6 bool PSPlanner::collide()
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));
22 bool PSPlanner::forward()
24 if (this->ps().parallel())
26 double heading = atan2(
27 this->ps().y2() - this->ps().y1(),
28 this->ps().x2() - this->ps().x1()
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)
38 void PSPlanner::gc_to_4()
40 double angl_slot = atan2(
41 this->ps().y3() - this->ps().y4(),
42 this->ps().x3() - this->ps().x4()
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);
55 this->gc().h(angl_slot);
58 std::tuple<double, double, double, double> circle_line_intersection(
59 double cx, double cy, double r,
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)
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;
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);
85 double edist(double x1, double y1, double x2, double y2)
87 return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
90 void PSPlanner::guess_gc()
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())
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);
106 this->ps().y2() - this->ps().y1(),
107 this->ps().x2() - this->ps().x1()
109 - this->ps().heading()
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();
123 bx = this->gc().rfx();
124 by = this->gc().rfy();
125 cx = this->gc().ccl().x();
126 cy = this->gc().ccl().y();
128 double radi_angl = atan2(by - cy, bx - cx);
130 double angl_delta = this->gc().h() - radi_angl;
131 this->gc().rotate(bx, by, angl_delta);
132 // TODO there is a bug somewhere :/
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.
140 if (this->ps().right()) {
141 cx = this->gc().ccr().x();
142 cy = this->gc().ccr().y();
144 cx = this->gc().ccl().x();
145 cy = this->gc().ccl().y();
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()
153 this->ps().x1(), this->ps().y1(),
154 std::get<0>(cli), std::get<1>(cli)
157 this->ps().x1(), this->ps().y1(),
158 std::get<2>(cli), std::get<3>(cli)
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()
166 double angl_d = atan2(
167 this->ps().y1() - this->ps().y2(),
168 this->ps().x1() - this->ps().x2()
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));
175 this->gc().sp(-0.01);
180 this->ps().y2() - this->ps().y1(),
181 this->ps().x2() - this->ps().x1()
183 dts *= 1.01; // precision workaround
186 x += -(this->gc().df() + 0.01) * cos(h);
187 y += -(this->gc().df() + 0.01) * sin(h);
188 if (this->ps().right())
192 x += (this->gc().w() / 2 + 0.01) * cos(dts);
193 y += (this->gc().w() / 2 + 0.01) * sin(dts);
205 bool PSPlanner::left()
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();
216 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
217 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
220 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
221 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
224 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
225 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
228 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
229 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
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);
236 return lrs == rrs && (lrs != lfs || lrs != rfs);
239 bool PSPlanner::parked()
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);
252 std::vector<BicycleCar> PSPlanner::possible_goals(
257 std::vector<BicycleCar> pi;
258 if (this->cc().sp() > 0)
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++) {
267 pi.push_back(BicycleCar(this->cc()));
269 this->cc() = BicycleCar(orig_cc);
276 if (this->ps().parallel())
277 return this->fe_parallel();
279 return this->fe_perpendicular();
282 void PSPlanner::fe_parallel()
284 BicycleCar bco = BicycleCar(this->gc());
285 this->cc() = BicycleCar();
286 this->cc().sp(-0.01);
287 this->cc().set_max_steer();
288 if (!this->ps().right())
289 this->cc().st(this->cc().st() * -1);
290 this->cc().h(this->ps().heading());
291 double angl_in_slot = this->ps().heading() - M_PI / 4;
292 if (!this->ps().right())
293 angl_in_slot += M_PI / 2;
296 + this->cc().w()/2 * cos(
298 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
300 + (this->cc().df() + 0.01) * cos(
301 this->ps().heading() + M_PI
306 + this->cc().w()/2 * sin(
308 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
310 + (this->cc().df() + 0.01) * sin(
311 this->ps().heading() + M_PI
315 std::queue<BicycleCar, std::list<BicycleCar>> q;
316 while (!this->collide()) {
320 this->ps().y4() - 0.01,
324 // BFS - find entry current car `cc` and corresponding goal car `gc`
325 unsigned int iter_cntr = 0;
326 while (!q.empty() && iter_cntr < 30) {
327 this->cc() = BicycleCar(q.front());
332 this->cc().h() - this->ps().heading()
335 this->cc().h() - this->ps().heading()
339 this->cc().sp(this->cc().sp() * -1);
341 this->gc() = BicycleCar(this->cc());
344 this->cc().st(this->cc().st() * -1);
345 q.push(BicycleCar(this->cc()));
346 if (sgn(this->cc().st()) == sgn(q.front().st()))
350 this->gc() = BicycleCar(bco);
352 return this->fer_parallel();
355 void PSPlanner::fe_perpendicular()
357 // TODO Try multiple angles when going from parking slot.
