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         else
  27                 return true;
  28         double heading = atan2(
  29                 this->ps().y2() - this->ps().y1(),
  30                 this->ps().x2() - this->ps().x1()
  31         );
  32         while (heading < 0) heading += 2 * M_PI;
  33         double h = this->gc().h();
  34         while (h < 0) h += 2 * M_PI;
  35         if (std::abs(heading - h) < M_PI / 4)
  36                 return true;
  37         return false;
  38 }
  39
  40 void PSPlanner::gc_to_4()
  41 {
  42         double angl_slot = atan2(
  43                 this->ps().y3() - this->ps().y4(),
  44                 this->ps().x3() - this->ps().x4()
  45         );
  46         double angl_delta = M_PI / 2;
  47         if (this->ps().right())
  48                 angl_delta = -M_PI / 2;
  49         double x = this->ps().x4();
  50         double y = this->ps().y4();
  51         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  52         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  53         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  54         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  55         this->gc().x(x);
  56         this->gc().y(y);
  57         this->gc().h(angl_slot);
  58 }
  59
  60 std::tuple<double, double, double, double> circle_line_intersection(
  61         double cx, double cy, double r,
  62         double x1, double y1,
  63         double x2, double y2
  64 )
  65 {
  66         double t = (y2 - y1) / (x2 - x1);
  67         //double a = 1 + pow(t, 2);
  68         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  69         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  70         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  71         //        - pow(r, 2);
  72         double a = 1 + pow(t, 2);
  73         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  74         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  75         c += pow(-t * x1 + y1, 2);
  76         c += 2 * cy * t * x1 - 2 * cy * y1;
  77         double D = pow(b, 2) - 4 * a * c;
  78         if (D < 0)
  79                 return std::make_tuple(cx, cy, cx, cy);
  80         double res_x1 = (-b + sqrt(D)) / (2 * a);
  81         double res_y1 = t * (res_x1 - x1) + y1;
  82         double res_x2 = (-b - sqrt(D)) / (2 * a);
  83         double res_y2 = t * (res_x2 - x1) + y1;
  84         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  85 }
  86
  87 double edist(double x1, double y1, double x2, double y2)
  88 {
  89         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  90 }
  91
  92 void PSPlanner::guess_gc()
  93 {
  94         double x = this->ps().x1();
  95         double y = this->ps().y1();
  96         double h = this->ps().heading();
  97         double dts = + M_PI / 2; // direction to slot
  98         if (this->ps().right())
  99                 dts = - M_PI / 2;
 100         if (this->ps().parallel()) {
 101                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 102                 x += (this->gc().dr() + 0.01) * cos(h);
 103                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 104                 y += (this->gc().dr() + 0.01) * sin(h);
 105         } else {
 106                 // Forward parking
 107                 double entry_width = edist(
 108                         this->ps().x1(), this->ps().y1(),
 109                         this->ps().x4(), this->ps().y4()
 110                 );
 111                 x += entry_width / 2 * cos(h);
 112                 y += entry_width / 2 * sin(h);
 113                 h = atan2(
 114                         this->ps().y2() - this->ps().y1(),
 115                         this->ps().x2() - this->ps().x1()
 116                 );
 117                 while (h < 0) h += 2 * M_PI;
 118
 119                 //// This is for backward parking only.
