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 += 2 * this->gc().dr() * cos(h);
 111                 y += 2 * this->gc().dr() * sin(h);
 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 void PSPlanner::shrink_to_perfect_len()
 270 {
 271         if (!this->ps().parallel())
 272                 return;
 273         double perfect_len = this->gc().perfect_parking_slot_len();
 274         if (edist(
 275                 this->ps().x1(), this->ps().y1(),
 276                 this->ps().x4(), this->ps().y4()
 277         ) < perfect_len)
 278                 return;
 279         double h = this->ps().heading();
 280         h -= M_PI;
 281         while (h < 0) h += 2 * M_PI;
 282         double ch = perfect_len * cos(h);
 283         double sh = perfect_len * sin(h);
 284         this->ps().border(
 285                 this->ps().x4() + ch, this->ps().y4() + sh,
 286                 this->ps().x3() + ch, this->ps().y3() + sh,
 287                 this->ps().x3(), this->ps().y3(),
 288                 this->ps().x4(), this->ps().y4()
 289         );
 290 }
 291
 292 // find entry
 293 void PSPlanner::fe()
 294 {
 295         this->c_ = 0;
 296         if (this->ps().parallel()) {
 297                 return this->fe_parallel();
 298         } else {
 299                 this->guess_gc();
 300                 this->cc() = BicycleCar(this->gc());
 301                 //this->cc().set_max_steer();
 302                 //if (this->ps().right())
 303                 //        this->cc().st(this->cc().st() * -1);
 304                 this->cc().sp(-0.2);
 305         }
 306 }
 307
 308 double angle_between_closer_point(
 309         double sx, double sy, // common start point
 310         double cx, double cy, // common middle point
 311         double x1, double y1, // first ending point
 312         double x2, double y2 // second ending point
 313 ) {
 314         if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
 315                 return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 316         else
 317                 return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 318 }
 319
 320 void PSPlanner::fe_parallel()
 321 {
 322         this->shrink_to_perfect_len();
 323         BicycleCar bco = BicycleCar(this->gc());
 324         this->cc() = BicycleCar();
 325         this->cc().sp(-0.01);
 326         this->cc().set_max_steer();
 327         if (!this->ps().right())
 328                 this->cc().st(this->cc().st() * -1);
 329         this->cc().h(this->ps().heading());
 330         double angl_in_slot = this->ps().heading() - M_PI / 4;
 331         if (!this->ps().right())
 332                 angl_in_slot += M_PI / 2;
 333         this->cc().x(
 334                 this->ps().x4()
 335                 + this->cc().w()/2 * cos(
 336                         this->ps().heading()
 337                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 338                 )
 339                 + (this->cc().df() + 0.01) * cos(
 340                         this->ps().heading() + M_PI
 341                 )
 342         );
 343         this->cc().y(
 344                 this->ps().y4()
 345                 + this->cc().w()/2 * sin(
 346                         this->ps().heading()
 347                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 348                 )
 349                 + (this->cc().df() + 0.01) * sin(
 350                         this->ps().heading() + M_PI
 351                 )
 352         );
 353
 354         std::queue<BicycleCar, std::list<BicycleCar>> q;
 355         while (!this->collide()) {
 356                 q.push(this->cc());
 357                 this->cc().rotate(
 358                         this->ps().x4(),
 359                         this->ps().y4() - 0.01,
 360                         ((this->ps().right()) ? 0.001 : -0.001)
 361                 );
 362         }
 363         // BFS - find entry current car `cc` and corresponding goal car `gc`
 364         unsigned int iter_cntr = 0;
 365         while (!q.empty() && iter_cntr < 30) {
 366                 this->cc() = BicycleCar(q.front());
 367                 q.pop();
 368                 if (this->ps().right() && this->cc().sp() < 0) {
 369                         double cclx = this->cc().ccl().x();
 370                         double ccly = this->cc().ccl().y();
 371                         double ccl_lr = edist(
 372                                 cclx, ccly,
 373                                 this->cc().lrx(), this->cc().lry()
 374                         );
 375                         double ccl_rr = edist(
 376                                 cclx, ccly,
 377                                 this->cc().rrx(), this->cc().rry()
 378                         );
 379                         double ccl_p1 = edist(
 380                                 cclx, ccly,
 381                                 this->ps().x1(), this->ps().y1()
 382                         );
 383                         if (ccl_rr < ccl_p1) {
 384                                 // pass parking slot
 385                                 continue;
