src/psp.cc

   1 #include <cmath>
   2 #include <list>
   3 #include <queue>
   4 #include "psp.h"
   5
   6 bool PSPlanner::collide()
   7 {
   8         std::vector<std::tuple<double, double>> bc;
   9         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  10         bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
  11         bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
  12         bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
  13         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  14         std::vector<std::tuple<double, double>> ps;
  15         ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
  16         ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
  17         ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
  18         ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
  19         return std::get<0>(::collide(bc, ps));
  20 }
  21
  22 bool PSPlanner::forward()
  23 {
  24         if (this->ps().parallel())
  25                 return false;
  26         else
  27                 return true;
  28         double heading = atan2(
  29                 this->ps().y2() - this->ps().y1(),
  30                 this->ps().x2() - this->ps().x1()
  31         );
  32         while (heading < 0) heading += 2 * M_PI;
  33         double h = this->gc().h();
  34         while (h < 0) h += 2 * M_PI;
  35         if (std::abs(heading - h) < M_PI / 4)
  36                 return true;
  37         return false;
  38 }
  39
  40 void PSPlanner::gc_to_4()
  41 {
  42         double angl_slot = atan2(
  43                 this->ps().y3() - this->ps().y4(),
  44                 this->ps().x3() - this->ps().x4()
  45         );
  46         double angl_delta = M_PI / 2;
  47         if (this->ps().right())
  48                 angl_delta = -M_PI / 2;
  49         double x = this->ps().x4();
  50         double y = this->ps().y4();
  51         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  52         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  53         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  54         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  55         this->gc().x(x);
  56         this->gc().y(y);
  57         this->gc().h(angl_slot);
  58 }
  59
  60 std::tuple<double, double, double, double> circle_line_intersection(
  61         double cx, double cy, double r,
  62         double x1, double y1,
  63         double x2, double y2
  64 )
  65 {
  66         double t = (y2 - y1) / (x2 - x1);
  67         //double a = 1 + pow(t, 2);
  68         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  69         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  70         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  71         //        - pow(r, 2);
  72         double a = 1 + pow(t, 2);
  73         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  74         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  75         c += pow(-t * x1 + y1, 2);
  76         c += 2 * cy * t * x1 - 2 * cy * y1;
  77         double D = pow(b, 2) - 4 * a * c;
  78         if (D < 0)
  79                 return std::make_tuple(cx, cy, cx, cy);
  80         double res_x1 = (-b + sqrt(D)) / (2 * a);
  81         double res_y1 = t * (res_x1 - x1) + y1;
  82         double res_x2 = (-b - sqrt(D)) / (2 * a);
  83         double res_y2 = t * (res_x2 - x1) + y1;
  84         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  85 }
  86
  87 double edist(double x1, double y1, double x2, double y2)
  88 {
  89         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  90 }
  91
  92 void PSPlanner::guess_gc()
  93 {
  94         double x = this->ps().x1();
  95         double y = this->ps().y1();
  96         double h = this->ps().heading();
  97         double dts = + M_PI / 2; // direction to slot
  98         if (this->ps().right())
  99                 dts = - M_PI / 2;
 100         if (this->ps().parallel()) {
 101                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 102                 x += (this->gc().dr() + 0.01) * cos(h);
 103                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 104                 y += (this->gc().dr() + 0.01) * sin(h);
 105         } else {
 106                 // Forward parking
 107                 double entry_width = edist(
 108                         this->ps().x1(), this->ps().y1(),
 109                         this->ps().x4(), this->ps().y4()
 110                 );
 111                 x += entry_width / 2 * cos(h);
 112                 y += entry_width / 2 * sin(h);
 113                 h = atan2(
 114                         this->ps().y2() - this->ps().y1(),
 115                         this->ps().x2() - this->ps().x1()
 116                 );
 117                 while (h < 0) h += 2 * M_PI;
 118
 119                 //// This is for backward parking only.
