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 FORWARD_PARKING > 0
  25         return true;
  26 #else
  27         return false;
  28 #endif
  29 }
  30
  31 void PSPlanner::gc_to_4()
  32 {
  33         double angl_slot = atan2(
  34                 this->ps().y3() - this->ps().y4(),
  35                 this->ps().x3() - this->ps().x4()
  36         );
  37         double angl_delta = M_PI / 2;
  38         if (this->ps().right())
  39                 angl_delta = -M_PI / 2;
  40         double x = this->ps().x4();
  41         double y = this->ps().y4();
  42         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  43         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  44         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  45         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  46         this->gc().x(x);
  47         this->gc().y(y);
  48         this->gc().h(angl_slot);
  49 }
  50
  51 std::tuple<double, double, double, double> circle_line_intersection(
  52         double cx, double cy, double r,
  53         double x1, double y1,
  54         double x2, double y2
  55 )
  56 {
  57         double t = (y2 - y1) / (x2 - x1);
  58         //double a = 1 + pow(t, 2);
  59         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  60         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  61         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  62         //        - pow(r, 2);
  63         double a = 1 + pow(t, 2);
  64         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  65         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  66         c += pow(-t * x1 + y1, 2);
  67         c += 2 * cy * t * x1 - 2 * cy * y1;
  68         double D = pow(b, 2) - 4 * a * c;
  69         if (D < 0)
  70                 return std::make_tuple(cx, cy, cx, cy);
  71         double res_x1 = (-b + sqrt(D)) / (2 * a);
  72         double res_y1 = t * (res_x1 - x1) + y1;
  73         double res_x2 = (-b - sqrt(D)) / (2 * a);
  74         double res_y2 = t * (res_x2 - x1) + y1;
  75         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  76 }
  77
  78 double edist(double x1, double y1, double x2, double y2)
  79 {
  80         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  81 }
  82
  83 void PSPlanner::guess_gc()
  84 {
  85         double x = this->ps().x1();
  86         double y = this->ps().y1();
  87         double h = this->ps().heading();
  88         double dts = + M_PI / 2; // direction to slot
  89         if (this->ps().right())
  90                 dts = - M_PI / 2;
  91         if (this->ps().parallel()) {
  92                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
  93                 x += (this->gc().dr() + 0.01) * cos(h);
  94                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
  95                 y += (this->gc().dr() + 0.01) * sin(h);
  96         } else {
  97 #if FORWARD_PARKING > 0
  98                 // Forward parking
  99                 double entry_width = edist(
 100                         this->ps().x1(), this->ps().y1(),
 101                         this->ps().x4(), this->ps().y4()
 102                 );
 103                 x += entry_width / 2 * cos(h);
 104                 y += entry_width / 2 * sin(h);
 105                 h = atan2(
 106                         this->ps().y2() - this->ps().y1(),
 107                         this->ps().x2() - this->ps().x1()
 108                 );
 109                 while (h < 0) h += 2 * M_PI;
 110                 x += this->gc().dr() * cos(h + M_PI);
 111                 y += this->gc().dr() * sin(h + M_PI);
 112 #else
 113                 // Backward parking
 114                 double entry_width = edist(
 115                         this->ps().x1(), this->ps().y1(),
 116                         this->ps().x4(), this->ps().y4()
 117                 );
 118                 x += entry_width / 2 * cos(h);
 119                 y += entry_width / 2 * sin(h);
 120                 h = atan2(
 121                         this->ps().y1() - this->ps().y2(),
 122                         this->ps().x1() - this->ps().x2()
 123                 );
 124                 while (h < 0) h += 2 * M_PI;
 125                 x += this->gc().df() * cos(h + M_PI);
 126                 y += this->gc().df() * sin(h + M_PI);
 127 #endif
 128         }
 129         while (h > M_PI)
 130                 h -= 2 * M_PI;
 131         while (h <= -M_PI)
 132                 h += 2 * M_PI;
 133         this->gc().x(x);
 134         this->gc().y(y);
 135         this->gc().h(h);
 136 }
 137
 138 std::vector<BicycleCar> PSPlanner::last_maneuver()
 139 {
 140         std::vector<BicycleCar> lm;
 141         if (this->ps().parallel()) {
 142                 // zig-zag out from the slot
 143                 this->cc() = BicycleCar(this->gc());
 144                 this->cc().sp(0.1);
 145                 while (!this->left()) {
 146                         while (!this->collide() && !this->left()) {
 147                                 this->cc().next();
 148                                 lm.push_back(BicycleCar(this->cc()));
 149                         }
 150                         if (this->left() && !this->collide()) {
 151                                 break;
 152                         } else {
 153                                 lm.pop_back();
 154                                 this->cc().sp(this->cc().sp() * -1);
 155                                 this->cc().next();
 156                                 this->cc().st(this->cc().st() * -1);
 157                                 this->c_++;
 158                                 lm.push_back(BicycleCar(this->cc()));
