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                 x += 2 * cos(h);
 119                 y += 2 * sin(h);
 120
 121                 //// This is for backward parking only.
 122                 //double entry_width = edist(
 123                 //        this->ps().x1(), this->ps().y1(),
 124                 //        this->ps().x4(), this->ps().y4()
 125                 //);
 126                 //double dist_l =
 127                 //        this->gc().orradi()
 128                 //        - (this->gc().mtr() + this->gc().w() / 2)
 129                 //;
 130                 //double move1 = dist_l + this->gc().w() / 2;
 131                 //double dist_r = entry_width - this->gc().w() - dist_l;
 132                 //double move2 = sqrt(
 133                 //        pow(this->gc().iradi(), 2)
 134                 //        - pow(this->gc().iradi() - dist_r, 2)
 135                 //);
 136                 //move2 -= this->gc().dr() / 2; // workaround
 137                 //x += move1 * cos(h);
 138                 //y += move1 * sin(h);
 139                 //dts = atan2(
 140                 //        this->ps().y2() - this->ps().y1(),
 141                 //        this->ps().x2() - this->ps().x1()
 142                 //);
 143                 //while (dts < 0) dts += 2 * M_PI;
 144                 //x += move2 * cos(h + dts);
 145                 //y += move2 * sin(h + dts);
 146                 //h += dts - M_PI / 2;
 147         }
 148         while (h > M_PI)
 149                 h -= 2 * M_PI;
 150         while (h <= -M_PI)
 151                 h += 2 * M_PI;
 152         this->gc().x(x);
 153         this->gc().y(y);
 154         this->gc().h(h);
 155 }
 156
 157 bool PSPlanner::left()
 158 {
 159         double lfx = this->cc().lfx();
 160         double lfy = this->cc().lfy();
 161         double lrx = this->cc().lrx();
 162         double lry = this->cc().lry();
 163         double rrx = this->cc().rrx();
 164         double rry = this->cc().rry();
 165         double rfx = this->cc().rfx();
 166         double rfy = this->cc().rfy();
 167         double lfs = sgn(
 168                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 169                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 170         );
 171         double lrs = sgn(
 172                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 173                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 174         );
 175         double rrs = sgn(
 176                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 177                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 178         );
 179         double rfs = sgn(
 180                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 181                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 182         );
 183         if (this->ps().parallel())
 184                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 185         else if (!this->forward())
 186                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 187         else
 188                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 189 }
 190
 191 bool PSPlanner::parked()
 192 {
 193         std::vector<std::tuple<double, double>> slot;
 194         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 195         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 196         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 197         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 198         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 199                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 200                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 201                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 202 }
 203
 204 std::vector<BicycleCar> PSPlanner::possible_goals(
 205         unsigned int cnt,
 206         double dist
 207 )
 208 {
 209         std::vector<BicycleCar> pi;
 210         if (this->ps().parallel())
 211                 this->cc().sp(1);
 212         else
 213                 this->cc().sp(-1);
 214         this->cc().sp(this->cc().sp() * dist);
 215         BicycleCar orig_cc(this->cc());
 216         for (unsigned int i = 0; i < cnt; i++) {
 217                 this->cc().next();
 218                 pi.push_back(BicycleCar(this->cc()));
 219         }
 220         this->cc() = BicycleCar(orig_cc);