 120                 //double entry_width = edist(
 121                 //        this->ps().x1(), this->ps().y1(),
 122                 //        this->ps().x4(), this->ps().y4()
 123                 //);
 124                 //double dist_l =
 125                 //        this->gc().orradi()
 126                 //        - (this->gc().mtr() + this->gc().w() / 2)
 127                 //;
 128                 //double move1 = dist_l + this->gc().w() / 2;
 129                 //double dist_r = entry_width - this->gc().w() - dist_l;
 130                 //double move2 = sqrt(
 131                 //        pow(this->gc().iradi(), 2)
 132                 //        - pow(this->gc().iradi() - dist_r, 2)
 133                 //);
 134                 //move2 -= this->gc().dr() / 2; // workaround
 135                 //x += move1 * cos(h);
 136                 //y += move1 * sin(h);
 137                 //dts = atan2(
 138                 //        this->ps().y2() - this->ps().y1(),
 139                 //        this->ps().x2() - this->ps().x1()
 140                 //);
 141                 //while (dts < 0) dts += 2 * M_PI;
 142                 //x += move2 * cos(h + dts);
 143                 //y += move2 * sin(h + dts);
 144                 //h += dts - M_PI / 2;
 145         }
 146         while (h > M_PI)
 147                 h -= 2 * M_PI;
 148         while (h <= -M_PI)
 149                 h += 2 * M_PI;
 150         this->gc().x(x);
 151         this->gc().y(y);
 152         this->gc().h(h);
 153 }
 154
 155 std::vector<BicycleCar> PSPlanner::last_maneuver()
 156 {
 157         std::vector<BicycleCar> lm;
 158         if (this->ps().parallel()) {
 159                 // zig-zag out from the slot
 160                 this->cc() = BicycleCar(this->gc());
 161                 this->cc().sp(0.1);
 162                 while (!this->left()) {
 163                         while (!this->collide() && !this->left()) {
 164                                 this->cc().next();
 165                                 lm.push_back(BicycleCar(this->cc()));
 166                         }
 167                         if (this->left() && !this->collide()) {
 168                                 break;
 169                         } else {
 170                                 lm.pop_back();
 171                                 this->cc().sp(this->cc().sp() * -1);
 172                                 this->cc().next();
 173                                 this->cc().st(this->cc().st() * -1);
 174                                 this->c_++;
 175                                 lm.push_back(BicycleCar(this->cc()));
 176                         }
 177                 }
 178                 if (this->cc().st() < 0) {
 179                         this->c_++;
 180                         lm.push_back(BicycleCar(this->cc()));
 181                 }
 182         } else {
 183                 // go 1 m forward
 184                 this->cc().sp(0.1);
 185                 BicycleCar orig_cc(this->cc());
 186                 for (unsigned int i = 0; i < 10; i++) {
 187                         this->cc().next();
 188                         lm.push_back(BicycleCar(this->cc()));
 189                 }
 190                 this->cc() = BicycleCar(orig_cc);
 191         }
 192         return lm;
 193 }
 194
 195 bool PSPlanner::left()
 196 {
 197         double lfx = this->cc().lfx();
 198         double lfy = this->cc().lfy();
 199         double lrx = this->cc().lrx();
 200         double lry = this->cc().lry();
 201         double rrx = this->cc().rrx();
 202         double rry = this->cc().rry();
 203         double rfx = this->cc().rfx();
 204         double rfy = this->cc().rfy();
 205         double lfs = sgn(
 206                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 207                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 208         );
 209         double lrs = sgn(
 210                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 211                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 212         );
 213         double rrs = sgn(
 214                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 215                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 216         );
 217         double rfs = sgn(
 218                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 219                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 220         );
 221         if (this->ps().parallel())
 222                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 223         else if (!this->forward())
 224                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 225         else
 226                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 227 }