 159                         }
 160                 }
 161                 if (this->cc().st() < 0) {
 162                         this->c_++;
 163                         lm.push_back(BicycleCar(this->cc()));
 164                 }
 165         } else {
 166                 // go 1 m forward
 167                 this->cc().sp(0.1);
 168                 BicycleCar orig_cc(this->cc());
 169                 for (unsigned int i = 0; i < 10; i++) {
 170                         this->cc().next();
 171                         lm.push_back(BicycleCar(this->cc()));
 172                 }
 173                 this->cc() = BicycleCar(orig_cc);
 174         }
 175         return lm;
 176 }
 177
 178 bool PSPlanner::left()
 179 {
 180         double lfx = this->cc().lfx();
 181         double lfy = this->cc().lfy();
 182         double lrx = this->cc().lrx();
 183         double lry = this->cc().lry();
 184         double rrx = this->cc().rrx();
 185         double rry = this->cc().rry();
 186         double rfx = this->cc().rfx();
 187         double rfy = this->cc().rfy();
 188         double lfs = sgn(
 189                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 190                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 191         );
 192         double lrs = sgn(
 193                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 194                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 195         );
 196         double rrs = sgn(
 197                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 198                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 199         );
 200         double rfs = sgn(
 201                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 202                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 203         );
 204         if (this->ps().parallel())
 205                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 206         else if (!this->forward())
 207                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 208         else
 209                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 210 }
 211
 212 bool PSPlanner::parked()
 213 {
 214         std::vector<std::tuple<double, double>> slot;
 215         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 216         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 217         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 218         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 219         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 220                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 221                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 222                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 223 }
 224
 225 std::vector<BicycleCar> PSPlanner::possible_goals(
 226         unsigned int cnt,
 227         double dist
 228 )
 229 {
 230         std::vector<BicycleCar> pi;
 231         if (this->ps().parallel())
 232                 this->cc().sp(1);
 233         else
 234                 this->cc().sp(-1);
 235         this->cc().sp(this->cc().sp() * dist);
 236         BicycleCar orig_cc(this->cc());
 237         for (unsigned int i = 0; i < cnt; i++) {
 238                 this->cc().next();
 239                 pi.push_back(BicycleCar(this->cc()));
 240         }
 241         this->cc() = BicycleCar(orig_cc);
 242         if (this->ps().parallel()) {
 243                 this->cc().st(0);
 244                 for (unsigned int i = 0; i < cnt; i++) {
 245                         this->cc().next();
 246                         pi.push_back(BicycleCar(this->cc()));
 247                 }
 248                 this->cc() = BicycleCar(orig_cc);
 249         } else {
 250                 if (!this->ps().right()) {
 251                         this->cc().set_max_steer();
 252                         for (unsigned int i = 0; i < cnt; i++) {
 253                                 this->cc().next();
 254                                 pi.push_back(BicycleCar(this->cc()));
 255                         }
 256                 } else {
 257                         this->cc().set_max_steer();
 258                         this->cc().st(this->cc().st() * -1);
 259                         for (unsigned int i = 0; i < cnt; i++) {
 260                                 this->cc().next();
 261                                 pi.push_back(BicycleCar(this->cc()));
 262                         }
 263                 }
 264                 this->cc() = BicycleCar(orig_cc);
 265         }
 266         return pi;
 267 }
 268
 269 // find entry
 270 void PSPlanner::fe()
 271 {
 272         this->c_ = 0;
 273         if (this->ps().parallel()) {
 274                 return this->fe_parallel();
 275         } else {
 276                 this->guess_gc();
 277                 this->cc() = BicycleCar(this->gc());
 278                 //this->cc().set_max_steer();
 279                 //if (this->ps().right())
 280                 //        this->cc().st(this->cc().st() * -1);
 281                 this->cc().sp(-0.2);
 282         }
 283 }
 284
 285 double angle_between_closer_point(
 286         double sx, double sy, // common start point
 287         double cx, double cy, // common middle point
 288         double x1, double y1, // first ending point
 289         double x2, double y2 // second ending point
 290 ) {
 291         if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
 292                 return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 293         else
 294                 return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 295 }