 221         if (this->ps().parallel()) {
 222                 this->cc().st(0);
 223                 for (unsigned int i = 0; i < cnt; i++) {
 224                         this->cc().next();
 225                         pi.push_back(BicycleCar(this->cc()));
 226                 }
 227                 this->cc() = BicycleCar(orig_cc);
 228         }
 229         return pi;
 230 }
 231
 232 // find entry
 233 void PSPlanner::fe()
 234 {
 235         this->c_ = 0;
 236         if (this->ps().parallel()) {
 237                 return this->fe_parallel();
 238         } else {
 239                 this->guess_gc();
 240                 this->cc() = BicycleCar(this->gc());
 241                 //this->cc().set_max_steer();
 242                 //if (this->ps().right())
 243                 //        this->cc().st(this->cc().st() * -1);
 244                 this->cc().sp(-0.2);
 245         }
 246 }
 247
 248 void PSPlanner::fe_parallel()
 249 {
 250         BicycleCar bco = BicycleCar(this->gc());
 251         this->cc() = BicycleCar();
 252         this->cc().sp(-0.01);
 253         this->cc().set_max_steer();
 254         if (!this->ps().right())
 255                 this->cc().st(this->cc().st() * -1);
 256         this->cc().h(this->ps().heading());
 257         double angl_in_slot = this->ps().heading() - M_PI / 4;
 258         if (!this->ps().right())
 259                 angl_in_slot += M_PI / 2;
 260         this->cc().x(
 261                 this->ps().x4()
 262                 + this->cc().w()/2 * cos(
 263                         this->ps().heading()
 264                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 265                 )
 266                 + (this->cc().df() + 0.01) * cos(
 267                         this->ps().heading() + M_PI
 268                 )
 269         );
 270         this->cc().y(
 271                 this->ps().y4()
 272                 + this->cc().w()/2 * sin(
 273                         this->ps().heading()
 274                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 275                 )
 276                 + (this->cc().df() + 0.01) * sin(
 277                         this->ps().heading() + M_PI
 278                 )
 279         );
 280
 281         std::queue<BicycleCar, std::list<BicycleCar>> q;
 282         while (!this->collide()) {
 283                 q.push(this->cc());
 284                 this->cc().rotate(
 285                         this->ps().x4(),
 286                         this->ps().y4() - 0.01,
 287                         ((this->ps().right()) ? 0.001 : -0.001)
 288                 );
 289         }
 290         // BFS - find entry current car `cc` and corresponding goal car `gc`
 291         unsigned int iter_cntr = 0;
 292         while (!q.empty() && iter_cntr < 30) {
 293                 this->cc() = BicycleCar(q.front());
 294                 q.pop();
 295                 while (
 296                         !this->collide()
 297                         && (std::abs(
 298                                 this->cc().h() - this->ps().heading()
 299                         ) > M_PI / 32)
 300                         && (std::abs(
 301                                 this->cc().h() - this->ps().heading()
 302                         ) < M_PI / 2)
 303                 )
 304                         this->cc().next();
 305                 this->cc().sp(this->cc().sp() * -1);
 306                 this->cc().next();
 307                 this->gc() = BicycleCar(this->cc());
 308                 if (this->parked())
 309                         goto successfinish;
 310                 this->cc().st(this->cc().st() * -1);
 311                 q.push(BicycleCar(this->cc()));
 312                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 313                         iter_cntr++;
 314         }
 315         // fallback to fer
 316         this->gc() = BicycleCar(bco);
 317 successfinish:
 318         return this->fer_parallel();
 319 }
 320
 321 void PSPlanner::fe_perpendicular()
 322 {
 323         // TODO Try multiple angles when going from parking slot.
 324         //
 325         //      Do not use just the maximum steer angle. Test angles
 326         //      until the whole current car `cc` is out of the parking
 327         //      slot `ps`.
 328         //
 329         //      Another approach could be testing angles from the
 330         //      beginning of the escape parkig slot maneuver.
