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 smaller_angle_of_two(
 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         double a1 = ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 309         double a2 = ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 310         return std::min(a1, a2);
 311 }
 312
 313 void PSPlanner::fe_parallel()
 314 {
 315         BicycleCar bco = BicycleCar(this->gc());
 316         this->cc() = BicycleCar();
 317         this->cc().sp(-0.01);
 318         this->cc().set_max_steer();
 319         if (!this->ps().right())
 320                 this->cc().st(this->cc().st() * -1);
 321         this->cc().h(this->ps().heading());
 322         double angl_in_slot = this->ps().heading() - M_PI / 4;
 323         if (!this->ps().right())
 324                 angl_in_slot += M_PI / 2;
 325         this->cc().x(
 326                 this->ps().x4()
 327                 + this->cc().w()/2 * cos(
 328                         this->ps().heading()
 329                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 330                 )
 331                 + (this->cc().df() + 0.01) * cos(
 332                         this->ps().heading() + M_PI
 333                 )
 334         );
 335         this->cc().y(
 336                 this->ps().y4()
 337                 + this->cc().w()/2 * sin(
 338                         this->ps().heading()
 339                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 340                 )
 341                 + (this->cc().df() + 0.01) * sin(
 342                         this->ps().heading() + M_PI
 343                 )
 344         );
 345
 346         std::queue<BicycleCar, std::list<BicycleCar>> q;
 347         while (!this->collide()) {
 348                 q.push(this->cc());
 349                 this->cc().rotate(
 350                         this->ps().x4(),
 351                         this->ps().y4() - 0.01,
 352                         ((this->ps().right()) ? 0.001 : -0.001)
 353                 );
 354         }
 355         // BFS - find entry current car `cc` and corresponding goal car `gc`
 356         unsigned int iter_cntr = 0;
 357         while (!q.empty() && iter_cntr < 30) {
 358                 this->cc() = BicycleCar(q.front());
 359                 q.pop();
 360                 if (this->ps().right() && this->cc().sp() < 0) {
 361                         double cclx = this->cc().ccl().x();
 362                         double ccly = this->cc().ccl().y();
 363                         double ccl_lr = edist(
 364                                 cclx, ccly,
 365                                 this->cc().lrx(), this->cc().lry()
 366                         );
 367                         double ccl_rr = edist(
 368                                 cclx, ccly,
 369                                 this->cc().rrx(), this->cc().rry()
 370                         );
 371                         double ccl_p1 = edist(
 372                                 cclx, ccly,
 373                                 this->ps().x1(), this->ps().y1()
 374                         );
 375                         if (ccl_rr < ccl_p1) {
 376                                 // pass parking slot
 377                                 continue;
 378                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 379                                 // partially out of parking slot
 380                                 auto cli1 = ::intersect(
 381                                         cclx, ccly, ccl_p1,
 382                                         this->cc().lrx(), this->cc().lry(),
 383                                         this->cc().rrx(), this->cc().rry()
 384                                 );
 385                                 double a1 = ::smaller_angle_of_two(
 386                                         this->ps().x1(), this->ps().y1(),
 387                                         cclx, ccly,
 388                                         std::get<1>(cli1), std::get<2>(cli1),
 389                                         std::get<3>(cli1), std::get<4>(cli1)
 390                                 );
 391                                 auto cli2 = ::intersect(
 392                                         cclx, ccly, ccl_rr,
 393                                         this->ps().x2(), this->ps().y2(),
 394                                         this->ps().x3(), this->ps().y3()
 395                                 );
 396                                 double a2 = smaller_angle_of_two(
 397                                         this->cc().rrx(), this->cc().rry(),
 398                                         cclx, ccly,
 399                                         std::get<1>(cli2), std::get<2>(cli2),
 400                                         std::get<3>(cli2), std::get<4>(cli2)
 401                                 );
 402                                 if (std::get<0>(cli1) && (
 403                                         !std::get<0>(cli2)
 404                                         || a1 < a2
 405                                 )) {
 406                                         this->cc().rotate(cclx, ccly, -a1);
 407                                 } else if (std::get<0>(cli2) && (
 408                                         !std::get<0>(cli1)
 409                                         || a2 < a1
 410                                 )) {
 411                                         this->cc().rotate(cclx, ccly, -a2);
 412                                 } else {
 413                                         continue;