 296
 297 void PSPlanner::fe_parallel()
 298 {
 299         BicycleCar bco = BicycleCar(this->gc());
 300         this->cc() = BicycleCar();
 301         this->cc().sp(-0.01);
 302         this->cc().set_max_steer();
 303         if (!this->ps().right())
 304                 this->cc().st(this->cc().st() * -1);
 305         this->cc().h(this->ps().heading());
 306         double angl_in_slot = this->ps().heading() - M_PI / 4;
 307         if (!this->ps().right())
 308                 angl_in_slot += M_PI / 2;
 309         this->cc().x(
 310                 this->ps().x4()
 311                 + this->cc().w()/2 * cos(
 312                         this->ps().heading()
 313                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 314                 )
 315                 + (this->cc().df() + 0.01) * cos(
 316                         this->ps().heading() + M_PI
 317                 )
 318         );
 319         this->cc().y(
 320                 this->ps().y4()
 321                 + this->cc().w()/2 * sin(
 322                         this->ps().heading()
 323                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 324                 )
 325                 + (this->cc().df() + 0.01) * sin(
 326                         this->ps().heading() + M_PI
 327                 )
 328         );
 329
 330         std::queue<BicycleCar, std::list<BicycleCar>> q;
 331         while (!this->collide()) {
 332                 q.push(this->cc());
 333                 this->cc().rotate(
 334                         this->ps().x4(),
 335                         this->ps().y4() - 0.01,
 336                         ((this->ps().right()) ? 0.001 : -0.001)
 337                 );
 338         }
 339         // BFS - find entry current car `cc` and corresponding goal car `gc`
 340         unsigned int iter_cntr = 0;
 341         while (!q.empty() && iter_cntr < 30) {
 342                 this->cc() = BicycleCar(q.front());
 343                 q.pop();
 344                 if (this->ps().right() && this->cc().sp() < 0) {
 345                         double cclx = this->cc().ccl().x();
 346                         double ccly = this->cc().ccl().y();
 347                         double ccl_lr = edist(
 348                                 cclx, ccly,
 349                                 this->cc().lrx(), this->cc().lry()
 350                         );
 351                         double ccl_rr = edist(
 352                                 cclx, ccly,
 353                                 this->cc().rrx(), this->cc().rry()
 354                         );
 355                         double ccl_p1 = edist(
 356                                 cclx, ccly,
 357                                 this->ps().x1(), this->ps().y1()
 358                         );
 359                         if (ccl_rr < ccl_p1) {
 360                                 // pass parking slot
 361                                 continue;
 362                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 363                                 // partially out of parking slot
 364                                 auto cli1 = ::intersect(
 365                                         cclx, ccly, ccl_p1,
 366                                         this->cc().lrx(), this->cc().lry(),
 367                                         this->cc().rrx(), this->cc().rry()
 368                                 );
 369                                 double a1 = ::angle_between_closer_point(
 370                                         this->ps().x1(), this->ps().y1(),
 371                                         cclx, ccly,
 372                                         std::get<1>(cli1), std::get<2>(cli1),
 373                                         std::get<3>(cli1), std::get<4>(cli1)
 374                                 );
 375                                 auto cli2 = ::intersect(
 376                                         cclx, ccly, ccl_rr,
 377                                         this->ps().x2(), this->ps().y2(),
 378                                         this->ps().x3(), this->ps().y3()
 379                                 );
 380                                 double a2 = angle_between_closer_point(
 381                                         this->cc().rrx(), this->cc().rry(),
 382                                         cclx, ccly,
 383                                         std::get<1>(cli2), std::get<2>(cli2),
 384                                         std::get<3>(cli2), std::get<4>(cli2)
 385                                 );
 386                                 if (std::get<0>(cli1) && (
 387                                         !std::get<0>(cli2)
 388                                         || a1 < a2
 389                                 )) {
 390                                         this->cc().rotate(cclx, ccly, -a1);
 391                                         if (::right_side_of_line(
 392                                                 this->cc().x(), this->cc().y(),
 393
 394                                                 this->cc().x()
 395                                                 + cos(this->ps().heading()),
 396                                                 this->cc().y()
 397                                                 + sin(this->ps().heading()),
 398
 399                                                 this->cc().x()
 400                                                 + cos(this->cc().h()),
 401                                                 this->cc().y()
 402                                                 + sin(this->cc().h())
 403                                         )) {