 228
 229 bool PSPlanner::parked()
 230 {
 231         std::vector<std::tuple<double, double>> slot;
 232         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 233         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 234         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 235         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 236         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 237                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 238                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 239                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 240 }
 241
 242 std::vector<BicycleCar> PSPlanner::possible_goals(
 243         unsigned int cnt,
 244         double dist
 245 )
 246 {
 247         std::vector<BicycleCar> pi;
 248         if (this->ps().parallel())
 249                 this->cc().sp(1);
 250         else
 251                 this->cc().sp(-1);
 252         this->cc().sp(this->cc().sp() * dist);
 253         BicycleCar orig_cc(this->cc());
 254         for (unsigned int i = 0; i < cnt; i++) {
 255                 this->cc().next();
 256                 pi.push_back(BicycleCar(this->cc()));
 257         }
 258         this->cc() = BicycleCar(orig_cc);
 259         if (this->ps().parallel()) {
 260                 this->cc().st(0);
 261                 for (unsigned int i = 0; i < cnt; i++) {
 262                         this->cc().next();
 263                         pi.push_back(BicycleCar(this->cc()));
 264                 }
 265                 this->cc() = BicycleCar(orig_cc);
 266         } else {
 267                 if (!this->ps().right()) {
 268                         this->cc().set_max_steer();
 269                         for (unsigned int i = 0; i < cnt; i++) {
 270                                 this->cc().next();
 271                                 pi.push_back(BicycleCar(this->cc()));
 272                         }
 273                 } else {
 274                         this->cc().set_max_steer();
 275                         this->cc().st(this->cc().st() * -1);
 276                         for (unsigned int i = 0; i < cnt; i++) {
 277                                 this->cc().next();
 278                                 pi.push_back(BicycleCar(this->cc()));
 279                         }
 280                 }
 281                 this->cc() = BicycleCar(orig_cc);
 282         }
 283         return pi;
 284 }
 285
 286 // find entry
 287 void PSPlanner::fe()
 288 {
 289         this->c_ = 0;
 290         if (this->ps().parallel()) {
 291                 return this->fe_parallel();
 292         } else {
 293                 this->guess_gc();
 294                 this->cc() = BicycleCar(this->gc());
 295                 //this->cc().set_max_steer();
 296                 //if (this->ps().right())
 297                 //        this->cc().st(this->cc().st() * -1);
 298                 this->cc().sp(-0.2);
 299         }
 300 }
 301
 302 void PSPlanner::fe_parallel()
 303 {
 304         BicycleCar bco = BicycleCar(this->gc());
 305         this->cc() = BicycleCar();
 306         this->cc().sp(-0.01);
 307         this->cc().set_max_steer();
 308         if (!this->ps().right())
 309                 this->cc().st(this->cc().st() * -1);
 310         this->cc().h(this->ps().heading());
 311         double angl_in_slot = this->ps().heading() - M_PI / 4;
 312         if (!this->ps().right())
 313                 angl_in_slot += M_PI / 2;
 314         this->cc().x(
 315                 this->ps().x4()
 316                 + this->cc().w()/2 * cos(
 317                         this->ps().heading()
 318                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 319                 )
 320                 + (this->cc().df() + 0.01) * cos(
 321                         this->ps().heading() + M_PI
 322                 )
 323         );
 324         this->cc().y(
 325                 this->ps().y4()
 326                 + this->cc().w()/2 * sin(
 327                         this->ps().heading()
 328                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 329                 )
 330                 + (this->cc().df() + 0.01) * sin(
 331                         this->ps().heading() + M_PI
 332                 )
 333         );
 334
 335         std::queue<BicycleCar, std::list<BicycleCar>> q;
 336         while (!this->collide()) {
 337                 q.push(this->cc());
 338                 this->cc().rotate(
 339                         this->ps().x4(),
 340                         this->ps().y4() - 0.01,
 341                         ((this->ps().right()) ? 0.001 : -0.001)
 342                 );
 343         }