 414                                 }
 415                         } else if (ccl_lr >= ccl_p1) {
 416                                 // in parking slot
 417                                 auto cli1 = ::intersect(
 418                                         cclx, ccly, ccl_lr,
 419                                         this->ps().x1(), this->ps().y1(),
 420                                         this->ps().x2(), this->ps().y2()
 421                                 );
 422                                 double a1 = smaller_angle_of_two(
 423                                         this->cc().lrx(), this->cc().lry(),
 424                                         cclx, ccly,
 425                                         std::get<1>(cli1), std::get<2>(cli1),
 426                                         std::get<3>(cli1), std::get<4>(cli1)
 427                                 );
 428                                 auto cli2 = ::intersect(
 429                                         cclx, ccly, ccl_rr,
 430                                         this->ps().x2(), this->ps().y2(),
 431                                         this->ps().x3(), this->ps().y3()
 432                                 );
 433                                 double a2 = smaller_angle_of_two(
 434                                         this->cc().rrx(), this->cc().rry(),
 435                                         cclx, ccly,
 436                                         std::get<1>(cli2), std::get<2>(cli2),
 437                                         std::get<3>(cli2), std::get<4>(cli2)
 438                                 );
 439                                 if (std::get<0>(cli1) && (
 440                                         !std::get<0>(cli2)
 441                                         || a1 < a2
 442                                 )) {
 443                                         this->cc().rotate(cclx, ccly, -a1);
 444                                 } else if (std::get<0>(cli2) && (
 445                                         !std::get<0>(cli1)
 446                                         || a2 < a1
 447                                 )) {
 448                                         this->cc().rotate(cclx, ccly, -a2);
 449                                 } else {
 450                                         continue;
 451                                 }
 452                         }
 453                 } else if (this->ps().right() && this->cc().sp() > 0) {
 454                         double ccrx = this->cc().ccr().x();
 455                         double ccry = this->cc().ccr().y();
 456 {
 457         double rf = sqrt(
 458                 pow(this->cc().lfy() - ccry, 2)
 459                 + pow(this->cc().lfx() - ccrx, 2)
 460         );
 461         auto clif = ::intersect(
 462                 ccrx, ccry, rf,
 463                 this->ps().x1(), this->ps().y1(),
 464                 this->ps().x4(), this->ps().y4()
 465         );
 466         if (std::get<0>(clif)) {
 467                 double xf = std::get<1>(clif);
 468                 double yf = std::get<2>(clif);
 469                 if (
 470                         edist(
 471                                 this->ps().x4(),
 472                                 this->ps().y4(),
 473                                 std::get<3>(clif),
 474                                 std::get<4>(clif)
 475                         ) < edist(
 476                                 this->ps().x4(),
 477                                 this->ps().y4(),
 478                                 xf, yf
 479                         )
 480                 ) {
 481                         xf = std::get<3>(clif);
 482                         yf = std::get<4>(clif);
 483                 }
 484                 auto af = ::angle_between_three_points(
 485                         this->cc().lfx(),
 486                         this->cc().lfy(),
 487                         ccrx, ccry,
 488                         xf, yf
 489                 );
 490                 auto tmp_cc = BicycleCar(this->cc());
 491                 this->cc().rotate(ccrx, ccry, -af);
 492                 if (
 493                         !this->collide()
 494                         && (edist(
 495                                 this->ps().x1(), this->ps().y1(),
 496                                 xf, yf
 497                         ) < edist(
 498                                 this->ps().x1(), this->ps().y1(),
 499                                 this->ps().x4(), this->ps().y4()
 500                         ))
 501                 ) {
 502                         this->cc().sp(-0.01);
 503                         this->cc().set_max_steer();
 504                         this->cc().st(this->cc().st() * -1);
 505                         this->gc() = BicycleCar(this->cc());
 506                         goto successfinish;
 507                 } else {
 508                         this->cc() = BicycleCar(tmp_cc);
 509                 }
 510         } else {
 511                 // should be parked and found in previous iteration or continue
 512                 // with the parking process
 513         }
 514 }
 515                         double r1 = sqrt(
 516                             pow(this->cc().rfy() - ccry, 2)
 517                             + pow(this->cc().rfx() - ccrx, 2)
 518                         );
 519                         auto cli1 = ::intersect(
 520                             ccrx, ccry, r1,
 521                             this->ps().x3(), this->ps().y3(),
