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 double angle_between_closer_point(
 303         double sx, double sy, // common start point
 304         double cx, double cy, // common middle point
 305         double x1, double y1, // first ending point
 306         double x2, double y2 // second ending point
 307 ) {
 308         if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
 309                 return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 310         else
 311                 return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 312 }
 313
 314 void PSPlanner::fe_parallel()
 315 {
 316         BicycleCar bco = BicycleCar(this->gc());
 317         this->cc() = BicycleCar();
 318         this->cc().sp(-0.01);
 319         this->cc().set_max_steer();
 320         if (!this->ps().right())
 321                 this->cc().st(this->cc().st() * -1);
 322         this->cc().h(this->ps().heading());
 323         double angl_in_slot = this->ps().heading() - M_PI / 4;
 324         if (!this->ps().right())
 325                 angl_in_slot += M_PI / 2;
 326         this->cc().x(
 327                 this->ps().x4()
 328                 + this->cc().w()/2 * cos(
 329                         this->ps().heading()
 330                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 331                 )
 332                 + (this->cc().df() + 0.01) * cos(
 333                         this->ps().heading() + M_PI
 334                 )
 335         );
 336         this->cc().y(
 337                 this->ps().y4()
 338                 + this->cc().w()/2 * sin(
 339                         this->ps().heading()
 340                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 341                 )
 342                 + (this->cc().df() + 0.01) * sin(
 343                         this->ps().heading() + M_PI
 344                 )
 345         );
 346
 347         std::queue<BicycleCar, std::list<BicycleCar>> q;
 348         while (!this->collide()) {
 349                 q.push(this->cc());
 350                 this->cc().rotate(
 351                         this->ps().x4(),
 352                         this->ps().y4() - 0.01,
 353                         ((this->ps().right()) ? 0.001 : -0.001)
 354                 );
 355         }
 356         // BFS - find entry current car `cc` and corresponding goal car `gc`
 357         unsigned int iter_cntr = 0;
 358         while (!q.empty() && iter_cntr < 30) {
 359                 this->cc() = BicycleCar(q.front());
 360                 q.pop();
 361                 if (this->ps().right() && this->cc().sp() < 0) {
 362                         double cclx = this->cc().ccl().x();
 363                         double ccly = this->cc().ccl().y();
 364                         double ccl_lr = edist(
 365                                 cclx, ccly,
 366                                 this->cc().lrx(), this->cc().lry()
 367                         );
 368                         double ccl_rr = edist(
 369                                 cclx, ccly,
 370                                 this->cc().rrx(), this->cc().rry()
 371                         );
 372                         double ccl_p1 = edist(
 373                                 cclx, ccly,
 374                                 this->ps().x1(), this->ps().y1()
 375                         );
 376                         if (ccl_rr < ccl_p1) {
 377                                 // pass parking slot
 378                                 continue;
 379                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 380                                 // partially out of parking slot
 381                                 auto cli1 = ::intersect(
 382                                         cclx, ccly, ccl_p1,
 383                                         this->cc().lrx(), this->cc().lry(),
 384                                         this->cc().rrx(), this->cc().rry()
 385                                 );
 386                                 double a1 = ::angle_between_closer_point(
 387                                         this->ps().x1(), this->ps().y1(),
 388                                         cclx, ccly,
 389                                         std::get<1>(cli1), std::get<2>(cli1),
 390                                         std::get<3>(cli1), std::get<4>(cli1)
 391                                 );
 392                                 auto cli2 = ::intersect(
 393                                         cclx, ccly, ccl_rr,
 394                                         this->ps().x2(), this->ps().y2(),
 395                                         this->ps().x3(), this->ps().y3()
 396                                 );
 397                                 double a2 = angle_between_closer_point(
 398                                         this->cc().rrx(), this->cc().rry(),
 399                                         cclx, ccly,
 400                                         std::get<1>(cli2), std::get<2>(cli2),
 401                                         std::get<3>(cli2), std::get<4>(cli2)
 402                                 );
 403                                 if (std::get<0>(cli1) && (
 404                                         !std::get<0>(cli2)
 405                                         || a1 < a2
 406                                 )) {
 407                                         this->cc().rotate(cclx, ccly, -a1);
 408                                         if (::right_side_of_line(
 409                                                 this->cc().x(), this->cc().y(),
 410
 411                                                 this->cc().x()
 412                                                 + cos(this->ps().heading()),
 413                                                 this->cc().y()
 414                                                 + sin(this->ps().heading()),
 415
 416                                                 this->cc().x()
 417                                                 + cos(this->cc().h()),
 418                                                 this->cc().y()
 419                                                 + sin(this->cc().h())
 420                                         )) {
 421                                                 continue;
 422                                         }
 423                                 } else if (std::get<0>(cli2) && (