 344         // BFS - find entry current car `cc` and corresponding goal car `gc`
 345         unsigned int iter_cntr = 0;
 346         while (!q.empty() && iter_cntr < 30) {
 347                 this->cc() = BicycleCar(q.front());
 348                 q.pop();
 349                 if (this->ps().right() && this->cc().sp() < 0) {
 350                         double cclx = this->cc().ccl().x();
 351                         double ccly = this->cc().ccl().y();
 352                         double ccl_lr = edist(
 353                                 cclx, ccly,
 354                                 this->cc().lrx(), this->cc().lry()
 355                         );
 356                         double ccl_rr = edist(
 357                                 cclx, ccly,
 358                                 this->cc().rrx(), this->cc().rry()
 359                         );
 360                         double ccl_p1 = edist(
 361                                 cclx, ccly,
 362                                 this->ps().x1(), this->ps().y1()
 363                         );
 364                         if (ccl_rr < ccl_p1) {
 365                                 // pass parking slot
 366                                 continue;
 367                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 368                                 // partially out of parking slot
 369                                 // TODO (p1, p2) x (lr, rr)
 370                                 auto cli2 = ::intersect(
 371                                         cclx, ccly, ccl_rr,
 372                                         this->ps().x2(), this->ps().y2(),
 373                                         this->ps().x3(), this->ps().y3()
 374                                 );
 375                                 double a21 = ::angle_between_three_points(
 376                                     this->cc().rrx(), this->cc().rry(),
 377                                     cclx, ccly,
 378                                     std::get<1>(cli2), std::get<2>(cli2)
 379                                 );
 380                                 double a22 = ::angle_between_three_points(
 381                                     this->cc().rrx(), this->cc().rry(),
 382                                     cclx, ccly,
 383                                     std::get<3>(cli2), std::get<4>(cli2)
 384                                 );
 385                                 double a2 = std::min(a21, a22);
 386                         } else if (ccl_lr >= ccl_p1) {
 387                                 // in parking slot
 388                                 // TODO (ccl, lr) x (p1, p2)
 389                                 auto cli2 = ::intersect(
 390                                         cclx, ccly, ccl_rr,
 391                                         this->ps().x2(), this->ps().y2(),
 392                                         this->ps().x3(), this->ps().y3()
 393                                 );
 394                                 double a21 = ::angle_between_three_points(
 395                                     this->cc().rrx(), this->cc().rry(),
 396                                     cclx, ccly,
 397                                     std::get<1>(cli2), std::get<2>(cli2)
 398                                 );
 399                                 double a22 = ::angle_between_three_points(
 400                                     this->cc().rrx(), this->cc().rry(),
 401                                     cclx, ccly,
 402                                     std::get<3>(cli2), std::get<4>(cli2)
 403                                 );
 404                                 double a2 = std::min(a21, a22);
 405                         }
 406
 407                         double r1 = sqrt(
 408                             pow(this->cc().lry() - ccly, 2)
 409                             + pow(this->cc().lrx() - cclx, 2)
 410                         );
 411                         auto cli1 = ::intersect(
 412                             cclx, ccly, r1,
 413                             this->ps().x1(), this->ps().y1(),
 414                             this->ps().x2(), this->ps().y2()
 415                         );
 416                         double a11 = ::angle_between_three_points(
 417                             this->cc().lrx(), this->cc().lry(),
 418                             cclx, ccly,
 419                             std::get<1>(cli1), std::get<2>(cli1)
 420                         );
 421                         double a12 = ::angle_between_three_points(
 422                             this->cc().lrx(), this->cc().lry(),
 423                             cclx, ccly,
 424                             std::get<3>(cli1), std::get<4>(cli1)
 425                         );