 120                 //double entry_width = edist(
 121                 //        this->ps().x1(), this->ps().y1(),
 122                 //        this->ps().x4(), this->ps().y4()
 123                 //);
 124                 //double dist_l =
 125                 //        this->gc().orradi()
 126                 //        - (this->gc().mtr() + this->gc().w() / 2)
 127                 //;
 128                 //double move1 = dist_l + this->gc().w() / 2;
 129                 //double dist_r = entry_width - this->gc().w() - dist_l;
 130                 //double move2 = sqrt(
 131                 //        pow(this->gc().iradi(), 2)
 132                 //        - pow(this->gc().iradi() - dist_r, 2)
 133                 //);
 134                 //move2 -= this->gc().dr() / 2; // workaround
 135                 //x += move1 * cos(h);
 136                 //y += move1 * sin(h);
 137                 //dts = atan2(
 138                 //        this->ps().y2() - this->ps().y1(),
 139                 //        this->ps().x2() - this->ps().x1()
 140                 //);
 141                 //while (dts < 0) dts += 2 * M_PI;
 142                 //x += move2 * cos(h + dts);
 143                 //y += move2 * sin(h + dts);
 144                 //h += dts - M_PI / 2;
 145         }
 146         while (h > M_PI)
 147                 h -= 2 * M_PI;
 148         while (h <= -M_PI)
 149                 h += 2 * M_PI;
 150         this->gc().x(x);
 151         this->gc().y(y);
 152         this->gc().h(h);
 153 }
 154
 155 std::vector<BicycleCar> PSPlanner::last_maneuver()
 156 {
 157         std::vector<BicycleCar> lm;
 158         if (this->ps().parallel()) {
 159                 // zig-zag out from the slot
 160                 this->cc() = BicycleCar(this->gc());
 161                 this->cc().sp(0.1);
 162                 while (!this->left()) {
 163                         while (!this->collide() && !this->left()) {
 164                                 this->cc().next();
 165                                 lm.push_back(BicycleCar(this->cc()));
 166                         }
 167                         if (this->left() && !this->collide()) {
 168                                 break;
 169                         } else {
 170                                 lm.pop_back();
 171                                 this->cc().sp(this->cc().sp() * -1);
 172                                 this->cc().next();
 173                                 this->cc().st(this->cc().st() * -1);
 174                                 this->c_++;
 175                                 lm.push_back(BicycleCar(this->cc()));
 176                         }
 177                 }
 178                 if (this->cc().st() < 0) {
 179                         this->c_++;
 180                         lm.push_back(BicycleCar(this->cc()));
 181                 }
 182         } else {
 183                 // go 1 m forward
 184                 this->cc().sp(0.1);
 185                 BicycleCar orig_cc(this->cc());
 186                 for (unsigned int i = 0; i < 10; i++) {
 187                         this->cc().next();
 188                         lm.push_back(BicycleCar(this->cc()));
 189                 }
 190                 this->cc() = BicycleCar(orig_cc);
 191         }
 192         return lm;
 193 }
 194
 195 bool PSPlanner::left()
 196 {
 197         double lfx = this->cc().lfx();
 198         double lfy = this->cc().lfy();
 199         double lrx = this->cc().lrx();
 200         double lry = this->cc().lry();
 201         double rrx = this->cc().rrx();
 202         double rry = this->cc().rry();
 203         double rfx = this->cc().rfx();
 204         double rfy = this->cc().rfy();
 205         double lfs = sgn(
 206                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 207                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 208         );
 209         double lrs = sgn(
 210                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 211                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 212         );
 213         double rrs = sgn(
 214                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 215                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 216         );
 217         double rfs = sgn(
 218                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 219                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 220         );
 221         if (this->ps().parallel())
 222                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 223         else if (!this->forward())
 224                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 225         else
 226                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 227 }
 228
 229 bool PSPlanner::parked()
 230 {
 231         std::vector<std::tuple<double, double>> slot;
 232         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 233         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 234         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 235         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 236         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 237                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 238                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 239                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 240 }
 241
 242 std::vector<BicycleCar> PSPlanner::possible_goals(
 243         unsigned int cnt,
 244         double dist
 245 )
 246 {
 247         std::vector<BicycleCar> pi;
 248         if (this->ps().parallel())