 331         if (this->forward())
 332                 this->cc().sp(-0.01);
 333         else
 334                 this->cc().sp(0.01);
 335         while (!this->left())
 336                 this->cc().next();
 337         return;
 338 }
 339
 340 void PSPlanner::fer()
 341 {
 342         this->c_ = 0;
 343         if (this->ps().parallel()) {
 344                 this->guess_gc();
 345                 this->cc() = BicycleCar(this->gc());
 346                 this->cc().set_max_steer();
 347                 if (!this->ps().right())
 348                         this->cc().st(this->cc().st() * -1);
 349                 this->cc().sp(0.01);
 350                 return this->fer_parallel();
 351         } else {
 352                 return this->fer_perpendicular();
 353         }
 354 }
 355
 356 void PSPlanner::fer_parallel()
 357 {
 358         this->cusps_.clear();
 359         while (!this->left()) {
 360                 while (!this->collide() && !this->left())
 361                         this->cc().next();
 362                 if (this->left() && !this->collide()) {
 363                         break;
 364                 } else {
 365                         this->cc().sp(this->cc().sp() * -1);
 366                         this->cc().next();
 367                         this->cc().st(this->cc().st() * -1);
 368                         this->c_++;
 369                         this->cusps_.push_back(this->cc());
 370                 }
 371         }
 372         if (this->cc().st() < 0) {
 373                 this->c_++;
 374                 this->cusps_.push_back(this->cc());
 375         }
 376 }
 377
 378 void PSPlanner::fer_perpendicular()
 379 {
 380         bool delta_use[] = {true, true, true};
 381         double cc_h = this->cc().h();
 382         double x;
 383         double y;
 384         // check inner radius
 385         if (this->forward()) {
 386                 x = this->ps().x1();
 387                 y = this->ps().y1();
 388         } else {
 389                 x = this->ps().x4();
 390                 y = this->ps().y4();
 391         }
 392         double x1;
 393         double y1;
 394         if (this->ps().right()) {
 395                 x1 = this->cc().ccr().x();
 396                 y1 = this->cc().ccr().y();
 397         } else {
 398                 x1 = this->cc().ccl().x();
 399                 y1 = this->cc().ccl().y();
 400         }
 401         double IR = this->cc().iradi();
 402         double a = 1;
 403         double b;
 404         if (this->forward())
 405                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 406         else
 407                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 408         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 409         double D = pow(b, 2) - 4 * a * c;
 410         double delta;
 411         delta = -b - sqrt(D);
 412         delta /= 2 * a;
 413         double delta_1 = delta;
 414         if (D < 0)
 415                 delta_use[0] = false;
 416         // check outer radius
 417         if (this->forward()) {
 418                 x = this->ps().x4();
 419                 y = this->ps().y4();
 420         } else {
 421                 x = this->ps().x1();
 422                 y = this->ps().y1();
 423         }
 424         IR = this->cc().ofradi();
 425         a = 1;
 426         if (this->forward())
 427                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 428         else
 429                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 430         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 431         D = pow(b, 2) - 4 * a * c;
 432         if (this->forward()) {
 433                 delta = -b + sqrt(D);
 434                 delta /= 2 * a;
 435         }
 436         double delta_2 = delta;
 437         if (D < 0)
 438                 delta_use[1] = false;
 439         delta = -b - sqrt(D);
 440         delta /= 2 * a;
 441         double delta_3 = delta;
 442         if (D < 0)
 443                 delta_use[2] = false;
 444         if (delta_use[0] && delta_use[1] && delta_use[2])
 445                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 446         else if (delta_use[0] && delta_use[1])
 447                 delta = std::max(delta_1, delta_2);
 448         else if (delta_use[0] && delta_use[2])
 449                 delta = std::max(delta_1, delta_3);
 450         else if (delta_use[1] && delta_use[2])
 451                 delta = std::max(delta_2, delta_3);
 452         else if (delta_use[0])
 453                 delta = delta_1;
 454         else if (delta_use[1])
 455                 delta = delta_2;
 456         else if (delta_use[2])
 457                 delta = delta_3;
 458         else
 459                 return;
 460         // current car `cc` can get out of slot with max steer
 461         this->cc().x(this->cc().x() + delta * cos(cc_h));
 462         this->cc().y(this->cc().y() + delta * sin(cc_h));
 463         this->cc().h(cc_h);
 464         // get current car `cc` out of slot
 465         if (this->forward())
 466                 this->cc().sp(-0.01);
 467         else
 468                 this->cc().sp(0.01);
 469         this->cc().set_max_steer();
 470         if (this->ps().right())
 471                 this->cc().st(this->cc().st() * -1);
 472         while (!this->left()) {
 473                 while (!this->collide() && !this->left())
 474                         this->cc().next();
 475                 if (this->left() && !this->collide()) {
 476                         break;
 477                 } else {
 478                         this->cc().sp(this->cc().sp() * -1);
 479                         this->cc().next();
 480                         this->cc().st(this->cc().st() * -1);
 481                 }
 482         }
 483 }
 484
 485 PSPlanner::PSPlanner()
 486 {
 487 }