 426                         double a1 = std::min(a11, a12);
 427 {
 428         double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
 429         if (
 430                 edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
 431                 && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
 432         ) {
 433                 auto clif = ::intersect(
 434                         cclx, ccly, rf,
 435                         this->cc().lrx(), this->cc().lry(),
 436                         this->cc().rrx(), this->cc().rry()
 437                 );
 438                 double xf = std::get<1>(clif);
 439                 double yf = std::get<2>(clif);
 440                 if (
 441                         edist(
 442                                 std::get<3>(clif), std::get<4>(clif),
 443                                 this->cc().x(), this->cc().y()
 444
 445                         )
 446                         < edist(xf, yf, this->cc().x(), this->cc().y())
 447                 ) {
 448                         xf = std::get<3>(clif);
 449                         yf = std::get<4>(clif);
 450                 }
 451                 double af = ::angle_between_three_points(
 452                         xf, yf,
 453                         cclx, ccly,
 454                         this->ps().x1(), this->ps().y1()
 455                 );
 456                 a1 = af;
 457         }
 458 }
 459
 460                         double r2 = sqrt(
 461                             pow(this->cc().rry() - ccly, 2)
 462                             + pow(this->cc().rrx() - cclx, 2)
 463                         );
 464                         auto cli2 = ::intersect(
 465                             cclx, ccly, r2,
 466                             this->ps().x1(), this->ps().y1(),
 467                             this->ps().x2(), this->ps().y2()
 468                         );
 469                         double a21 = ::angle_between_three_points(
 470                             this->cc().rrx(), this->cc().rry(),
 471                             cclx, ccly,
 472                             std::get<1>(cli2), std::get<2>(cli2)
 473                         );
 474                         double a22 = ::angle_between_three_points(
 475                             this->cc().rrx(), this->cc().rry(),
 476                             cclx, ccly,
 477                             std::get<3>(cli2), std::get<4>(cli2)
 478                         );
 479                         double a2 = std::min(a21, a22);
 480
 481                         double r3 = sqrt(
 482                             pow(this->cc().rry() - ccly, 2)
 483                             + pow(this->cc().rrx() - cclx, 2)
 484                         );
 485                         auto cli3 = ::intersect(
 486                             cclx, ccly, r3,
 487                             this->ps().x2(), this->ps().y2(),
 488                             this->ps().x3(), this->ps().y3()
 489                         );
 490                         double a31 = ::angle_between_three_points(
 491                             this->cc().rrx(), this->cc().rry(),
 492                             cclx, ccly,
 493                             std::get<1>(cli3), std::get<2>(cli3)
 494                         );
 495                         double a32 = ::angle_between_three_points(
 496                             this->cc().rrx(), this->cc().rry(),
 497                             cclx, ccly,
 498                             std::get<3>(cli3), std::get<4>(cli3)
 499                         );
 500                         double a3 = std::min(a31, a32);
 501
 502                         if (std::get<0>(cli1) && (
 503                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 504                             || (a1 < a2 && !std::get<0>(cli3))
 505                             || (a1 < a3 && !std::get<0>(cli2))
 506                             || (a1 < a2 && a1 < a3)
 507                         )) {
 508                             this->cc().rotate(cclx, ccly, -a1);
 509                         } else if (std::get<0>(cli2) && (
 510                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 511                             || (a2 < a1 && !std::get<0>(cli3))
 512                             || (a2 < a3 && !std::get<0>(cli1))
 513                             || (a2 < a1 && a2 < a3)
 514                         )) {
 515                             this->cc().rotate(cclx, ccly, -a2);
 516                         } else if (std::get<0>(cli3) && (
 517                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 518                             || (a3 < a1 && !std::get<0>(cli2))
 519                             || (a3 < a2 && !std::get<0>(cli1))
