src/psp.cc

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