 424                                         !std::get<0>(cli1)
 425                                         || a2 < a1
 426                                 )) {
 427                                         this->cc().rotate(cclx, ccly, -a2);
 428                                 } else {
 429                                         continue;
 430                                 }
 431                         } else if (ccl_lr >= ccl_p1) {
 432                                 // in parking slot
 433                                 auto cli1 = ::intersect(
 434                                         cclx, ccly, ccl_lr,
 435                                         this->ps().x1(), this->ps().y1(),
 436                                         this->ps().x2(), this->ps().y2()
 437                                 );
 438                                 double a1 = angle_between_closer_point(
 439                                         this->cc().lrx(), this->cc().lry(),
 440                                         cclx, ccly,
 441                                         std::get<1>(cli1), std::get<2>(cli1),
 442                                         std::get<3>(cli1), std::get<4>(cli1)
 443                                 );
 444                                 auto cli2 = ::intersect(
 445                                         cclx, ccly, ccl_rr,
 446                                         this->ps().x2(), this->ps().y2(),
 447                                         this->ps().x3(), this->ps().y3()
 448                                 );
 449                                 double a2 = angle_between_closer_point(
 450                                         this->cc().rrx(), this->cc().rry(),
 451                                         cclx, ccly,
 452                                         std::get<1>(cli2), std::get<2>(cli2),
 453                                         std::get<3>(cli2), std::get<4>(cli2)
 454                                 );
 455                                 if (std::get<0>(cli1) && (
 456                                         !std::get<0>(cli2)
 457                                         || a1 < a2
 458                                 )) {
 459                                         this->cc().rotate(cclx, ccly, -a1);
 460                                         if (::right_side_of_line(
 461                                                 this->cc().x(), this->cc().y(),
 462
 463                                                 this->cc().x()
 464                                                 + cos(this->ps().heading()),
 465                                                 this->cc().y()
 466                                                 + sin(this->ps().heading()),
 467
 468                                                 this->cc().x()
 469                                                 + cos(this->cc().h()),
 470                                                 this->cc().y()
 471                                                 + sin(this->cc().h())
 472                                         )) {
 473                                                 continue;
 474                                         }
 475                                 } else if (std::get<0>(cli2) && (
 476                                         !std::get<0>(cli1)
 477                                         || a2 < a1
 478                                 )) {
 479                                         this->cc().rotate(cclx, ccly, -a2);
 480                                 } else {
 481                                         continue;
 482                                 }
 483                         }
 484                 } else if (this->ps().right() && this->cc().sp() > 0) {
 485                         double ccrx = this->cc().ccr().x();
 486                         double ccry = this->cc().ccr().y();
 487                         double ccr_lf = edist(
 488                                 ccrx, ccry,
 489                                 this->cc().lfx(), this->cc().lfy()
 490                         );
 491                         double ccr_rf = edist(
 492                                 ccrx, ccry,
 493                                 this->cc().rfx(), this->cc().rfy()
 494                         );
 495                         {
 496                                 auto clif = ::intersect(
 497                                         ccrx, ccry, ccr_lf,
 498                                         this->ps().x1(), this->ps().y1(),
 499                                         this->ps().x4(), this->ps().y4()
 500                                 );
 501                                 double af = std::abs(
 502                                         this->ps().heading()
 503                                         - this->cc().h()
 504                                 );
 505                                 double xf = this->ps().x4();
 506                                 double yf = this->ps().y4();
 507                                 if (std::get<0>(clif)) {
 508                                         xf = std::get<1>(clif);
 509                                         yf = std::get<2>(clif);
 510                                         if (
 511                                                 edist(
 512                                                         this->ps().x4(),
 513                                                         this->ps().y4(),
 514                                                         std::get<3>(clif),
 515                                                         std::get<4>(clif)
 516                                                 ) < edist(
 517                                                         this->ps().x4(),
 518                                                         this->ps().y4(),
 519                                                         xf, yf
 520                                                 )
 521                                         ) {
 522                                                 xf = std::get<3>(clif);
 523                                                 yf = std::get<4>(clif);
 524                                         }
 525                                         af = ::angle_between_three_points(
 526                                                 this->cc().lfx(),
 527                                                 this->cc().lfy(),