 520                             || (a3 < a1 && a3 < a2)
 521                         )) {
 522                             this->cc().rotate(cclx, ccly, -a3);
 523                         } else {
 524                             continue;
 525                         }
 526                         if (::right_side_of_line(
 527                             this->cc().x(), this->cc().y(),
 528                             this->cc().x() + cos(this->ps().heading()),
 529                             this->cc().y() + sin(this->ps().heading()),
 530                             this->cc().x() + cos(this->cc().h()),
 531                             this->cc().y() + sin(this->cc().h())
 532                         ))
 533                             continue;
 534                 } else if (this->ps().right() && this->cc().sp() > 0) {
 535                         double ccrx = this->cc().ccr().x();
 536                         double ccry = this->cc().ccr().y();
 537 {
 538         double rf = sqrt(
 539                 pow(this->cc().lfy() - ccry, 2)
 540                 + pow(this->cc().lfx() - ccrx, 2)
 541         );
 542         auto clif = ::intersect(
 543                 ccrx, ccry, rf,
 544                 this->ps().x1(), this->ps().y1(),
 545                 this->ps().x4(), this->ps().y4()
 546         );
 547         if (std::get<0>(clif)) {
 548                 double xf = std::get<1>(clif);
 549                 double yf = std::get<2>(clif);
 550                 if (
 551                         edist(
 552                                 this->ps().x4(),
 553                                 this->ps().y4(),
 554                                 std::get<3>(clif),
 555                                 std::get<4>(clif)
 556                         ) < edist(
 557                                 this->ps().x4(),
 558                                 this->ps().y4(),
 559                                 xf, yf
 560                         )
 561                 ) {
 562                         xf = std::get<3>(clif);
 563                         yf = std::get<4>(clif);
 564                 }
 565                 auto af = ::angle_between_three_points(
 566                         this->cc().lfx(),
 567                         this->cc().lfy(),
 568                         ccrx, ccry,
 569                         xf, yf
 570                 );
 571                 auto tmp_cc = BicycleCar(this->cc());
 572                 this->cc().rotate(ccrx, ccry, -af);
 573                 if (
 574                         !this->collide()
 575                         && (edist(
 576                                 this->ps().x1(), this->ps().y1(),
 577                                 xf, yf
 578                         ) < edist(
 579                                 this->ps().x1(), this->ps().y1(),
 580                                 this->ps().x4(), this->ps().y4()
 581                         ))
 582                 ) {
 583                         this->cc().sp(-0.01);
 584                         this->cc().set_max_steer();
 585                         this->cc().st(this->cc().st() * -1);
 586                         this->gc() = BicycleCar(this->cc());
 587                         goto successfinish;
 588                 } else {
 589                         this->cc() = BicycleCar(tmp_cc);
 590                 }
 591         } else {
 592                 // should be parked and found in previous iteration or continue
 593                 // with the parking process
 594         }
 595 }
 596                         double r1 = sqrt(
 597                             pow(this->cc().rfy() - ccry, 2)
 598                             + pow(this->cc().rfx() - ccrx, 2)
 599                         );
 600                         auto cli1 = ::intersect(
 601                             ccrx, ccry, r1,
 602                             this->ps().x3(), this->ps().y3(),
 603                             this->ps().x4(), this->ps().y4()
 604                         );
 605                         double a11 = ::angle_between_three_points(
 606                             this->cc().lrx(), this->cc().lry(),
 607                             ccrx, ccry,
 608                             std::get<1>(cli1), std::get<2>(cli1)
 609                         );
 610                         double a12 = ::angle_between_three_points(
 611                             this->cc().lrx(), this->cc().lry(),
 612                             ccrx, ccry,
 613                             std::get<3>(cli1), std::get<4>(cli1)
 614                         );
 615                         double a1 = std::min(a11, a12);
 616
 617                         double r2 = sqrt(
 618                             pow(this->cc().lfy() - ccry, 2)