 386                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 387                                 // partially out of parking slot
 388                                 auto cli1 = ::intersect(
 389                                         cclx, ccly, ccl_p1,
 390                                         this->cc().lrx(), this->cc().lry(),
 391                                         this->cc().rrx(), this->cc().rry()
 392                                 );
 393                                 double a1 = ::angle_between_closer_point(
 394                                         this->ps().x1(), this->ps().y1(),
 395                                         cclx, ccly,
 396                                         std::get<1>(cli1), std::get<2>(cli1),
 397                                         std::get<3>(cli1), std::get<4>(cli1)
 398                                 );
 399                                 auto cli2 = ::intersect(
 400                                         cclx, ccly, ccl_rr,
 401                                         this->ps().x2(), this->ps().y2(),
 402                                         this->ps().x3(), this->ps().y3()
 403                                 );
 404                                 double a2 = angle_between_closer_point(
 405                                         this->cc().rrx(), this->cc().rry(),
 406                                         cclx, ccly,
 407                                         std::get<1>(cli2), std::get<2>(cli2),
 408                                         std::get<3>(cli2), std::get<4>(cli2)
 409                                 );
 410                                 if (std::get<0>(cli1) && (
 411                                         !std::get<0>(cli2)
 412                                         || a1 < a2
 413                                 )) {
 414                                         this->cc().rotate(cclx, ccly, -a1);
 415                                         if (::right_side_of_line(
 416                                                 this->cc().x(), this->cc().y(),
 417
 418                                                 this->cc().x()
 419                                                 + cos(this->ps().heading()),
 420                                                 this->cc().y()
 421                                                 + sin(this->ps().heading()),
 422
 423                                                 this->cc().x()
 424                                                 + cos(this->cc().h()),
 425                                                 this->cc().y()
 426                                                 + sin(this->cc().h())
 427                                         )) {
 428                                                 continue;
 429                                         }
 430                                 } else if (std::get<0>(cli2) && (
 431                                         !std::get<0>(cli1)
 432                                         || a2 < a1
 433                                 )) {
 434                                         this->cc().rotate(cclx, ccly, -a2);
 435                                 } else {
 436                                         continue;
 437                                 }
 438                         } else if (ccl_lr >= ccl_p1) {
 439                                 // in parking slot
 440                                 auto cli1 = ::intersect(
 441                                         cclx, ccly, ccl_lr,
 442                                         this->ps().x1(), this->ps().y1(),
 443                                         this->ps().x2(), this->ps().y2()
 444                                 );
 445                                 double a1 = angle_between_closer_point(
 446                                         this->cc().lrx(), this->cc().lry(),
 447                                         cclx, ccly,
 448                                         std::get<1>(cli1), std::get<2>(cli1),
 449                                         std::get<3>(cli1), std::get<4>(cli1)
 450                                 );
 451                                 auto cli2 = ::intersect(
 452                                         cclx, ccly, ccl_rr,
 453                                         this->ps().x2(), this->ps().y2(),
 454                                         this->ps().x3(), this->ps().y3()
 455                                 );
 456                                 double a2 = angle_between_closer_point(
 457                                         this->cc().rrx(), this->cc().rry(),
 458                                         cclx, ccly,
 459                                         std::get<1>(cli2), std::get<2>(cli2),
 460                                         std::get<3>(cli2), std::get<4>(cli2)
 461                                 );
 462                                 if (std::get<0>(cli1) && (
 463                                         !std::get<0>(cli2)
 464                                         || a1 < a2
 465                                 )) {
