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->cc().sp() > 0)
 211                 this->cc().sp(1);
 212         else
 213                 this->cc().sp(-1);
 214         this->cc().sp(this->cc().sp() * dist);
 215         this->cc().st(this->cc().st() * 1);
 216         BicycleCar orig_cc(this->cc());
 217         for (unsigned int i = 0; i < cnt; i++) {
 218                 this->cc().next();
 219                 pi.push_back(BicycleCar(this->cc()));
 220         }
 221         this->cc() = BicycleCar(orig_cc);
 222         return pi;
 223 }
 224
 225 // find entry
 226 void PSPlanner::fe()
 227 {
 228         this->c_ = 0;
 229         if (this->ps().parallel()) {
 230                 return this->fe_parallel();
 231         } else {
 232                 this->guess_gc();
 233                 this->cc() = BicycleCar(this->gc());
 234                 //this->cc().set_max_steer();
 235                 //if (this->ps().right())
 236                 //        this->cc().st(this->cc().st() * -1);
 237                 this->cc().sp(-0.2);
 238         }
 239 }
 240
 241 void PSPlanner::fe_parallel()
 242 {
 243         BicycleCar bco = BicycleCar(this->gc());
 244         this->cc() = BicycleCar();
 245         this->cc().sp(-0.01);
 246         this->cc().set_max_steer();
 247         if (!this->ps().right())
 248                 this->cc().st(this->cc().st() * -1);
 249         this->cc().h(this->ps().heading());
 250         double angl_in_slot = this->ps().heading() - M_PI / 4;
 251         if (!this->ps().right())
 252                 angl_in_slot += M_PI / 2;
 253         this->cc().x(
 254                 this->ps().x4()
 255                 + this->cc().w()/2 * cos(
 256                         this->ps().heading()
 257                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 258                 )
 259                 + (this->cc().df() + 0.01) * cos(
 260                         this->ps().heading() + M_PI
 261                 )
 262         );
 263         this->cc().y(
 264                 this->ps().y4()
 265                 + this->cc().w()/2 * sin(
 266                         this->ps().heading()
 267                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 268                 )
 269                 + (this->cc().df() + 0.01) * sin(
 270                         this->ps().heading() + M_PI
 271                 )
 272         );
 273
 274         std::queue<BicycleCar, std::list<BicycleCar>> q;
 275         while (!this->collide()) {
 276                 q.push(this->cc());
 277                 this->cc().rotate(
 278                         this->ps().x4(),
 279                         this->ps().y4() - 0.01,
 280                         ((this->ps().right()) ? 0.001 : -0.001)
 281                 );
 282         }
 283         // BFS - find entry current car `cc` and corresponding goal car `gc`
 284         unsigned int iter_cntr = 0;
 285         while (!q.empty() && iter_cntr < 30) {
 286                 this->cc() = BicycleCar(q.front());
 287                 q.pop();
 288                 while (
 289                         !this->collide()
 290                         && (std::abs(
 291                                 this->cc().h() - this->ps().heading()
 292                         ) > M_PI / 32)
 293                         && (std::abs(
 294                                 this->cc().h() - this->ps().heading()
 295                         ) < M_PI / 2)
 296                 )
 297                         this->cc().next();
 298                 this->cc().sp(this->cc().sp() * -1);
 299                 this->cc().next();
 300                 this->gc() = BicycleCar(this->cc());
 301                 if (this->parked())
 302                         goto successfinish;
 303                 this->cc().st(this->cc().st() * -1);
 304                 q.push(BicycleCar(this->cc()));
 305                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 306                         iter_cntr++;
 307         }
 308         // fallback to fer
 309         this->gc() = BicycleCar(bco);
 310 successfinish:
 311         return this->fer_parallel();
 312 }
 313
 314 void PSPlanner::fe_perpendicular()
 315 {
 316         // TODO Try multiple angles when going from parking slot.
 317         //
 318         //      Do not use just the maximum steer angle. Test angles
 319         //      until the whole current car `cc` is out of the parking
 320         //      slot `ps`.
 321         //
 322         //      Another approach could be testing angles from the
 323         //      beginning of the escape parkig slot maneuver.