 528                                                 ccrx, ccry,
 529                                                 xf, yf
 530                                         );
 531                                 }
 532                                 auto tmp_cc = BicycleCar(this->cc());
 533                                 this->cc().rotate(ccrx, ccry, -af);
 534                                 if (
 535                                         !this->collide()
 536                                         && this->parked()
 537                                         && (
 538                                                 edist(
 539                                                         this->ps().x1(),
 540                                                         this->ps().y1(),
 541                                                         xf, yf
 542                                                 ) < edist(
 543                                                         this->ps().x1(),
 544                                                         this->ps().y1(),
 545                                                         this->ps().x4(),
 546                                                         this->ps().y4()
 547                                                 )
 548                                                 || !std::get<0>(clif)
 549                                         )
 550                                 ) {
 551                                         this->cc().sp(this->cc().sp() * -1);
 552                                         this->gc() = BicycleCar(this->cc());
 553                                         goto successfinish;
 554                                 } else {
 555                                         this->cc() = BicycleCar(tmp_cc);
 556                                 }
 557                         }
 558                         auto cli1 = ::intersect(
 559                                 ccrx, ccry, ccr_rf,
 560                                 this->ps().x3(), this->ps().y3(),
 561                                 this->ps().x4(), this->ps().y4()
 562                         );
 563                         double a1 = angle_between_closer_point(
 564                                 this->cc().rfx(), this->cc().rfy(),
 565                                 ccrx, ccry,
 566                                 std::get<1>(cli1), std::get<2>(cli1),
 567                                 std::get<3>(cli1), std::get<4>(cli1)
 568                         );
 569                         auto cli2 = ::intersect(
 570                                 ccrx, ccry, ccr_rf,
 571                                 this->ps().x2(), this->ps().y2(),
 572                                 this->ps().x3(), this->ps().y3()
 573                         );
 574                         double a2 = angle_between_closer_point(
 575                                 this->cc().rfx(), this->cc().rfy(),
 576                                 ccrx, ccry,
 577                                 std::get<1>(cli2), std::get<2>(cli2),
 578                                 std::get<3>(cli2), std::get<4>(cli2)
 579                         );
 580                         auto cli3 = ::intersect(
 581                                 ccrx, ccry, ccr_lf,
 582                                 this->ps().x3(), this->ps().y3(),
 583                                 this->ps().x4(), this->ps().y4()
 584                         );
 585                         double a3 = angle_between_closer_point(
 586                                 this->cc().lfx(), this->cc().lfy(),
 587                                 ccrx, ccry,
 588                                 std::get<1>(cli3), std::get<2>(cli3),
 589                                 std::get<3>(cli3), std::get<4>(cli3)
 590                         );
 591                         if (std::get<0>(cli1) && (
 592                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 593                             || (a1 < a2 && !std::get<0>(cli3))
 594                             || (a1 < a3 && !std::get<0>(cli2))
 595                             || (a1 < a2 && a1 < a3)
 596                         )) {
 597                             this->cc().rotate(ccrx, ccry, -a1);
 598                         } else if (std::get<0>(cli2) && (
 599                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 600                             || (a2 < a1 && !std::get<0>(cli3))
 601                             || (a2 < a3 && !std::get<0>(cli1))
 602                             || (a2 < a1 && a2 < a3)
 603                         )) {
 604                             this->cc().rotate(ccrx, ccry, -a2);
 605                         } else if (std::get<0>(cli3) && (
 606                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 607                             || (a3 < a1 && !std::get<0>(cli2))
 608                             || (a3 < a2 && !std::get<0>(cli1))
 609                             || (a3 < a1 && a3 < a2)
 610                         )) {
 611                             this->cc().rotate(ccrx, ccry, -a3);
 612                         } else {
 613                             continue;
 614                         }
 615                 } else {
 616                         // TODO left parking slot (both forward, backward)
 617                 }
 618                 this->cc().sp(this->cc().sp() * -1);
 619                 this->cc().next();
 620                 this->gc() = BicycleCar(this->cc());
 621                 if (this->parked())
 622                         goto successfinish;
 623                 this->cc().st(this->cc().st() * -1);
 624                 q.push(BicycleCar(this->cc()));
 625                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 626                         iter_cntr++;
 627         }
 628         // fallback to fer
 629         this->gc() = BicycleCar(bco);
 630 successfinish:
 631         return this->fer_parallel();
 632 }
 633
 634 void PSPlanner::fe_perpendicular()
 635 {
 636         // TODO Try multiple angles when going from parking slot.
 637         //
 638         //      Do not use just the maximum steer angle. Test angles
 639         //      until the whole current car `cc` is out of the parking
 640         //      slot `ps`.
 641         //
 642         //      Another approach could be testing angles from the
 643         //      beginning of the escape parkig slot maneuver.