 249                 this->cc().sp(1);
 250         else
 251                 this->cc().sp(-1);
 252         this->cc().sp(this->cc().sp() * dist);
 253         BicycleCar orig_cc(this->cc());
 254         for (unsigned int i = 0; i < cnt; i++) {
 255                 this->cc().next();
 256                 pi.push_back(BicycleCar(this->cc()));
 257         }
 258         this->cc() = BicycleCar(orig_cc);
 259         if (this->ps().parallel()) {
 260                 this->cc().st(0);
 261                 for (unsigned int i = 0; i < cnt; i++) {
 262                         this->cc().next();
 263                         pi.push_back(BicycleCar(this->cc()));
 264                 }
 265                 this->cc() = BicycleCar(orig_cc);
 266         } else {
 267                 if (!this->ps().right()) {
 268                         this->cc().set_max_steer();
 269                         for (unsigned int i = 0; i < cnt; i++) {
 270                                 this->cc().next();
 271                                 pi.push_back(BicycleCar(this->cc()));
 272                         }
 273                 } else {
 274                         this->cc().set_max_steer();
 275                         this->cc().st(this->cc().st() * -1);
 276                         for (unsigned int i = 0; i < cnt; i++) {
 277                                 this->cc().next();
 278                                 pi.push_back(BicycleCar(this->cc()));
 279                         }
 280                 }
 281                 this->cc() = BicycleCar(orig_cc);
 282         }
 283         return pi;
 284 }
 285
 286 // find entry
 287 void PSPlanner::fe()
 288 {
 289         this->c_ = 0;
 290         if (this->ps().parallel()) {
 291                 return this->fe_parallel();
 292         } else {
 293                 this->guess_gc();
 294                 this->cc() = BicycleCar(this->gc());
 295                 //this->cc().set_max_steer();
 296                 //if (this->ps().right())
 297                 //        this->cc().st(this->cc().st() * -1);
 298                 this->cc().sp(-0.2);
 299         }
 300 }
 301
 302 void PSPlanner::fe_parallel()
 303 {
 304         BicycleCar bco = BicycleCar(this->gc());
 305         this->cc() = BicycleCar();
 306         this->cc().sp(-0.01);
 307         this->cc().set_max_steer();
 308         if (!this->ps().right())
 309                 this->cc().st(this->cc().st() * -1);
 310         this->cc().h(this->ps().heading());
 311         double angl_in_slot = this->ps().heading() - M_PI / 4;
 312         if (!this->ps().right())
 313                 angl_in_slot += M_PI / 2;
 314         this->cc().x(
 315                 this->ps().x4()
 316                 + this->cc().w()/2 * cos(
 317                         this->ps().heading()
 318                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 319                 )
 320                 + (this->cc().df() + 0.01) * cos(
 321                         this->ps().heading() + M_PI
 322                 )
 323         );
 324         this->cc().y(
 325                 this->ps().y4()
 326                 + this->cc().w()/2 * sin(
 327                         this->ps().heading()
 328                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 329                 )
 330                 + (this->cc().df() + 0.01) * sin(
 331                         this->ps().heading() + M_PI
 332                 )
 333         );
 334
 335         std::queue<BicycleCar, std::list<BicycleCar>> q;
 336         while (!this->collide()) {
 337                 q.push(this->cc());
 338                 this->cc().rotate(
 339                         this->ps().x4(),
 340                         this->ps().y4() - 0.01,
 341                         ((this->ps().right()) ? 0.001 : -0.001)
 342                 );
 343         }
 344         // BFS - find entry current car `cc` and corresponding goal car `gc`
 345         unsigned int iter_cntr = 0;
 346         while (!q.empty() && iter_cntr < 30) {
 347                 this->cc() = BicycleCar(q.front());
 348                 q.pop();
 349                 while (
 350                         !this->collide()
 351                         && (std::abs(
 352                                 this->cc().h() - this->ps().heading()
 353                         ) > M_PI / 32)
 354                         && (std::abs(
 355                                 this->cc().h() - this->ps().heading()
 356                         ) < M_PI / 2)
 357                 )
 358                         this->cc().next();
 359                 this->cc().sp(this->cc().sp() * -1);
 360                 this->cc().next();
 361                 this->gc() = BicycleCar(this->cc());
 362                 if (this->parked())
 363                         goto successfinish;
 364                 this->cc().st(this->cc().st() * -1);
 365                 q.push(BicycleCar(this->cc()));
 366                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 367                         iter_cntr++;
 368         }
 369         // fallback to fer
 370         this->gc() = BicycleCar(bco);
 371 successfinish:
 372         return this->fer_parallel();
 373 }
 374
 375 void PSPlanner::fe_perpendicular()
 376 {
 377         // TODO Try multiple angles when going from parking slot.
 378         //
 379         //      Do not use just the maximum steer angle. Test angles
 380         //      until the whole current car `cc` is out of the parking
 381         //      slot `ps`.
 382         //
 383         //      Another approach could be testing angles from the
 384         //      beginning of the escape parkig slot maneuver.