 619                             + pow(this->cc().lfx() - ccrx, 2)
 620                         );
 621                         auto cli2 = ::intersect(
 622                             ccrx, ccry, r2,
 623                             this->ps().x3(), this->ps().y3(),
 624                             this->ps().x4(), this->ps().y4()
 625                         );
 626                         double a21 = ::angle_between_three_points(
 627                             this->cc().rrx(), this->cc().rry(),
 628                             ccrx, ccry,
 629                             std::get<1>(cli2), std::get<2>(cli2)
 630                         );
 631                         double a22 = ::angle_between_three_points(
 632                             this->cc().rrx(), this->cc().rry(),
 633                             ccrx, ccry,
 634                             std::get<3>(cli2), std::get<4>(cli2)
 635                         );
 636                         double a2 = std::min(a21, a22);
 637
 638                         double r3 = sqrt(
 639                             pow(this->cc().rfy() - ccry, 2)
 640                             + pow(this->cc().rfx() - ccrx, 2)
 641                         );
 642                         auto cli3 = ::intersect(
 643                             ccrx, ccry, r3,
 644                             this->ps().x3(), this->ps().y3(),
 645                             this->ps().x2(), this->ps().y2()
 646                         );
 647                         double a31 = ::angle_between_three_points(
 648                             this->cc().rrx(), this->cc().rry(),
 649                             ccrx, ccry,
 650                             std::get<1>(cli3), std::get<2>(cli3)
 651                         );
 652                         double a32 = ::angle_between_three_points(
 653                             this->cc().rrx(), this->cc().rry(),
 654                             ccrx, ccry,
 655                             std::get<3>(cli3), std::get<4>(cli3)
 656                         );
 657                         double a3 = std::min(a31, a32);
 658
 659                         if (std::get<0>(cli1) && (
 660                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 661                             || (a1 < a2 && !std::get<0>(cli3))
 662                             || (a1 < a3 && !std::get<0>(cli2))
 663                             || (a1 < a2 && a1 < a3)
 664                         )) {
 665                             this->cc().rotate(ccrx, ccry, -a1);
 666                         } else if (std::get<0>(cli2) && (
 667                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 668                             || (a2 < a1 && !std::get<0>(cli3))
 669                             || (a2 < a3 && !std::get<0>(cli1))
 670                             || (a2 < a1 && a2 < a3)
 671                         )) {
 672                             this->cc().rotate(ccrx, ccry, -a2);
 673                         } else if (std::get<0>(cli3) && (
 674                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 675                             || (a3 < a1 && !std::get<0>(cli2))
 676                             || (a3 < a2 && !std::get<0>(cli1))
 677                             || (a3 < a1 && a3 < a2)
 678                         )) {
 679                             this->cc().rotate(ccrx, ccry, -a3);
 680                         } else {
 681                             continue;
 682                         }
 683                 } else {
 684                         // TODO left parking slot (both forward, backward)
 685                 }
 686                 this->cc().sp(this->cc().sp() * -1);
 687                 this->cc().next();
 688                 this->gc() = BicycleCar(this->cc());
 689                 if (this->parked())
 690                         goto successfinish;
 691                 this->cc().st(this->cc().st() * -1);
 692                 q.push(BicycleCar(this->cc()));
 693                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 694                         iter_cntr++;
 695         }
 696         // fallback to fer
 697         this->gc() = BicycleCar(bco);
 698 successfinish:
 699         return this->fer_parallel();
 700 }
 701
 702 void PSPlanner::fe_perpendicular()
 703 {
 704         // TODO Try multiple angles when going from parking slot.
 705         //
 706         //      Do not use just the maximum steer angle. Test angles
 707         //      until the whole current car `cc` is out of the parking
 708         //      slot `ps`.
 709         //
 710         //      Another approach could be testing angles from the
 711         //      beginning of the escape parkig slot maneuver.