 466                                         this->cc().rotate(cclx, ccly, -a1);
 467                                         if (::right_side_of_line(
 468                                                 this->cc().x(), this->cc().y(),
 469
 470                                                 this->cc().x()
 471                                                 + cos(this->ps().heading()),
 472                                                 this->cc().y()
 473                                                 + sin(this->ps().heading()),
 474
 475                                                 this->cc().x()
 476                                                 + cos(this->cc().h()),
 477                                                 this->cc().y()
 478                                                 + sin(this->cc().h())
 479                                         )) {
 480                                                 continue;
 481                                         }
 482                                 } else if (std::get<0>(cli2) && (
 483                                         !std::get<0>(cli1)
 484                                         || a2 < a1
 485                                 )) {
 486                                         this->cc().rotate(cclx, ccly, -a2);
 487                                 } else {
 488                                         continue;
 489                                 }
 490                         }
 491                 } else if (this->ps().right() && this->cc().sp() > 0) {
 492                         double ccrx = this->cc().ccr().x();
 493                         double ccry = this->cc().ccr().y();
 494                         double ccr_lf = edist(
 495                                 ccrx, ccry,
 496                                 this->cc().lfx(), this->cc().lfy()
 497                         );
 498                         double ccr_rf = edist(
 499                                 ccrx, ccry,
 500                                 this->cc().rfx(), this->cc().rfy()
 501                         );
 502                         {
 503                                 double af = std::abs(
 504                                         this->ps().heading()
 505                                         - this->cc().h()
 506                                 );
 507                                 auto tmp_cc = BicycleCar(this->cc());
 508                                 this->cc().rotate(ccrx, ccry, -af);
 509                                 this->gc() = BicycleCar(this->cc());
 510                                 if (
 511                                         !this->collide()
 512                                         && this->parked()
 513                                 ) {
 514                                         this->cc().sp(this->cc().sp() * -1);
 515                                         this->gc() = BicycleCar(this->cc());
 516                                         goto successfinish;
 517                                 } else {
 518                                         this->cc() = BicycleCar(tmp_cc);
 519                                 }
 520                         }
 521                         auto cli1 = ::intersect(
 522                                 ccrx, ccry, ccr_rf,
 523                                 this->ps().x3(), this->ps().y3(),
 524                                 this->ps().x4(), this->ps().y4()
 525                         );
 526                         double a1 = angle_between_closer_point(
 527                                 this->cc().rfx(), this->cc().rfy(),
 528                                 ccrx, ccry,
 529                                 std::get<1>(cli1), std::get<2>(cli1),
 530                                 std::get<3>(cli1), std::get<4>(cli1)
 531                         );
 532                         auto cli2 = ::intersect(
 533                                 ccrx, ccry, ccr_rf,
 534                                 this->ps().x2(), this->ps().y2(),
 535                                 this->ps().x3(), this->ps().y3()
 536                         );
 537                         double a2 = angle_between_closer_point(
 538                                 this->cc().rfx(), this->cc().rfy(),
 539                                 ccrx, ccry,
 540                                 std::get<1>(cli2), std::get<2>(cli2),
 541                                 std::get<3>(cli2), std::get<4>(cli2)
 542                         );
 543                         auto cli3 = ::intersect(
 544                                 ccrx, ccry, ccr_lf,
 545                                 this->ps().x3(), this->ps().y3(),
 546                                 this->ps().x4(), this->ps().y4()
 547                         );
 548                         double a3 = angle_between_closer_point(
 549                                 this->cc().lfx(), this->cc().lfy(),
 550                                 ccrx, ccry,
 551                                 std::get<1>(cli3), std::get<2>(cli3),
 552                                 std::get<3>(cli3), std::get<4>(cli3)