 644         if (this->forward())
 645                 this->cc().sp(-0.01);
 646         else
 647                 this->cc().sp(0.01);
 648         while (!this->left())
 649                 this->cc().next();
 650         return;
 651 }
 652
 653 void PSPlanner::fer()
 654 {
 655         this->c_ = 0;
 656         if (this->ps().parallel()) {
 657                 this->guess_gc();
 658                 this->cc() = BicycleCar(this->gc());
 659                 this->cc().set_max_steer();
 660                 if (!this->ps().right())
 661                         this->cc().st(this->cc().st() * -1);
 662                 this->cc().sp(0.01);
 663                 return this->fer_parallel();
 664         } else {
 665                 return this->fer_perpendicular();
 666         }
 667 }
 668
 669 void PSPlanner::fer_parallel()
 670 {
 671         this->cusps_.clear();
 672         while (!this->left()) {
 673                 while (!this->collide() && !this->left())
 674                         this->cc().next();
 675                 if (this->left() && !this->collide()) {
 676                         break;
 677                 } else {
 678                         this->cc().sp(this->cc().sp() * -1);
 679                         this->cc().next();
 680                         this->cc().st(this->cc().st() * -1);
 681                         this->c_++;
 682                         this->cusps_.push_back(this->cc());
 683                 }
 684         }
 685         if (this->cc().st() < 0) {
 686                 this->c_++;
 687                 this->cusps_.push_back(this->cc());
 688         }
 689 }
 690
 691 void PSPlanner::fer_perpendicular()
 692 {
 693         bool delta_use[] = {true, true, true};
 694         double cc_h = this->cc().h();
 695         double x;
 696         double y;
 697         // check inner radius
 698         if (this->forward()) {
 699                 x = this->ps().x1();
 700                 y = this->ps().y1();
 701         } else {
 702                 x = this->ps().x4();
 703                 y = this->ps().y4();
 704         }
 705         double x1;
 706         double y1;
 707         if (this->ps().right()) {
 708                 x1 = this->cc().ccr().x();
 709                 y1 = this->cc().ccr().y();
 710         } else {
 711                 x1 = this->cc().ccl().x();
 712                 y1 = this->cc().ccl().y();
 713         }
 714         double IR = this->cc().iradi();
 715         double a = 1;
 716         double b;
 717         if (this->forward())
 718                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 719         else
 720                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 721         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 722         double D = pow(b, 2) - 4 * a * c;
 723         double delta;
 724         delta = -b - sqrt(D);
 725         delta /= 2 * a;
 726         double delta_1 = delta;
 727         if (D < 0)
 728                 delta_use[0] = false;
 729         // check outer radius
 730         if (this->forward()) {
 731                 x = this->ps().x4();
 732                 y = this->ps().y4();
 733         } else {
 734                 x = this->ps().x1();
 735                 y = this->ps().y1();
 736         }
 737         IR = this->cc().ofradi();
 738         a = 1;
 739         if (this->forward())
 740                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 741         else
 742                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 743         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 744         D = pow(b, 2) - 4 * a * c;
 745         if (this->forward()) {
 746                 delta = -b + sqrt(D);
 747                 delta /= 2 * a;
 748         }
 749         double delta_2 = delta;
 750         if (D < 0)
 751                 delta_use[1] = false;
 752         delta = -b - sqrt(D);
 753         delta /= 2 * a;
 754         double delta_3 = delta;
 755         if (D < 0)
 756                 delta_use[2] = false;
 757         if (delta_use[0] && delta_use[1] && delta_use[2])
 758                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 759         else if (delta_use[0] && delta_use[1])
 760                 delta = std::max(delta_1, delta_2);
 761         else if (delta_use[0] && delta_use[2])
 762                 delta = std::max(delta_1, delta_3);
 763         else if (delta_use[1] && delta_use[2])
 764                 delta = std::max(delta_2, delta_3);
 765         else if (delta_use[0])
 766                 delta = delta_1;
 767         else if (delta_use[1])
 768                 delta = delta_2;
 769         else if (delta_use[2])
 770                 delta = delta_3;
 771         else
 772                 return;
 773         // current car `cc` can get out of slot with max steer
 774         this->cc().x(this->cc().x() + delta * cos(cc_h));
 775         this->cc().y(this->cc().y() + delta * sin(cc_h));
 776         this->cc().h(cc_h);
 777         // get current car `cc` out of slot
 778         if (this->forward())
 779                 this->cc().sp(-0.01);
 780         else
 781                 this->cc().sp(0.01);
 782         this->cc().set_max_steer();
 783         if (this->ps().right())
 784                 this->cc().st(this->cc().st() * -1);
 785         while (!this->left()) {
 786                 while (!this->collide() && !this->left())
 787                         this->cc().next();
 788                 if (this->left() && !this->collide()) {
 789                         break;
 790                 } else {
 791                         this->cc().sp(this->cc().sp() * -1);
 792                         this->cc().next();
 793                         this->cc().st(this->cc().st() * -1);
 794                 }
 795         }
 796 }
 797
 798 PSPlanner::PSPlanner()
 799 {
 800 }