 712         if (this->forward())
 713                 this->cc().sp(-0.01);
 714         else
 715                 this->cc().sp(0.01);
 716         while (!this->left())
 717                 this->cc().next();
 718         return;
 719 }
 720
 721 void PSPlanner::fer()
 722 {
 723         this->c_ = 0;
 724         if (this->ps().parallel()) {
 725                 this->guess_gc();
 726                 this->cc() = BicycleCar(this->gc());
 727                 this->cc().set_max_steer();
 728                 if (!this->ps().right())
 729                         this->cc().st(this->cc().st() * -1);
 730                 this->cc().sp(0.01);
 731                 return this->fer_parallel();
 732         } else {
 733                 return this->fer_perpendicular();
 734         }
 735 }
 736
 737 void PSPlanner::fer_parallel()
 738 {
 739         this->cusps_.clear();
 740         while (!this->left()) {
 741                 while (!this->collide() && !this->left())
 742                         this->cc().next();
 743                 if (this->left() && !this->collide()) {
 744                         break;
 745                 } else {
 746                         this->cc().sp(this->cc().sp() * -1);
 747                         this->cc().next();
 748                         this->cc().st(this->cc().st() * -1);
 749                         this->c_++;
 750                         this->cusps_.push_back(this->cc());
 751                 }
 752         }
 753         if (this->cc().st() < 0) {
 754                 this->c_++;
 755                 this->cusps_.push_back(this->cc());
 756         }
 757 }
 758
 759 void PSPlanner::fer_perpendicular()
 760 {
 761         bool delta_use[] = {true, true, true};
 762         double cc_h = this->cc().h();
 763         double x;
 764         double y;
 765         // check inner radius
 766         if (this->forward()) {
 767                 x = this->ps().x1();
 768                 y = this->ps().y1();
 769         } else {
 770                 x = this->ps().x4();
 771                 y = this->ps().y4();
 772         }
 773         double x1;
 774         double y1;
 775         if (this->ps().right()) {
 776                 x1 = this->cc().ccr().x();
 777                 y1 = this->cc().ccr().y();
 778         } else {
 779                 x1 = this->cc().ccl().x();
 780                 y1 = this->cc().ccl().y();
 781         }
 782         double IR = this->cc().iradi();
 783         double a = 1;
 784         double b;
 785         if (this->forward())
 786                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 787         else
 788                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 789         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 790         double D = pow(b, 2) - 4 * a * c;
 791         double delta;
 792         delta = -b - sqrt(D);
 793         delta /= 2 * a;
 794         double delta_1 = delta;
 795         if (D < 0)
 796                 delta_use[0] = false;
 797         // check outer radius
 798         if (this->forward()) {
 799                 x = this->ps().x4();
 800                 y = this->ps().y4();
 801         } else {
 802                 x = this->ps().x1();
 803                 y = this->ps().y1();
 804         }
 805         IR = this->cc().ofradi();
 806         a = 1;
 807         if (this->forward())
 808                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 809         else
 810                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 811         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 812         D = pow(b, 2) - 4 * a * c;
 813         if (this->forward()) {
 814                 delta = -b + sqrt(D);
 815                 delta /= 2 * a;
 816         }
 817         double delta_2 = delta;
 818         if (D < 0)
 819                 delta_use[1] = false;
 820         delta = -b - sqrt(D);
 821         delta /= 2 * a;
 822         double delta_3 = delta;
 823         if (D < 0)
 824                 delta_use[2] = false;
 825         if (delta_use[0] && delta_use[1] && delta_use[2])
 826                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 827         else if (delta_use[0] && delta_use[1])
 828                 delta = std::max(delta_1, delta_2);
 829         else if (delta_use[0] && delta_use[2])
 830                 delta = std::max(delta_1, delta_3);
 831         else if (delta_use[1] && delta_use[2])
 832                 delta = std::max(delta_2, delta_3);
 833         else if (delta_use[0])
 834                 delta = delta_1;
 835         else if (delta_use[1])
 836                 delta = delta_2;
 837         else if (delta_use[2])
 838                 delta = delta_3;
 839         else
 840                 return;
 841         // current car `cc` can get out of slot with max steer
 842         this->cc().x(this->cc().x() + delta * cos(cc_h));
 843         this->cc().y(this->cc().y() + delta * sin(cc_h));
 844         this->cc().h(cc_h);
 845         // get current car `cc` out of slot
 846         if (this->forward())
 847                 this->cc().sp(-0.01);
 848         else
 849                 this->cc().sp(0.01);
 850         this->cc().set_max_steer();
 851         if (this->ps().right())
 852                 this->cc().st(this->cc().st() * -1);
 853         while (!this->left()) {
 854                 while (!this->collide() && !this->left())
 855                         this->cc().next();
 856                 if (this->left() && !this->collide()) {
 857                         break;
 858                 } else {
 859                         this->cc().sp(this->cc().sp() * -1);
 860                         this->cc().next();
 861                         this->cc().st(this->cc().st() * -1);
 862                 }
 863         }
 864 }
 865
 866 PSPlanner::PSPlanner()
 867 {
 868 }