 522                             this->ps().x4(), this->ps().y4()
 523                         );
 524                         double a11 = ::angle_between_three_points(
 525                             this->cc().lrx(), this->cc().lry(),
 526                             ccrx, ccry,
 527                             std::get<1>(cli1), std::get<2>(cli1)
 528                         );
 529                         double a12 = ::angle_between_three_points(
 530                             this->cc().lrx(), this->cc().lry(),
 531                             ccrx, ccry,
 532                             std::get<3>(cli1), std::get<4>(cli1)
 533                         );
 534                         double a1 = std::min(a11, a12);
 535
 536                         double r2 = sqrt(
 537                             pow(this->cc().lfy() - ccry, 2)
 538                             + pow(this->cc().lfx() - ccrx, 2)
 539                         );
 540                         auto cli2 = ::intersect(
 541                             ccrx, ccry, r2,
 542                             this->ps().x3(), this->ps().y3(),
 543                             this->ps().x4(), this->ps().y4()
 544                         );
 545                         double a21 = ::angle_between_three_points(
 546                             this->cc().rrx(), this->cc().rry(),
 547                             ccrx, ccry,
 548                             std::get<1>(cli2), std::get<2>(cli2)
 549                         );
 550                         double a22 = ::angle_between_three_points(
 551                             this->cc().rrx(), this->cc().rry(),
 552                             ccrx, ccry,
 553                             std::get<3>(cli2), std::get<4>(cli2)
 554                         );
 555                         double a2 = std::min(a21, a22);
 556
 557                         double r3 = sqrt(
 558                             pow(this->cc().rfy() - ccry, 2)
 559                             + pow(this->cc().rfx() - ccrx, 2)
 560                         );
 561                         auto cli3 = ::intersect(
 562                             ccrx, ccry, r3,
 563                             this->ps().x3(), this->ps().y3(),
 564                             this->ps().x2(), this->ps().y2()
 565                         );
 566                         double a31 = ::angle_between_three_points(
 567                             this->cc().rrx(), this->cc().rry(),
 568                             ccrx, ccry,
 569                             std::get<1>(cli3), std::get<2>(cli3)
 570                         );
 571                         double a32 = ::angle_between_three_points(
 572                             this->cc().rrx(), this->cc().rry(),
 573                             ccrx, ccry,
 574                             std::get<3>(cli3), std::get<4>(cli3)
 575                         );
 576                         double a3 = std::min(a31, a32);
 577
 578                         if (std::get<0>(cli1) && (
 579                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 580                             || (a1 < a2 && !std::get<0>(cli3))
 581                             || (a1 < a3 && !std::get<0>(cli2))
 582                             || (a1 < a2 && a1 < a3)
 583                         )) {
 584                             this->cc().rotate(ccrx, ccry, -a1);
 585                         } else if (std::get<0>(cli2) && (
 586                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 587                             || (a2 < a1 && !std::get<0>(cli3))
 588                             || (a2 < a3 && !std::get<0>(cli1))
 589                             || (a2 < a1 && a2 < a3)
 590                         )) {
 591                             this->cc().rotate(ccrx, ccry, -a2);
 592                         } else if (std::get<0>(cli3) && (
 593                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 594                             || (a3 < a1 && !std::get<0>(cli2))
 595                             || (a3 < a2 && !std::get<0>(cli1))
 596                             || (a3 < a1 && a3 < a2)
 597                         )) {
 598                             this->cc().rotate(ccrx, ccry, -a3);
 599                         } else {
 600                             continue;
 601                         }
 602                 } else {
 603                         // TODO left parking slot (both forward, backward)
 604                 }
 605                 this->cc().sp(this->cc().sp() * -1);
 606                 this->cc().next();
 607                 this->gc() = BicycleCar(this->cc());
 608                 if (this->parked())
 609                         goto successfinish;
 610                 this->cc().st(this->cc().st() * -1);
 611                 q.push(BicycleCar(this->cc()));
 612                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 613                         iter_cntr++;
 614         }
 615         // fallback to fer
 616         this->gc() = BicycleCar(bco);
 617 successfinish:
 618         return this->fer_parallel();
 619 }
 620
 621 void PSPlanner::fe_perpendicular()
 622 {
 623         // TODO Try multiple angles when going from parking slot.
 624         //
 625         //      Do not use just the maximum steer angle. Test angles
 626         //      until the whole current car `cc` is out of the parking
 627         //      slot `ps`.
 628         //
 629         //      Another approach could be testing angles from the
 630         //      beginning of the escape parkig slot maneuver.
