                 h -= 2 * M_PI;
 198         while (h <= -M_PI)
 199                 h += 2 * M_PI;
 200         this->gc().x(x);
 201         this->gc().y(y);
 202         this->gc().h(h);
 203 }
 204
 205 bool PSPlanner::left()
 206 {
 207         double lfx = this->cc().lfx();
 208         double lfy = this->cc().lfy();
 209         double lrx = this->cc().lrx();
 210         double lry = this->cc().lry();
 211         double rrx = this->cc().rrx();
 212         double rry = this->cc().rry();
 213         double rfx = this->cc().rfx();
 214         double rfy = this->cc().rfy();
 215         double lfs = sgn(
 216                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 217                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 218         );
 219         double lrs = sgn(
 220                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 221                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 222         );
 223         double rrs = sgn(
 224                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 225                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 226         );
 227         double rfs = sgn(
 228                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 229                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 230         );
 231         if (this->ps().parallel())
 232                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 233         else if (!this->forward())
 234                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 235         else
 236                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 237 }
 238
 239 bool PSPlanner::parked()
 240 {
 241         std::vector<std::tuple<double, double>> slot;
 242         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 243         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 244         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 245         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 246         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 247                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 248                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 249                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 250 }
 251
 252 std::vector<BicycleCar> PSPlanner::possible_goals(
 253         unsigned int cnt,
 254         double dist
 255 )
 256 {
 257         std::vector<BicycleCar> pi;
 258         if (this->cc().sp() > 0)
 259                 this->cc().sp(1);
 260         else
 261                 this->cc().sp(-1);
 262         this->cc().sp(this->cc().sp() * dist);
 263         this->cc().st(this->cc().st() * 1);
 264         BicycleCar orig_cc(this->cc());
 265         for (unsigned int i = 0; i < cnt; i++) {
 266                 this->cc().next();
 267                 pi.push_back(BicycleCar(this->cc()));
 268         }
 269         this->cc() = BicycleCar(orig_cc);
 270         return pi;
 271 }
 272
 273 // find entry
 274 void PSPlanner::fe()
 275 {
 276         this->c_ = 0;
 277         if (this->ps().parallel()) {
 278                 return this->fe_parallel();
 279         } else {
 280                 this->guess_gc();
 281                 this->cc() = BicycleCar(this->gc());
 282                 return this->fer_perpendicular();
 283         }
 284 }
 285
 286 void PSPlanner::fe_parallel()
 287 {
 288         BicycleCar bco = BicycleCar(this->gc());
 289         this->cc() = BicycleCar();
 290         this->cc().sp(-0.01);
 291         this->cc().set_max_steer();
 292         if (!this->ps().right())
 293                 this->cc().st(this->cc().st() * -1);
 294         this->cc().h(this->ps().heading());
 295         double angl_in_slot = this->ps().heading() - M_PI / 4;
 296         if (!this->ps().right())
 297                 angl_in_slot += M_PI / 2;
 298         this->cc().x(
 299                 this->ps().x4()
 300                 + this->cc().w()/2 * cos(
 301                         this->ps().heading()
 302                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 303                 )
 304                 + (this->cc().df() + 0.01) * cos(
 305                         this->ps().heading() + M_PI
 306                 )
 307         );
 308         this->cc().y(
 309                 this->ps().y4()
 310                 + this->cc().w()/2 * sin(
 311                         this->ps().heading()
 312                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 313                 )
 314                 + (this->cc().df() + 0.01) * sin(
 315                         this->ps().heading() + M_PI
 316                 )
 317         );
 318
 319         std::queue<BicycleCar, std::list<BicycleCar>> q;
 320         while (!this->collide()) {
 321                 q.push(this->cc());
 322                 this->cc().rotate(
 323                         this->ps().x4(),
 324                         this->ps().y4() - 0.01,
 325                         ((this->ps().right()) ? 0.01 : -0.01)
 326                 );
 327         }
 328         // BFS - find entry current car `cc` and corresponding goal car `gc`
 329         unsigned int iter_cntr = 0;
 330         while (!q.empty() && iter_cntr < 30) {
 331                 this->cc() = BicycleCar(q.front());
 332                 q.pop();
 333                 while (
 334                         !this->collide()
 335                         && (std::abs(
 336                                 this->cc().h() - this->ps().heading()
 337                         ) > M_PI / 32)
 338                         && (std::abs(
 339                                 this->cc().h() - this->ps().heading()
 340                         ) < M_PI / 2)
 341                 )
 342                         this->cc().next();
 343                 this->cc().sp(this->cc().sp() * -1);
 344                 this->cc().next();
 345                 this->gc() = BicycleCar(this->cc());
 346                 if (this->parked())
 347                         goto successfinish;
 348                 this->cc().st(this->cc().st() * -1);
 349                 q.push(BicycleCar(this->cc()));
 350                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 351                         iter_cntr++;
 352         }
 353         // fallback to fer
 354         this->gc() = BicycleCar(bco);
 355 successfinish:
 356         return this->fer_parallel();
 357 }
 358
 359 void PSPlanner::fe_perpendicular()
 360 {
 361         // TODO Try multiple angles when going from parking slot.
 362         //
 363         //      Do not use just the maximum steer angle. Test angles
 364         //      until the whole current car `cc` is out of the parking
 365         //      slot `ps`.