 404                                                 continue;
 405                                         }
 406                                 } else if (std::get<0>(cli2) && (
 407                                         !std::get<0>(cli1)
 408                                         || a2 < a1
 409                                 )) {
 410                                         this->cc().rotate(cclx, ccly, -a2);
 411                                 } else {
 412                                         continue;
 413                                 }
 414                         } else if (ccl_lr >= ccl_p1) {
 415                                 // in parking slot
 416                                 auto cli1 = ::intersect(
 417                                         cclx, ccly, ccl_lr,
 418                                         this->ps().x1(), this->ps().y1(),
 419                                         this->ps().x2(), this->ps().y2()
 420                                 );
 421                                 double a1 = angle_between_closer_point(
 422                                         this->cc().lrx(), this->cc().lry(),
 423                                         cclx, ccly,
 424                                         std::get<1>(cli1), std::get<2>(cli1),
 425                                         std::get<3>(cli1), std::get<4>(cli1)
 426                                 );
 427                                 auto cli2 = ::intersect(
 428                                         cclx, ccly, ccl_rr,
 429                                         this->ps().x2(), this->ps().y2(),
 430                                         this->ps().x3(), this->ps().y3()
 431                                 );
 432                                 double a2 = angle_between_closer_point(
 433                                         this->cc().rrx(), this->cc().rry(),
 434                                         cclx, ccly,
 435                                         std::get<1>(cli2), std::get<2>(cli2),
 436                                         std::get<3>(cli2), std::get<4>(cli2)
 437                                 );
 438                                 if (std::get<0>(cli1) && (
 439                                         !std::get<0>(cli2)
 440                                         || a1 < a2
 441                                 )) {
 442                                         this->cc().rotate(cclx, ccly, -a1);
 443                                         if (::right_side_of_line(
 444                                                 this->cc().x(), this->cc().y(),
 445
 446                                                 this->cc().x()
 447                                                 + cos(this->ps().heading()),
 448                                                 this->cc().y()
 449                                                 + sin(this->ps().heading()),
 450
 451                                                 this->cc().x()
 452                                                 + cos(this->cc().h()),
 453                                                 this->cc().y()
 454                                                 + sin(this->cc().h())
 455                                         )) {
 456                                                 continue;
 457                                         }
 458                                 } else if (std::get<0>(cli2) && (
 459                                         !std::get<0>(cli1)
 460                                         || a2 < a1
 461                                 )) {
 462                                         this->cc().rotate(cclx, ccly, -a2);
 463                                 } else {
 464                                         continue;
 465                                 }
 466                         }
 467                 } else if (this->ps().right() && this->cc().sp() > 0) {
 468                         double ccrx = this->cc().ccr().x();
 469                         double ccry = this->cc().ccr().y();
 470                         double ccr_lf = edist(
 471                                 ccrx, ccry,
 472                                 this->cc().lfx(), this->cc().lfy()
 473                         );
 474                         double ccr_rf = edist(
 475                                 ccrx, ccry,
 476                                 this->cc().rfx(), this->cc().rfy()
 477                         );
 478                         {
 479                                 double af = std::abs(
 480                                         this->ps().heading()
 481                                         - this->cc().h()
 482                                 );
 483                                 auto tmp_cc = BicycleCar(this->cc());
 484                                 this->cc().rotate(ccrx, ccry, -af);
 485                                 this->gc() = BicycleCar(this->cc());
 486                                 if (
 487                                         !this->collide()
 488                                         && this->parked()
 489                                 ) {
 490                                         this->cc().sp(this->cc().sp() * -1);
 491                                         this->gc() = BicycleCar(this->cc());
 492                                         goto successfinish;
 493                                 } else {
 494                                         this->cc() = BicycleCar(tmp_cc);
 495                                 }
 496                         }
 497                         auto cli1 = ::intersect(
 498                                 ccrx, ccry, ccr_rf,