 385         if (this->forward())
 386                 this->cc().sp(-0.01);
 387         else
 388                 this->cc().sp(0.01);
 389         while (!this->left())
 390                 this->cc().next();
 391         return;
 392 }
 393
 394 void PSPlanner::fer()
 395 {
 396         this->c_ = 0;
 397         if (this->ps().parallel()) {
 398                 this->guess_gc();
 399                 this->cc() = BicycleCar(this->gc());
 400                 this->cc().set_max_steer();
 401                 if (!this->ps().right())
 402                         this->cc().st(this->cc().st() * -1);
 403                 this->cc().sp(0.01);
 404                 return this->fer_parallel();
 405         } else {
 406                 return this->fer_perpendicular();
 407         }
 408 }
 409
 410 void PSPlanner::fer_parallel()
 411 {
 412         this->cusps_.clear();
 413         while (!this->left()) {
 414                 while (!this->collide() && !this->left())
 415                         this->cc().next();
 416                 if (this->left() && !this->collide()) {
 417                         break;
 418                 } else {
 419                         this->cc().sp(this->cc().sp() * -1);
 420                         this->cc().next();
 421                         this->cc().st(this->cc().st() * -1);
 422                         this->c_++;
 423                         this->cusps_.push_back(this->cc());
 424                 }
 425         }
 426         if (this->cc().st() < 0) {
 427                 this->c_++;
 428                 this->cusps_.push_back(this->cc());
 429         }
 430 }
 431
 432 void PSPlanner::fer_perpendicular()
 433 {
 434         bool delta_use[] = {true, true, true};
 435         double cc_h = this->cc().h();
 436         double x;
 437         double y;
 438         // check inner radius
 439         if (this->forward()) {
 440                 x = this->ps().x1();
 441                 y = this->ps().y1();
 442         } else {
 443                 x = this->ps().x4();
 444                 y = this->ps().y4();
 445         }
 446         double x1;
 447         double y1;
 448         if (this->ps().right()) {
 449                 x1 = this->cc().ccr().x();
 450                 y1 = this->cc().ccr().y();
 451         } else {
 452                 x1 = this->cc().ccl().x();
 453                 y1 = this->cc().ccl().y();
 454         }
 455         double IR = this->cc().iradi();
 456         double a = 1;
 457         double b;
 458         if (this->forward())
 459                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 460         else
 461                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 462         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 463         double D = pow(b, 2) - 4 * a * c;
 464         double delta;
 465         delta = -b - sqrt(D);
 466         delta /= 2 * a;
 467         double delta_1 = delta;
 468         if (D < 0)
 469                 delta_use[0] = false;
 470         // check outer radius
 471         if (this->forward()) {
 472                 x = this->ps().x4();
 473                 y = this->ps().y4();
 474         } else {
 475                 x = this->ps().x1();
 476                 y = this->ps().y1();
 477         }
 478         IR = this->cc().ofradi();
 479         a = 1;
 480         if (this->forward())
 481                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 482         else
 483                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 484         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 485         D = pow(b, 2) - 4 * a * c;
 486         if (this->forward()) {
 487                 delta = -b + sqrt(D);
 488                 delta /= 2 * a;
 489         }
 490         double delta_2 = delta;
 491         if (D < 0)
 492                 delta_use[1] = false;
 493         delta = -b - sqrt(D);
 494         delta /= 2 * a;
 495         double delta_3 = delta;
 496         if (D < 0)
 497                 delta_use[2] = false;
 498         if (delta_use[0] && delta_use[1] && delta_use[2])
 499                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 500         else if (delta_use[0] && delta_use[1])
 501                 delta = std::max(delta_1, delta_2);
 502         else if (delta_use[0] && delta_use[2])
 503                 delta = std::max(delta_1, delta_3);
 504         else if (delta_use[1] && delta_use[2])
 505                 delta = std::max(delta_2, delta_3);
 506         else if (delta_use[0])
 507                 delta = delta_1;
 508         else if (delta_use[1])
 509                 delta = delta_2;
 510         else if (delta_use[2])
 511                 delta = delta_3;
 512         else
 513                 return;
 514         // current car `cc` can get out of slot with max steer
 515         this->cc().x(this->cc().x() + delta * cos(cc_h));
 516         this->cc().y(this->cc().y() + delta * sin(cc_h));
 517         this->cc().h(cc_h);
 518         // get current car `cc` out of slot
 519         if (this->forward())
 520                 this->cc().sp(-0.01);
 521         else
 522                 this->cc().sp(0.01);
 523         this->cc().set_max_steer();
 524         if (this->ps().right())
 525                 this->cc().st(this->cc().st() * -1);
 526         while (!this->left()) {
 527                 while (!this->collide() && !this->left())
 528                         this->cc().next();
 529                 if (this->left() && !this->collide()) {
 530                         break;
 531                 } else {
 532                         this->cc().sp(this->cc().sp() * -1);
 533                         this->cc().next();
 534                         this->cc().st(this->cc().st() * -1);
 535                 }
 536         }
 537 }
 538
 539 PSPlanner::PSPlanner()
 540 {
 541 }