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         double heading = this->ps().heading();
  25         while (heading < 0) heading += 2 * M_PI;
  26         if (!this->ps().parallel())
  27                 heading -= M_PI / 2;
  28         double h = this->gc().h();
  29         while (h < 0) h += 2 * M_PI;
  30         if (-0.00001 < heading - h && heading - h < 0.00001)
  31                 return true;
  32         else
  33                 return false;
  34 }
  35
  36 void PSPlanner::guess_gc()
  37 {
  38         double x = this->ps().x1();
  39         double y = this->ps().y1();
  40         double h = this->ps().heading();
  41         double dts = + M_PI / 2; // direction to slot
  42         if (this->ps().right())
  43                 dts = - M_PI / 2;
  44         if (this->ps().parallel()) {
  45                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
  46                 x += (this->gc().dr() + 0.01) * cos(h);
  47                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
  48                 y += (this->gc().dr() + 0.01) * sin(h);
  49         } else {
  50                 x += (this->ps().x4() - this->ps().x1()) / 2;
  51                 x += (this->gc().df() + 0.01) * cos(h + dts);
  52                 y += (this->ps().y4() - this->ps().y1()) / 2;
  53                 y += (this->gc().df() + 0.01) * sin(h + dts);
  54                 if (this->ps().right())
  55                         h += M_PI / 2;
  56                 else
  57                         h -= M_PI / 2;
  58         }
  59         while (h > M_PI)
  60                 h -= 2 * M_PI;
  61         while (h <= -M_PI)
  62                 h += 2 * M_PI;
  63         this->gc().x(x);
  64         this->gc().y(y);
  65         this->gc().h(h);
  66 }
  67
  68 bool PSPlanner::left()
  69 {
  70         double lfx = this->cc().lfx();
  71         double lfy = this->cc().lfy();
  72         double lrx = this->cc().lrx();
  73         double lry = this->cc().lry();
  74         double rrx = this->cc().rrx();
  75         double rry = this->cc().rry();
  76         double rfx = this->cc().rfx();
  77         double rfy = this->cc().rfy();
  78         double lfs = sgn(
  79                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  80                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  81         );
  82         double lrs = sgn(
  83                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  84                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  85         );
  86         double rrs = sgn(
  87                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  88                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  89         );
  90         double rfs = sgn(
  91                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  92                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  93         );
  94         if (this->ps().parallel())
  95                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  96         else if (!this->forward())
  97                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  98         else
  99                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 100 }
 101
 102 bool PSPlanner::parked()
 103 {
 104         std::vector<std::tuple<double, double>> slot;
 105         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 106         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 107         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 108         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 109         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 110                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 111                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 112                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 113 }
 114
 115 std::vector<BicycleCar> PSPlanner::possible_inits(
 116         unsigned int cnt,
 117         double dist
 118 )
 119 {
 120         std::vector<BicycleCar> pi;
 121         this->cc().sp(this->cc().sp() * -dist);
 122         this->cc().st(this->cc().st() * -1);
 123         BicycleCar orig_cc(this->cc());
 124         for (unsigned int i = 0; i < cnt; i++) {
 125                 this->cc().next();
 126                 pi.push_back(BicycleCar(this->cc()));
 127         }
 128         this->cc() = BicycleCar(orig_cc);
 129         return pi;
 130 }
 131
 132 // find entry
 133 void PSPlanner::fe()
 134 {
 135         if (this->ps().parallel())
 136                 return this->fe_parallel();
 137         else
 138                 return this->fe_perpendicular();
 139 }
 140
 141 void PSPlanner::fe_parallel()
 142 {
 143         // angle for distance from "entry" corner
 144         double dist_angl = this->ps().heading() + M_PI;
 145         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 146         // set bicycle car `bci` basic dimensions and heading
 147         BicycleCar bci = BicycleCar(this->gc());
 148         BicycleCar bco = BicycleCar(this->gc());
 149         bci.h(this->ps().heading());
 150         // move 0.01 from the "entry" corner
 151         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 152         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 153         // align with parking "top" of slot (move backward)
 154         dist_angl = bci.h() + M_PI;
 155         bci.x(bci.x() + bci.df() * cos(dist_angl));
 156         bci.y(bci.y() + bci.df() * sin(dist_angl));
 157         // align with "entry" to pakring slot (move outside)
 158         dist_angl = this->ps().heading();
 159         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 160         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 161         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 162         // BFS - init all starts
 163         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 164         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 165         if (this->ps().right())
 166                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 167         else
 168                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 169         double DIST_ANGL = dist_angl;
 170         std::queue<BicycleCar, std::list<BicycleCar>> q;
 171         while (
 172                 (
 173                         this->ps().right()
 174                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 175                 )
 176                 || (
 177                         !this->ps().right()
 178                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 179                 )
 180         ) {
 181                 this->cc() = BicycleCar(bci);
 182                 if (this->ps().right()) {
 183                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 184                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 185                 } else {
 186                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 187                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 188                 }
 189                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 190                 if (!this->collide()) {
 191                         this->cc().st(this->cc().wb() / this->cc().mtr());
 192                         if (!this->ps().right())
 193                                 this->cc().st(this->cc().st() * -1);
 194                         this->cc().sp(-0.01);
 195                         q.push(BicycleCar(this->cc()));
 196                 }
 197                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 198         }
 199         // BFS - find entry current car `cc` and corresponding goal car `gc`
 200         unsigned int iter_cntr;
 201         while (!q.empty() && iter_cntr < 9) {
 202                 this->cc() = BicycleCar(q.front());
 203                 q.pop();
 204                 while (
 205                         !this->collide()
 206                         && (std::abs(
 207                                 this->cc().h() - this->ps().heading()
 208                         ) < M_PI / 2)
 209                 )
 210                         this->cc().next();
 211                 this->cc().sp(this->cc().sp() * -1);
 212                 this->cc().next();
 213                 this->gc() = BicycleCar(this->cc());
 214                 if (this->parked())
 215                         goto successfinish;
 216                 this->cc().st(this->cc().st() * -1);
 217                 q.push(BicycleCar(this->cc()));
 218                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 219                         iter_cntr++;
 220         }
 221         // fallback to fer
 222         this->gc() = BicycleCar(bco);
 223 successfinish:
 224         return this->fer_parallel();
 225 }
 226
 227 void PSPlanner::fe_perpendicular()
 228 {
 229         // TODO Try multiple angles when going from parking slot.