 499                                 this->ps().x3(), this->ps().y3(),
 500                                 this->ps().x4(), this->ps().y4()
 501                         );
 502                         double a1 = angle_between_closer_point(
 503                                 this->cc().rfx(), this->cc().rfy(),
 504                                 ccrx, ccry,
 505                                 std::get<1>(cli1), std::get<2>(cli1),
 506                                 std::get<3>(cli1), std::get<4>(cli1)
 507                         );
 508                         auto cli2 = ::intersect(
 509                                 ccrx, ccry, ccr_rf,
 510                                 this->ps().x2(), this->ps().y2(),
 511                                 this->ps().x3(), this->ps().y3()
 512                         );
 513                         double a2 = angle_between_closer_point(
 514                                 this->cc().rfx(), this->cc().rfy(),
 515                                 ccrx, ccry,
 516                                 std::get<1>(cli2), std::get<2>(cli2),
 517                                 std::get<3>(cli2), std::get<4>(cli2)
 518                         );
 519                         auto cli3 = ::intersect(
 520                                 ccrx, ccry, ccr_lf,
 521                                 this->ps().x3(), this->ps().y3(),
 522                                 this->ps().x4(), this->ps().y4()
 523                         );
 524                         double a3 = angle_between_closer_point(
 525                                 this->cc().lfx(), this->cc().lfy(),
 526                                 ccrx, ccry,
 527                                 std::get<1>(cli3), std::get<2>(cli3),
 528                                 std::get<3>(cli3), std::get<4>(cli3)
 529                         );
 530                         if (std::get<0>(cli1) && (
 531                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 532                             || (a1 < a2 && !std::get<0>(cli3))
 533                             || (a1 < a3 && !std::get<0>(cli2))
 534                             || (a1 < a2 && a1 < a3)
 535                         )) {
 536                             this->cc().rotate(ccrx, ccry, -a1);
 537                         } else if (std::get<0>(cli2) && (
 538                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 539                             || (a2 < a1 && !std::get<0>(cli3))
 540                             || (a2 < a3 && !std::get<0>(cli1))
 541                             || (a2 < a1 && a2 < a3)
 542                         )) {
 543                             this->cc().rotate(ccrx, ccry, -a2);
 544                         } else if (std::get<0>(cli3) && (
 545                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 546                             || (a3 < a1 && !std::get<0>(cli2))
 547                             || (a3 < a2 && !std::get<0>(cli1))
 548                             || (a3 < a1 && a3 < a2)
 549                         )) {
 550                             this->cc().rotate(ccrx, ccry, -a3);
 551                         } else {
 552                             continue;
 553                         }
 554                 } else if (!this->ps().right() && this->cc().sp() < 0) {
 555                         double ccrx = this->cc().ccr().x();
 556                         double ccry = this->cc().ccr().y();
 557                         double ccr_rr = edist(
 558                                 ccrx, ccry,
 559                                 this->cc().rrx(), this->cc().rry()
 560                         );
 561                         double ccr_lr = edist(
 562                                 ccrx, ccry,
 563                                 this->cc().lrx(), this->cc().lry()
 564                         );
 565                         double ccr_p1 = edist(
 566                                 ccrx, ccry,
 567                                 this->ps().x1(), this->ps().y1()
 568                         );
 569                         if (ccr_lr < ccr_p1) {
 570                                 // pass parking slot
 571                                 continue;
 572                         } else if (ccr_lr >= ccr_p1 && ccr_rr < ccr_p1) {
 573                                 // partially out of parking slot
 574                                 auto cli1 = ::intersect(
 575                                         ccrx, ccry, ccr_p1,
 576                                         this->cc().lrx(), this->cc().lry(),
 577                                         this->cc().rrx(), this->cc().rry()
 578                                 );
 579                                 double a1 = ::angle_between_closer_point(
 580                                         this->ps().x1(), this->ps().y1(),
 581                                         ccrx, ccry,
 582                                         std::get<1>(cli1), std::get<2>(cli1),
 583                                         std::get<3>(cli1), std::get<4>(cli1)
 584                                 );
 585                                 auto cli2 = ::intersect(
 586                                         ccrx, ccry, ccr_lr,
 587                                         this->ps().x2(), this->ps().y2(),
 588                                         this->ps().x3(), this->ps().y3()
 589                                 );
 590                                 double a2 = angle_between_closer_point(
 591                                         this->cc().lrx(), this->cc().lry(),
 592                                         ccrx, ccry,
 593                                         std::get<1>(cli2), std::get<2>(cli2),