 553                         );
 554                         if (std::get<0>(cli1) && (
 555                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 556                             || (a1 < a2 && !std::get<0>(cli3))
 557                             || (a1 < a3 && !std::get<0>(cli2))
 558                             || (a1 < a2 && a1 < a3)
 559                         )) {
 560                             this->cc().rotate(ccrx, ccry, -a1);
 561                         } else if (std::get<0>(cli2) && (
 562                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 563                             || (a2 < a1 && !std::get<0>(cli3))
 564                             || (a2 < a3 && !std::get<0>(cli1))
 565                             || (a2 < a1 && a2 < a3)
 566                         )) {
 567                             this->cc().rotate(ccrx, ccry, -a2);
 568                         } else if (std::get<0>(cli3) && (
 569                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 570                             || (a3 < a1 && !std::get<0>(cli2))
 571                             || (a3 < a2 && !std::get<0>(cli1))
 572                             || (a3 < a1 && a3 < a2)
 573                         )) {
 574                             this->cc().rotate(ccrx, ccry, -a3);
 575                         } else {
 576                             continue;
 577                         }
 578                 } else if (!this->ps().right() && this->cc().sp() < 0) {
 579                         double ccrx = this->cc().ccr().x();
 580                         double ccry = this->cc().ccr().y();
 581                         double ccr_rr = edist(
 582                                 ccrx, ccry,
 583                                 this->cc().rrx(), this->cc().rry()
 584                         );
 585                         double ccr_lr = edist(
 586                                 ccrx, ccry,
 587                                 this->cc().lrx(), this->cc().lry()
 588                         );
 589                         double ccr_p1 = edist(
 590                                 ccrx, ccry,
 591                                 this->ps().x1(), this->ps().y1()
 592                         );
 593                         if (ccr_lr < ccr_p1) {
 594                                 // pass parking slot
 595                                 continue;
 596                         } else if (ccr_lr >= ccr_p1 && ccr_rr < ccr_p1) {
 597                                 // partially out of parking slot
 598                                 auto cli1 = ::intersect(
 599                                         ccrx, ccry, ccr_p1,
 600                                         this->cc().lrx(), this->cc().lry(),
 601                                         this->cc().rrx(), this->cc().rry()
 602                                 );
 603                                 double a1 = ::angle_between_closer_point(
 604                                         this->ps().x1(), this->ps().y1(),
 605                                         ccrx, ccry,
 606                                         std::get<1>(cli1), std::get<2>(cli1),
 607                                         std::get<3>(cli1), std::get<4>(cli1)
 608                                 );
 609                                 auto cli2 = ::intersect(
 610                                         ccrx, ccry, ccr_lr,
 611                                         this->ps().x2(), this->ps().y2(),
 612                                         this->ps().x3(), this->ps().y3()
 613                                 );
 614                                 double a2 = angle_between_closer_point(
 615                                         this->cc().lrx(), this->cc().lry(),
 616                                         ccrx, ccry,
 617                                         std::get<1>(cli2), std::get<2>(cli2),
 618                                         std::get<3>(cli2), std::get<4>(cli2)
 619                                 );
 620                                 if (std::get<0>(cli1) && (
 621                                         !std::get<0>(cli2)
 622                                         || a1 < a2
 623                                 )) {
 624                                         this->cc().rotate(ccrx, ccry, a1);
 625                                         if (!::right_side_of_line(
 626                                                 this->cc().x(), this->cc().y(),
 627
 628                                                 this->cc().x()
 629                                                 + cos(this->ps().heading()),
 630                                                 this->cc().y()
 631                                                 + sin(this->ps().heading()),
 632
 633                                                 this->cc().x()
 634                                                 + cos(this->cc().h()),
 635                                                 this->cc().y()
 636                                                 + sin(this->cc().h())