359 // Do not use just the maximum steer angle. Test angles
360 // until the whole current car `cc` is out of the parking
363 // Another approach could be testing angles from the
364 // beginning of the escape parkig slot maneuver.
366 this->cc().sp(-0.01);
369 while (!this->left())
374 void PSPlanner::fer()
376 if (this->ps().parallel())
377 return this->fer_parallel();
379 return this->fer_perpendicular();
382 void PSPlanner::fer_parallel()
384 this->cc().st(this->cc().wb() / this->cc().mtr());
385 if (!this->ps().right())
386 this->cc().st(this->cc().st() * -1);
388 this->cusps_.clear();
389 while (!this->left()) {
390 while (!this->collide() && !this->left())
392 if (this->left() && !this->collide()) {
395 this->cc().sp(this->cc().sp() * -1);
397 this->cc().st(this->cc().st() * -1);
399 this->cusps_.push_back(this->cc());
402 if (this->cc().st() < 0) {
404 this->cusps_.push_back(this->cc());
408 void PSPlanner::fer_perpendicular()
410 bool delta_use[] = {true, true, true};
411 double cc_h = this->cc().h();
414 // check inner radius
415 if (this->forward()) {
424 if (this->ps().right()) {
425 x1 = this->cc().ccr().x();
426 y1 = this->cc().ccr().y();
428 x1 = this->cc().ccl().x();
429 y1 = this->cc().ccl().y();
431 double IR = this->cc().iradi();
435 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
437 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
438 double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
439 double D = pow(b, 2) - 4 * a * c;
441 delta = -b - sqrt(D);
443 double delta_1 = delta;
445 delta_use[0] = false;
446 // check outer radius
447 if (this->forward()) {
454 IR = this->cc().ofradi();
457 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
459 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
460 c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
461 D = pow(b, 2) - 4 * a * c;
462 if (this->forward()) {
463 delta = -b + sqrt(D);
466 double delta_2 = delta;
468 delta_use[1] = false;
469 delta = -b - sqrt(D);
471 double delta_3 = delta;
473 delta_use[2] = false;
474 if (delta_use[0] && delta_use[1] && delta_use[22])
475 delta = std::max(delta_1, std::max(delta_2, delta_3));
476 else if (delta_use[0] && delta_use[1])
477 delta = std::max(delta_1, delta_2);
478 else if (delta_use[0] && delta_use[2])
479 delta = std::max(delta_1, delta_3);
480 else if (delta_use[1] && delta_use[2])
481 delta = std::max(delta_2, delta_3);
482 else if (delta_use[0])
484 else if (delta_use[1])
486 else if (delta_use[2])
490 // current car `cc` can get out of slot with max steer
491 this->cc().x(this->cc().x() + delta * cos(cc_h));
492 this->cc().y(this->cc().y() + delta * sin(cc_h));
494 // get current car `cc` out of slot
496 this->cc().sp(-0.01);
499 this->cc().set_max_steer();
500 if (this->ps().right())
501 this->cc().st(this->cc().st() * -1);
502 while (!this->left()) {
503 while (!this->collide() && !this->left())
505 if (this->left() && !this->collide()) {
508 this->cc().sp(this->cc().sp() * -1);
510 this->cc().st(this->cc().st() * -1);
515 PSPlanner::PSPlanner()