 594                                         std::get<3>(cli2), std::get<4>(cli2)
 595                                 );
 596                                 if (std::get<0>(cli1) && (
 597                                         !std::get<0>(cli2)
 598                                         || a1 < a2
 599                                 )) {
 600                                         this->cc().rotate(ccrx, ccry, a1);
 601                                         if (!::right_side_of_line(
 602                                                 this->cc().x(), this->cc().y(),
 603
 604                                                 this->cc().x()
 605                                                 + cos(this->ps().heading()),
 606                                                 this->cc().y()
 607                                                 + sin(this->ps().heading()),
 608
 609                                                 this->cc().x()
 610                                                 + cos(this->cc().h()),
 611                                                 this->cc().y()
 612                                                 + sin(this->cc().h())
 613                                         )) {
 614                                                 continue;
 615                                         }
 616                                 } else if (std::get<0>(cli2) && (
 617                                         !std::get<0>(cli1)
 618                                         || a2 < a1
 619                                 )) {
 620                                         this->cc().rotate(ccrx, ccry, a2);
 621                                 } else {
 622                                         continue;
 623                                 }
 624                         } else if (ccr_rr >= ccr_p1) {
 625                                 // in parking slot
 626                                 auto cli1 = ::intersect(
 627                                         ccrx, ccry, ccr_rr,
 628                                         this->ps().x1(), this->ps().y1(),
 629                                         this->ps().x2(), this->ps().y2()
 630                                 );
 631                                 double a1 = angle_between_closer_point(
 632                                         this->cc().rrx(), this->cc().rry(),
 633                                         ccrx, ccry,
 634                                         std::get<1>(cli1), std::get<2>(cli1),
 635                                         std::get<3>(cli1), std::get<4>(cli1)
 636                                 );
 637                                 auto cli2 = ::intersect(
 638                                         ccrx, ccry, ccr_lr,
 639                                         this->ps().x2(), this->ps().y2(),
 640                                         this->ps().x3(), this->ps().y3()
 641                                 );
 642                                 double a2 = angle_between_closer_point(
 643                                         this->cc().lrx(), this->cc().lry(),
 644                                         ccrx, ccry,
 645                                         std::get<1>(cli2), std::get<2>(cli2),
 646                                         std::get<3>(cli2), std::get<4>(cli2)
 647                                 );
 648                                 if (std::get<0>(cli1) && (
 649                                         !std::get<0>(cli2)
 650                                         || a1 < a2
 651                                 )) {
 652                                         this->cc().rotate(ccrx, ccry, a1);
 653                                         if (!::right_side_of_line(
 654                                                 this->cc().x(), this->cc().y(),
 655
 656                                                 this->cc().x()
 657                                                 + cos(this->ps().heading()),
 658                                                 this->cc().y()
 659                                                 + sin(this->ps().heading()),
 660
 661                                                 this->cc().x()
 662                                                 + cos(this->cc().h()),
 663                                                 this->cc().y()
 664                                                 + sin(this->cc().h())
 665                                         )) {
 666                                                 continue;
 667                                         }
 668                                 } else if (std::get<0>(cli2) && (
 669                                         !std::get<0>(cli1)
 670                                         || a2 < a1
 671                                 )) {
 672                                         this->cc().rotate(ccrx, ccry, a2);
 673                                 } else {
 674                                         continue;
 675                                 }
 676                         }
 677                 } else if (!this->ps().right() && this->cc().sp() > 0) {
 678                         double cclx = this->cc().ccl().x();
 679                         double ccly = this->cc().ccl().y();
 680                         double ccl_rf = edist(
 681                                 cclx, ccly,
 682                                 this->cc().rfx(), this->cc().rfy()
 683                         );
 684                         double ccl_lf = edist(
 685                                 cclx, ccly,
 686                                 this->cc().lfx(), this->cc().lfy()
 687                         );