 637                                         )) {
 638                                                 continue;
 639                                         }
 640                                 } else if (std::get<0>(cli2) && (
 641                                         !std::get<0>(cli1)
 642                                         || a2 < a1
 643                                 )) {
 644                                         this->cc().rotate(ccrx, ccry, a2);
 645                                 } else {
 646                                         continue;
 647                                 }
 648                         } else if (ccr_rr >= ccr_p1) {
 649                                 // in parking slot
 650                                 auto cli1 = ::intersect(
 651                                         ccrx, ccry, ccr_rr,
 652                                         this->ps().x1(), this->ps().y1(),
 653                                         this->ps().x2(), this->ps().y2()
 654                                 );
 655                                 double a1 = angle_between_closer_point(
 656                                         this->cc().rrx(), this->cc().rry(),
 657                                         ccrx, ccry,
 658                                         std::get<1>(cli1), std::get<2>(cli1),
 659                                         std::get<3>(cli1), std::get<4>(cli1)
 660                                 );
 661                                 auto cli2 = ::intersect(
 662                                         ccrx, ccry, ccr_lr,
 663                                         this->ps().x2(), this->ps().y2(),
 664                                         this->ps().x3(), this->ps().y3()
 665                                 );
 666                                 double a2 = angle_between_closer_point(
 667                                         this->cc().lrx(), this->cc().lry(),
 668                                         ccrx, ccry,
 669                                         std::get<1>(cli2), std::get<2>(cli2),
 670                                         std::get<3>(cli2), std::get<4>(cli2)
 671                                 );
 672                                 if (std::get<0>(cli1) && (
 673                                         !std::get<0>(cli2)
 674                                         || a1 < a2
 675                                 )) {
 676                                         this->cc().rotate(ccrx, ccry, a1);
 677                                         if (!::right_side_of_line(
 678                                                 this->cc().x(), this->cc().y(),
 679
 680                                                 this->cc().x()
 681                                                 + cos(this->ps().heading()),
 682                                                 this->cc().y()
 683                                                 + sin(this->ps().heading()),
 684
 685                                                 this->cc().x()
 686                                                 + cos(this->cc().h()),
 687                                                 this->cc().y()
 688                                                 + sin(this->cc().h())
 689                                         )) {
 690                                                 continue;
 691                                         }
 692                                 } else if (std::get<0>(cli2) && (
 693                                         !std::get<0>(cli1)
 694                                         || a2 < a1
 695                                 )) {
 696                                         this->cc().rotate(ccrx, ccry, a2);
 697                                 } else {
 698                                         continue;
 699                                 }
 700                         }
 701                 } else if (!this->ps().right() && this->cc().sp() > 0) {
 702                         double cclx = this->cc().ccl().x();
 703                         double ccly = this->cc().ccl().y();
 704                         double ccl_rf = edist(
 705                                 cclx, ccly,
 706                                 this->cc().rfx(), this->cc().rfy()
 707                         );
 708                         double ccl_lf = edist(
 709                                 cclx, ccly,
 710                                 this->cc().lfx(), this->cc().lfy()
 711                         );
 712                         {
 713                                 double af = std::abs(
 714                                         this->ps().heading()
 715                                         - this->cc().h()
 716                                 );
 717                                 auto tmp_cc = BicycleCar(this->cc());
 718                                 this->cc().rotate(cclx, ccly, af);
 719                                 this->gc() = BicycleCar(this->cc());
 720                                 if (
 721                                         !this->collide()