 366         //
 367         //      Another approach could be testing angles from the
 368         //      beginning of the escape parkig slot maneuver.
 369         if (this->forward())
 370                 this->cc().sp(-0.01);
 371         else
 372                 this->cc().sp(0.01);
 373         while (!this->left())
 374                 this->cc().next();
 375         return;
 376 }
 377
 378 void PSPlanner::fer()
 379 {
 380         this->c_ = 0;
 381         if (this->ps().parallel()) {
 382                 this->guess_gc();
 383                 this->cc() = BicycleCar(this->gc());
 384                 this->cc().set_max_steer();
 385                 if (!this->ps().right())
 386                         this->cc().st(this->cc().st() * -1);
 387                 this->cc().sp(0.01);
 388                 return this->fer_parallel();
 389         } else {
 390                 return this->fer_perpendicular();
 391         }
 392 }
 393
 394 void PSPlanner::fer_parallel()
 395 {
 396         this->cusps_.clear();
 397         while (!this->left()) {
 398                 while (!this->collide() && !this->left())
 399                         this->cc().next();
 400                 if (this->left() && !this->collide()) {
 401                         break;
 402                 } else {
 403                         this->cc().sp(this->cc().sp() * -1);
 404                         this->cc().next();
 405                         this->cc().st(this->cc().st() * -1);
 406                         this->c_++;
 407                         this->cusps_.push_back(this->cc());
 408                 }
 409         }
 410         if (this->cc().st() < 0) {
 411                 this->c_++;
 412                 this->cusps_.push_back(this->cc());
 413         }
 414 }
 415
 416 void PSPlanner::fer_perpendicular()
 417 {
 418         bool delta_use[] = {true, true, true};
 419         double cc_h = this->cc().h();
 420         double x;
 421         double y;
 422         // check inner radius
 423         if (this->forward()) {
 424                 x = this->ps().x1();
 425                 y = this->ps().y1();
 426         } else {
 427                 x = this->ps().x4();
 428                 y = this->ps().y4();
 429         }
 430         double x1;
 431         double y1;
 432         if (this->ps().right()) {
 433                 x1 = this->cc().ccr().x();
 434                 y1 = this->cc().ccr().y();
 435         } else {
 436                 x1 = this->cc().ccl().x();
 437                 y1 = this->cc().ccl().y();
 438         }
 439         double IR = this->cc().iradi();
 440         double a = 1;
 441         double b;
 442         if (this->forward())
 443                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 444         else
 445                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 446         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 447         double D = pow(b, 2) - 4 * a * c;
 448         double delta;
 449         delta = -b - sqrt(D);
 450         delta /= 2 * a;
 451         double delta_1 = delta;
 452         if (D < 0)
 453                 delta_use[0] = false;
 454         // check outer radius
 455         if (this->forward()) {
 456                 x = this->ps().x4();
 457                 y = this->ps().y4();
 458         } else {
 459                 x = this->ps().x1();
 460                 y = this->ps().y1();
 461         }
 462         IR = this->cc().ofradi();
 463         a = 1;
 464         if (this->forward())
 465                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 466         else
 467                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 468         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 469         D = pow(b, 2) - 4 * a * c;
 470         if (this->forward()) {
 471                 delta = -b + sqrt(D);
 472                 delta /= 2 * a;
 473         }
 474         double delta_2 = delta;
 475         if (D < 0)
 476                 delta_use[1] = false;
 477         delta = -b - sqrt(D);
 478         delta /= 2 * a;
 479         double delta_3 = delta;
 480         if (D < 0)
 481                 delta_use[2] = false;
 482         if (delta_use[0] && delta_use[1] && delta_use[2])
 483                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 484         else if (delta_use[0] && delta_use[1])
 485                 delta = std::max(delta_1, delta_2);
 486         else if (delta_use[0] && delta_use[2])
 487                 delta = std::max(delta_1, delta_3);
 488         else if (delta_use[1] && delta_use[2])
 489                 delta = std::max(delta_2, delta_3);
 490         else if (delta_use[0])
 491                 delta = delta_1;
 492         else if (delta_use[1])
 493                 delta = delta_2;
 494         else if (delta_use[2])
 495                 delta = delta_3;
 496         else
 497                 return;
 498         // current car `cc` can get out of slot with max steer
 499         this->cc().x(this->cc().x() + delta * cos(cc_h));
 500         this->cc().y(this->cc().y() + delta * sin(cc_h));
 501         this->cc().h(cc_h);
 502         // get current car `cc` out of slot
 503         if (this->forward())
 504                 this->cc().sp(-0.01);
 505         else
 506                 this->cc().sp(0.01);
 507         this->cc().set_max_steer();
 508         if (this->ps().right())
 509                 this->cc().st(this->cc().st() * -1);
 510         while (!this->left()) {
 511                 while (!this->collide() && !this->left())
 512                         this->cc().next();
 513                 if (this->left() && !this->collide()) {
 514                         break;
 515                 } else {
 516                         this->cc().sp(this->cc().sp() * -1);
 517                         this->cc().next();
 518                         this->cc().st(this->cc().st() * -1);
 519                 }
 520         }
 521 }
 522
 523 PSPlanner::PSPlanner()
 524 {
 525 }