 688                         {
 689                                 double af = std::abs(
 690                                         this->ps().heading()
 691                                         - this->cc().h()
 692                                 );
 693                                 auto tmp_cc = BicycleCar(this->cc());
 694                                 this->cc().rotate(cclx, ccly, af);
 695                                 this->gc() = BicycleCar(this->cc());
 696                                 if (
 697                                         !this->collide()
 698                                         && this->parked()
 699                                 ) {
 700                                         this->cc().sp(this->cc().sp() * -1);
 701                                         this->gc() = BicycleCar(this->cc());
 702                                         goto successfinish;
 703                                 } else {
 704                                         this->cc() = BicycleCar(tmp_cc);
 705                                 }
 706                         }
 707                         auto cli1 = ::intersect(
 708                                 cclx, ccly, ccl_lf,
 709                                 this->ps().x3(), this->ps().y3(),
 710                                 this->ps().x4(), this->ps().y4()
 711                         );
 712                         double a1 = angle_between_closer_point(
 713                                 this->cc().lfx(), this->cc().lfy(),
 714                                 cclx, ccly,
 715                                 std::get<1>(cli1), std::get<2>(cli1),
 716                                 std::get<3>(cli1), std::get<4>(cli1)
 717                         );
 718                         auto cli2 = ::intersect(
 719                                 cclx, ccly, ccl_lf,
 720                                 this->ps().x2(), this->ps().y2(),
 721                                 this->ps().x3(), this->ps().y3()
 722                         );
 723                         double a2 = angle_between_closer_point(
 724                                 this->cc().lfx(), this->cc().lfy(),
 725                                 cclx, ccly,
 726                                 std::get<1>(cli2), std::get<2>(cli2),
 727                                 std::get<3>(cli2), std::get<4>(cli2)
 728                         );
 729                         auto cli3 = ::intersect(
 730                                 cclx, ccly, ccl_rf,
 731                                 this->ps().x3(), this->ps().y3(),
 732                                 this->ps().x4(), this->ps().y4()
 733                         );
 734                         double a3 = angle_between_closer_point(
 735                                 this->cc().rfx(), this->cc().rfy(),
 736                                 cclx, ccly,
 737                                 std::get<1>(cli3), std::get<2>(cli3),
 738                                 std::get<3>(cli3), std::get<4>(cli3)
 739                         );
 740                         if (std::get<0>(cli1) && (
 741                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 742                             || (a1 < a2 && !std::get<0>(cli3))
 743                             || (a1 < a3 && !std::get<0>(cli2))
 744                             || (a1 < a2 && a1 < a3)
 745                         )) {
 746                             this->cc().rotate(cclx, ccly, a1);
 747                         } else if (std::get<0>(cli2) && (
 748                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 749                             || (a2 < a1 && !std::get<0>(cli3))
 750                             || (a2 < a3 && !std::get<0>(cli1))
 751                             || (a2 < a1 && a2 < a3)
 752                         )) {
 753                             this->cc().rotate(cclx, ccly, a2);
 754                         } else if (std::get<0>(cli3) && (
 755                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 756                             || (a3 < a1 && !std::get<0>(cli2))
 757                             || (a3 < a2 && !std::get<0>(cli1))
 758                             || (a3 < a1 && a3 < a2)
 759                         )) {
 760                             this->cc().rotate(cclx, ccly, a3);
 761                         } else {
 762                             continue;
 763                         }
 764                 } else {
 765                         // TODO left parking slot (both forward, backward)
 766                 }
 767                 this->cc().sp(this->cc().sp() * -1);
 768                 this->cc().next();
 769                 this->gc() = BicycleCar(this->cc());
 770                 if (this->parked())
 771                         goto successfinish;
 772                 this->cc().st(this->cc().st() * -1);
 773                 q.push(BicycleCar(this->cc()));
 774                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 775                         iter_cntr++;
 776         }
 777         // fallback to fer
 778         this->gc() = BicycleCar(bco);
 779 successfinish:
 780         return this->fer_parallel();
 781 }
 782
 783 void PSPlanner::fe_perpendicular()
 784 {
 785         // TODO Try multiple angles when going from parking slot.
 786         //
 787         //      Do not use just the maximum steer angle. Test angles
 788         //      until the whole current car `cc` is out of the parking
 789         //      slot `ps`.
 790         //
 791         //      Another approach could be testing angles from the
 792         //      beginning of the escape parkig slot maneuver.