 722                                         && this->parked()
 723                                 ) {
 724                                         this->cc().sp(this->cc().sp() * -1);
 725                                         this->gc() = BicycleCar(this->cc());
 726                                         goto successfinish;
 727                                 } else {
 728                                         this->cc() = BicycleCar(tmp_cc);
 729                                 }
 730                         }
 731                         auto cli1 = ::intersect(
 732                                 cclx, ccly, ccl_lf,
 733                                 this->ps().x3(), this->ps().y3(),
 734                                 this->ps().x4(), this->ps().y4()
 735                         );
 736                         double a1 = angle_between_closer_point(
 737                                 this->cc().lfx(), this->cc().lfy(),
 738                                 cclx, ccly,
 739                                 std::get<1>(cli1), std::get<2>(cli1),
 740                                 std::get<3>(cli1), std::get<4>(cli1)
 741                         );
 742                         auto cli2 = ::intersect(
 743                                 cclx, ccly, ccl_lf,
 744                                 this->ps().x2(), this->ps().y2(),
 745                                 this->ps().x3(), this->ps().y3()
 746                         );
 747                         double a2 = angle_between_closer_point(
 748                                 this->cc().lfx(), this->cc().lfy(),
 749                                 cclx, ccly,
 750                                 std::get<1>(cli2), std::get<2>(cli2),
 751                                 std::get<3>(cli2), std::get<4>(cli2)
 752                         );
 753                         auto cli3 = ::intersect(
 754                                 cclx, ccly, ccl_rf,
 755                                 this->ps().x3(), this->ps().y3(),
 756                                 this->ps().x4(), this->ps().y4()
 757                         );
 758                         double a3 = angle_between_closer_point(
 759                                 this->cc().rfx(), this->cc().rfy(),
 760                                 cclx, ccly,
 761                                 std::get<1>(cli3), std::get<2>(cli3),
 762                                 std::get<3>(cli3), std::get<4>(cli3)
 763                         );
 764                         if (std::get<0>(cli1) && (
 765                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 766                             || (a1 < a2 && !std::get<0>(cli3))
 767                             || (a1 < a3 && !std::get<0>(cli2))
 768                             || (a1 < a2 && a1 < a3)
 769                         )) {
 770                             this->cc().rotate(cclx, ccly, a1);
 771                         } else if (std::get<0>(cli2) && (
 772                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 773                             || (a2 < a1 && !std::get<0>(cli3))
 774                             || (a2 < a3 && !std::get<0>(cli1))
 775                             || (a2 < a1 && a2 < a3)
 776                         )) {
 777                             this->cc().rotate(cclx, ccly, a2);
 778                         } else if (std::get<0>(cli3) && (
 779                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 780                             || (a3 < a1 && !std::get<0>(cli2))
 781                             || (a3 < a2 && !std::get<0>(cli1))
 782                             || (a3 < a1 && a3 < a2)
 783                         )) {
 784                             this->cc().rotate(cclx, ccly, a3);
 785                         } else {
 786                             continue;
 787                         }
 788                 } else {
 789                         // TODO left parking slot (both forward, backward)
 790                 }
 791                 this->cc().sp(this->cc().sp() * -1);
 792                 this->cc().next();
 793                 this->gc() = BicycleCar(this->cc());
 794                 if (this->parked())
 795                         goto successfinish;
 796                 this->cc().st(this->cc().st() * -1);
 797                 q.push(BicycleCar(this->cc()));
 798                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 799                         iter_cntr++;
 800         }
 801         // fallback to fer
 802         this->gc() = BicycleCar(bco);
 803 successfinish:
 804         return this->fer_parallel();
 805 }
 806
 807 void PSPlanner::fe_perpendicular()
 808 {
 809         // TODO Try multiple angles when going from parking slot.
 810         //
 811         //      Do not use just the maximum steer angle. Test angles
 812         //      until the whole current car `cc` is out of the parking
 813         //      slot `ps`.
 814         //
 815         //      Another approach could be testing angles from the
 816         //      beginning of the escape parkig slot maneuver.