 230         //
 231         //      Do not use just the maximum steer angle. Test angles
 232         //      until the whole current car `cc` is out of the parking
 233         //      slot `ps`.
 234         //
 235         //      Another approach could be testing angles from the
 236         //      beginning of the escape parkig slot maneuver.
 237         return fer_perpendicular();
 238 }
 239
 240 void PSPlanner::fer()
 241 {
 242         if (this->ps().parallel())
 243                 return this->fer_parallel();
 244         else
 245                 return this->fer_perpendicular();
 246 }
 247
 248 void PSPlanner::fer_parallel()
 249 {
 250         this->cc().st(this->cc().wb() / this->cc().mtr());
 251         if (!this->ps().right())
 252                 this->cc().st(this->cc().st() * -1);
 253         this->cc().sp(0.01);
 254         while (!this->left()) {
 255                 while (!this->collide() && !this->left())
 256                         this->cc().next();
 257                 if (this->left() && !this->collide()) {
 258                         break;
 259                 } else {
 260                         this->cc().sp(this->cc().sp() * -1);
 261                         this->cc().next();
 262                         this->cc().st(this->cc().st() * -1);
 263                 }
 264         }
 265 }
 266
 267 void PSPlanner::fer_perpendicular()
 268 {
 269         bool delta_use[] = {true, true, true};
 270         double cc_h = this->cc().h();
 271         double x;
 272         double y;
 273         // check inner radius
 274         if (this->forward()) {
 275                 x = this->ps().x1();
 276                 y = this->ps().y1();
 277         } else {
 278                 x = this->ps().x4();
 279                 y = this->ps().y4();
 280         }
 281         double x1;
 282         double y1;
 283         if (this->ps().right()) {
 284                 x1 = this->cc().ccr().x();
 285                 y1 = this->cc().ccr().y();
 286         } else {
 287                 x1 = this->cc().ccl().x();
 288                 y1 = this->cc().ccl().y();
 289         }
 290         double IR = this->cc().iradi();
 291         double a = 1;
 292         double b;
 293         if (this->forward())
 294                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 295         else
 296                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 297         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 298         double D = pow(b, 2) - 4 * a * c;
 299         double delta;
 300         delta = -b - sqrt(D);
 301         delta /= 2 * a;
 302         double delta_1 = delta;
 303         if (D < 0)
 304                 delta_use[0] = false;
 305         // check outer radius
 306         if (this->forward()) {
 307                 x = this->ps().x4();
 308                 y = this->ps().y4();
 309         } else {
 310                 x = this->ps().x1();
 311                 y = this->ps().y1();
 312         }
 313         IR = this->cc().ofradi();
 314         a = 1;
 315         if (this->forward())
 316                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 317         else
 318                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 319         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 320         D = pow(b, 2) - 4 * a * c;
 321         if (this->forward()) {
 322                 delta = -b + sqrt(D);
 323                 delta /= 2 * a;
 324         }
 325         double delta_2 = delta;
 326         if (D < 0)
 327                 delta_use[1] = false;
 328         delta = -b - sqrt(D);
 329         delta /= 2 * a;
 330         double delta_3 = delta;
 331         if (D < 0)
 332                 delta_use[2] = false;
 333         if (delta_use[0] && delta_use[1] && delta_use[22])
 334                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 335         else if (delta_use[0] && delta_use[1])
 336                 delta = std::max(delta_1, delta_2);
 337         else if (delta_use[0] && delta_use[2])
 338                 delta = std::max(delta_1, delta_3);
 339         else if (delta_use[1] && delta_use[2])
 340                 delta = std::max(delta_2, delta_3);
 341         else if (delta_use[0])
 342                 delta = delta_1;
 343         else if (delta_use[1])
 344                 delta = delta_2;
 345         else if (delta_use[2])
 346                 delta = delta_3;
 347         else
 348                 return;
 349         // current car `cc` can get out of slot with max steer
 350         this->cc().x(this->cc().x() + delta * cos(cc_h));
 351         this->cc().y(this->cc().y() + delta * sin(cc_h));
 352         this->cc().h(cc_h);
 353         // get current car `cc` out of slot
 354         if (this->forward())
 355                 this->cc().sp(-0.1);
 356         else
 357                 this->cc().sp(0.1);
 358         this->cc().st(this->cc().wb() / this->cc().mtr());
 359         if (this->ps().right())
 360                 this->cc().st(this->cc().st() * -1);
 361         while (!this->left()) {
 362                 while (!this->collide() && !this->left())
 363                         this->cc().next();
 364                 if (this->left() && !this->collide()) {
 365                         break;
 366                 } else {
 367                         this->cc().sp(this->cc().sp() * -1);
 368                         this->cc().next();
 369                         this->cc().st(this->cc().st() * -1);
 370                 }
 371         }
 372 }
 373
 374 PSPlanner::PSPlanner()
 375 {
 376 }