 793         if (this->forward())
 794                 this->cc().sp(-0.01);
 795         else
 796                 this->cc().sp(0.01);
 797         while (!this->left())
 798                 this->cc().next();
 799         return;
 800 }
 801
 802 void PSPlanner::fer()
 803 {
 804         this->c_ = 0;
 805         if (this->ps().parallel()) {
 806                 this->guess_gc();
 807                 this->cc() = BicycleCar(this->gc());
 808                 this->cc().set_max_steer();
 809                 if (!this->ps().right())
 810                         this->cc().st(this->cc().st() * -1);
 811                 this->cc().sp(0.01);
 812                 return this->fer_parallel();
 813         } else {
 814                 return this->fer_perpendicular();
 815         }
 816 }
 817
 818 void PSPlanner::fer_parallel()
 819 {
 820         this->cusps_.clear();
 821         while (!this->left()) {
 822                 while (!this->collide() && !this->left())
 823                         this->cc().next();
 824                 if (this->left() && !this->collide()) {
 825                         break;
 826                 } else {
 827                         this->cc().sp(this->cc().sp() * -1);
 828                         this->cc().next();
 829                         this->cc().st(this->cc().st() * -1);
 830                         this->c_++;
 831                         this->cusps_.push_back(this->cc());
 832                 }
 833         }
 834         if (this->cc().st() < 0) {
 835                 this->c_++;
 836                 this->cusps_.push_back(this->cc());
 837         }
 838 }
 839
 840 void PSPlanner::fer_perpendicular()
 841 {
 842         bool delta_use[] = {true, true, true};
 843         double cc_h = this->cc().h();
 844         double x;
 845         double y;
 846         // check inner radius
 847         if (this->forward()) {
 848                 x = this->ps().x1();
 849                 y = this->ps().y1();
 850         } else {
 851                 x = this->ps().x4();
 852                 y = this->ps().y4();
 853         }
 854         double x1;
 855         double y1;
 856         if (this->ps().right()) {
 857                 x1 = this->cc().ccr().x();
 858                 y1 = this->cc().ccr().y();
 859         } else {
 860                 x1 = this->cc().ccl().x();
 861                 y1 = this->cc().ccl().y();
 862         }
 863         double IR = this->cc().iradi();
 864         double a = 1;
 865         double b;
 866         if (this->forward())
 867                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 868         else
 869                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 870         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 871         double D = pow(b, 2) - 4 * a * c;
 872         double delta;
 873         delta = -b - sqrt(D);
 874         delta /= 2 * a;
 875         double delta_1 = delta;
 876         if (D < 0)
 877                 delta_use[0] = false;
 878         // check outer radius
 879         if (this->forward()) {
 880                 x = this->ps().x4();
 881                 y = this->ps().y4();
 882         } else {
 883                 x = this->ps().x1();
 884                 y = this->ps().y1();
 885         }
 886         IR = this->cc().ofradi();
 887         a = 1;
 888         if (this->forward())
 889                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 890         else
 891                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 892         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 893         D = pow(b, 2) - 4 * a * c;
 894         if (this->forward()) {
 895                 delta = -b + sqrt(D);
 896                 delta /= 2 * a;
 897         }
 898         double delta_2 = delta;
 899         if (D < 0)
 900                 delta_use[1] = false;
 901         delta = -b - sqrt(D);
 902         delta /= 2 * a;
 903         double delta_3 = delta;
 904         if (D < 0)
 905                 delta_use[2] = false;
 906         if (delta_use[0] && delta_use[1] && delta_use[2])
 907                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 908         else if (delta_use[0] && delta_use[1])
 909                 delta = std::max(delta_1, delta_2);
 910         else if (delta_use[0] && delta_use[2])
 911                 delta = std::max(delta_1, delta_3);
 912         else if (delta_use[1] && delta_use[2])
 913                 delta = std::max(delta_2, delta_3);
 914         else if (delta_use[0])
 915                 delta = delta_1;
 916         else if (delta_use[1])
 917                 delta = delta_2;
 918         else if (delta_use[2])
 919                 delta = delta_3;
 920         else
 921                 return;
 922         // current car `cc` can get out of slot with max steer
 923         this->cc().x(this->cc().x() + delta * cos(cc_h));
 924         this->cc().y(this->cc().y() + delta * sin(cc_h));
 925         this->cc().h(cc_h);
 926         // get current car `cc` out of slot
 927         if (this->forward())
 928                 this->cc().sp(-0.01);
 929         else
 930                 this->cc().sp(0.01);
 931         this->cc().set_max_steer();
 932         if (this->ps().right())
 933                 this->cc().st(this->cc().st() * -1);
 934         while (!this->left()) {
 935                 while (!this->collide() && !this->left())
 936                         this->cc().next();
 937                 if (this->left() && !this->collide()) {
 938                         break;
 939                 } else {
 940                         this->cc().sp(this->cc().sp() * -1);
 941                         this->cc().next();
 942                         this->cc().st(this->cc().st() * -1);
 943                 }
 944         }
 945 }
 946
 947 PSPlanner::PSPlanner()
 948 {
 949 }