 817         if (this->forward())
 818                 this->cc().sp(-0.01);
 819         else
 820                 this->cc().sp(0.01);
 821         while (!this->left())
 822                 this->cc().next();
 823         return;
 824 }
 825
 826 void PSPlanner::fer()
 827 {
 828         this->c_ = 0;
 829         if (this->ps().parallel()) {
 830                 this->guess_gc();
 831                 this->cc() = BicycleCar(this->gc());
 832                 this->cc().set_max_steer();
 833                 if (!this->ps().right())
 834                         this->cc().st(this->cc().st() * -1);
 835                 this->cc().sp(0.01);
 836                 return this->fer_parallel();
 837         } else {
 838                 return this->fer_perpendicular();
 839         }
 840 }
 841
 842 void PSPlanner::fer_parallel()
 843 {
 844         this->cusps_.clear();
 845         while (!this->left()) {
 846                 while (!this->collide() && !this->left())
 847                         this->cc().next();
 848                 if (this->left() && !this->collide()) {
 849                         break;
 850                 } else {
 851                         this->cc().sp(this->cc().sp() * -1);
 852                         this->cc().next();
 853                         this->cc().st(this->cc().st() * -1);
 854                         this->c_++;
 855                         this->cusps_.push_back(this->cc());
 856                 }
 857         }
 858         if (this->cc().st() < 0) {
 859                 this->c_++;
 860                 this->cusps_.push_back(this->cc());
 861         }
 862 }
 863
 864 void PSPlanner::fer_perpendicular()
 865 {
 866         bool delta_use[] = {true, true, true};
 867         double cc_h = this->cc().h();
 868         double x;
 869         double y;
 870         // check inner radius
 871         if (this->forward()) {
 872                 x = this->ps().x1();
 873                 y = this->ps().y1();
 874         } else {
 875                 x = this->ps().x4();
 876                 y = this->ps().y4();
 877         }
 878         double x1;
 879         double y1;
 880         if (this->ps().right()) {
 881                 x1 = this->cc().ccr().x();
 882                 y1 = this->cc().ccr().y();
 883         } else {
 884                 x1 = this->cc().ccl().x();
 885                 y1 = this->cc().ccl().y();
 886         }
 887         double IR = this->cc().iradi();
 888         double a = 1;
 889         double b;
 890         if (this->forward())
 891                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 892         else
 893                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 894         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 895         double D = pow(b, 2) - 4 * a * c;
 896         double delta;
 897         delta = -b - sqrt(D);
 898         delta /= 2 * a;
 899         double delta_1 = delta;
 900         if (D < 0)
 901                 delta_use[0] = false;
 902         // check outer radius
 903         if (this->forward()) {
 904                 x = this->ps().x4();
 905                 y = this->ps().y4();
 906         } else {
 907                 x = this->ps().x1();
 908                 y = this->ps().y1();
 909         }
 910         IR = this->cc().ofradi();
 911         a = 1;
 912         if (this->forward())
 913                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 914         else
 915                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 916         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 917         D = pow(b, 2) - 4 * a * c;
 918         if (this->forward()) {
 919                 delta = -b + sqrt(D);
 920                 delta /= 2 * a;
 921         }
 922         double delta_2 = delta;
 923         if (D < 0)
 924                 delta_use[1] = false;
 925         delta = -b - sqrt(D);
 926         delta /= 2 * a;
 927         double delta_3 = delta;
 928         if (D < 0)
 929                 delta_use[2] = false;
 930         if (delta_use[0] && delta_use[1] && delta_use[2])
 931                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 932         else if (delta_use[0] && delta_use[1])
 933                 delta = std::max(delta_1, delta_2);
 934         else if (delta_use[0] && delta_use[2])
 935                 delta = std::max(delta_1, delta_3);
 936         else if (delta_use[1] && delta_use[2])
 937                 delta = std::max(delta_2, delta_3);
 938         else if (delta_use[0])
 939                 delta = delta_1;
 940         else if (delta_use[1])
 941                 delta = delta_2;
 942         else if (delta_use[2])
 943                 delta = delta_3;
 944         else
 945                 return;
 946         // current car `cc` can get out of slot with max steer
 947         this->cc().x(this->cc().x() + delta * cos(cc_h));
 948         this->cc().y(this->cc().y() + delta * sin(cc_h));
 949         this->cc().h(cc_h);
 950         // get current car `cc` out of slot
 951         if (this->forward())
 952                 this->cc().sp(-0.01);
 953         else
 954                 this->cc().sp(0.01);
 955         this->cc().set_max_steer();
 956         if (this->ps().right())
 957                 this->cc().st(this->cc().st() * -1);
 958         while (!this->left()) {
 959                 while (!this->collide() && !this->left())
 960                         this->cc().next();
 961                 if (this->left() && !this->collide()) {
 962                         break;
 963                 } else {
 964                         this->cc().sp(this->cc().sp() * -1);
 965                         this->cc().next();
 966                         this->cc().st(this->cc().st() * -1);
 967                 }
 968         }
 969 }
 970
 971 PSPlanner::PSPlanner()
 972 {
 973 }