 631         if (this->forward())
 632                 this->cc().sp(-0.01);
 633         else
 634                 this->cc().sp(0.01);
 635         while (!this->left())
 636                 this->cc().next();
 637         return;
 638 }
 639
 640 void PSPlanner::fer()
 641 {
 642         this->c_ = 0;
 643         if (this->ps().parallel()) {
 644                 this->guess_gc();
 645                 this->cc() = BicycleCar(this->gc());
 646                 this->cc().set_max_steer();
 647                 if (!this->ps().right())
 648                         this->cc().st(this->cc().st() * -1);
 649                 this->cc().sp(0.01);
 650                 return this->fer_parallel();
 651         } else {
 652                 return this->fer_perpendicular();
 653         }
 654 }
 655
 656 void PSPlanner::fer_parallel()
 657 {
 658         this->cusps_.clear();
 659         while (!this->left()) {
 660                 while (!this->collide() && !this->left())
 661                         this->cc().next();
 662                 if (this->left() && !this->collide()) {
 663                         break;
 664                 } else {
 665                         this->cc().sp(this->cc().sp() * -1);
 666                         this->cc().next();
 667                         this->cc().st(this->cc().st() * -1);
 668                         this->c_++;
 669                         this->cusps_.push_back(this->cc());
 670                 }
 671         }
 672         if (this->cc().st() < 0) {
 673                 this->c_++;
 674                 this->cusps_.push_back(this->cc());
 675         }
 676 }
 677
 678 void PSPlanner::fer_perpendicular()
 679 {
 680         bool delta_use[] = {true, true, true};
 681         double cc_h = this->cc().h();
 682         double x;
 683         double y;
 684         // check inner radius
 685         if (this->forward()) {
 686                 x = this->ps().x1();
 687                 y = this->ps().y1();
 688         } else {
 689                 x = this->ps().x4();
 690                 y = this->ps().y4();
 691         }
 692         double x1;
 693         double y1;
 694         if (this->ps().right()) {
 695                 x1 = this->cc().ccr().x();
 696                 y1 = this->cc().ccr().y();
 697         } else {
 698                 x1 = this->cc().ccl().x();
 699                 y1 = this->cc().ccl().y();
 700         }
 701         double IR = this->cc().iradi();
 702         double a = 1;
 703         double b;
 704         if (this->forward())
 705                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 706         else
 707                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 708         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 709         double D = pow(b, 2) - 4 * a * c;
 710         double delta;
 711         delta = -b - sqrt(D);
 712         delta /= 2 * a;
 713         double delta_1 = delta;
 714         if (D < 0)
 715                 delta_use[0] = false;
 716         // check outer radius
 717         if (this->forward()) {
 718                 x = this->ps().x4();
 719                 y = this->ps().y4();
 720         } else {
 721                 x = this->ps().x1();
 722                 y = this->ps().y1();
 723         }
 724         IR = this->cc().ofradi();
 725         a = 1;
 726         if (this->forward())
 727                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 728         else
 729                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 730         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 731         D = pow(b, 2) - 4 * a * c;
 732         if (this->forward()) {
 733                 delta = -b + sqrt(D);
 734                 delta /= 2 * a;
 735         }
 736         double delta_2 = delta;
 737         if (D < 0)
 738                 delta_use[1] = false;
 739         delta = -b - sqrt(D);
 740         delta /= 2 * a;
 741         double delta_3 = delta;
 742         if (D < 0)
 743                 delta_use[2] = false;
 744         if (delta_use[0] && delta_use[1] && delta_use[2])
 745                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 746         else if (delta_use[0] && delta_use[1])
 747                 delta = std::max(delta_1, delta_2);
 748         else if (delta_use[0] && delta_use[2])
 749                 delta = std::max(delta_1, delta_3);
 750         else if (delta_use[1] && delta_use[2])
 751                 delta = std::max(delta_2, delta_3);
 752         else if (delta_use[0])
 753                 delta = delta_1;
 754         else if (delta_use[1])
 755                 delta = delta_2;
 756         else if (delta_use[2])
 757                 delta = delta_3;
 758         else
 759                 return;
 760         // current car `cc` can get out of slot with max steer
 761         this->cc().x(this->cc().x() + delta * cos(cc_h));
 762         this->cc().y(this->cc().y() + delta * sin(cc_h));
 763         this->cc().h(cc_h);
 764         // get current car `cc` out of slot
 765         if (this->forward())
 766                 this->cc().sp(-0.01);
 767         else
 768                 this->cc().sp(0.01);
 769         this->cc().set_max_steer();
 770         if (this->ps().right())
 771                 this->cc().st(this->cc().st() * -1);
 772         while (!this->left()) {
 773                 while (!this->collide() && !this->left())
 774                         this->cc().next();
 775                 if (this->left() && !this->collide()) {
 776                         break;
 777                 } else {
 778                         this->cc().sp(this->cc().sp() * -1);
 779                         this->cc().next();
 780                         this->cc().st(this->cc().st() * -1);
 781                 }
 782         }
 783 }
 784
 785 PSPlanner::PSPlanner()
 786 {
 787 }