 324         if (this->forward())
 325                 this->cc().sp(-0.01);
 326         else
 327                 this->cc().sp(0.01);
 328         while (!this->left())
 329                 this->cc().next();
 330         return;
 331 }
 332
 333 void PSPlanner::fer()
 334 {
 335         this->c_ = 0;
 336         if (this->ps().parallel()) {
 337                 this->guess_gc();
 338                 this->cc() = BicycleCar(this->gc());
 339                 this->cc().set_max_steer();
 340                 if (!this->ps().right())
 341                         this->cc().st(this->cc().st() * -1);
 342                 this->cc().sp(0.01);
 343                 return this->fer_parallel();
 344         } else {
 345                 return this->fer_perpendicular();
 346         }
 347 }
 348
 349 void PSPlanner::fer_parallel()
 350 {
 351         this->cusps_.clear();
 352         while (!this->left()) {
 353                 while (!this->collide() && !this->left())
 354                         this->cc().next();
 355                 if (this->left() && !this->collide()) {
 356                         break;
 357                 } else {
 358                         this->cc().sp(this->cc().sp() * -1);
 359                         this->cc().next();
 360                         this->cc().st(this->cc().st() * -1);
 361                         this->c_++;
 362                         this->cusps_.push_back(this->cc());
 363                 }
 364         }
 365         if (this->cc().st() < 0) {
 366                 this->c_++;
 367                 this->cusps_.push_back(this->cc());
 368         }
 369 }
 370
 371 void PSPlanner::fer_perpendicular()
 372 {
 373         bool delta_use[] = {true, true, true};
 374         double cc_h = this->cc().h();
 375         double x;
 376         double y;
 377         // check inner radius
 378         if (this->forward()) {
 379                 x = this->ps().x1();
 380                 y = this->ps().y1();
 381         } else {
 382                 x = this->ps().x4();
 383                 y = this->ps().y4();
 384         }
 385         double x1;
 386         double y1;
 387         if (this->ps().right()) {
 388                 x1 = this->cc().ccr().x();
 389                 y1 = this->cc().ccr().y();
 390         } else {
 391                 x1 = this->cc().ccl().x();
 392                 y1 = this->cc().ccl().y();
 393         }
 394         double IR = this->cc().iradi();
 395         double a = 1;
 396         double b;
 397         if (this->forward())
 398                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 399         else
 400                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 401         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 402         double D = pow(b, 2) - 4 * a * c;
 403         double delta;
 404         delta = -b - sqrt(D);
 405         delta /= 2 * a;
 406         double delta_1 = delta;
 407         if (D < 0)
 408                 delta_use[0] = false;
 409         // check outer radius
 410         if (this->forward()) {
 411                 x = this->ps().x4();
 412                 y = this->ps().y4();
 413         } else {
 414                 x = this->ps().x1();
 415                 y = this->ps().y1();
 416         }
 417         IR = this->cc().ofradi();
 418         a = 1;
 419         if (this->forward())
 420                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 421         else
 422                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 423         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 424         D = pow(b, 2) - 4 * a * c;
 425         if (this->forward()) {
 426                 delta = -b + sqrt(D);
 427                 delta /= 2 * a;
 428         }
 429         double delta_2 = delta;
 430         if (D < 0)
 431                 delta_use[1] = false;
 432         delta = -b - sqrt(D);
 433         delta /= 2 * a;
 434         double delta_3 = delta;
 435         if (D < 0)
 436                 delta_use[2] = false;
 437         if (delta_use[0] && delta_use[1] && delta_use[2])
 438                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 439         else if (delta_use[0] && delta_use[1])
 440                 delta = std::max(delta_1, delta_2);
 441         else if (delta_use[0] && delta_use[2])
 442                 delta = std::max(delta_1, delta_3);
 443         else if (delta_use[1] && delta_use[2])
 444                 delta = std::max(delta_2, delta_3);
 445         else if (delta_use[0])
 446                 delta = delta_1;
 447         else if (delta_use[1])
 448                 delta = delta_2;
 449         else if (delta_use[2])
 450                 delta = delta_3;
 451         else
 452                 return;
 453         // current car `cc` can get out of slot with max steer
 454         this->cc().x(this->cc().x() + delta * cos(cc_h));
 455         this->cc().y(this->cc().y() + delta * sin(cc_h));
 456         this->cc().h(cc_h);
 457         // get current car `cc` out of slot
 458         if (this->forward())
 459                 this->cc().sp(-0.01);
 460         else
 461                 this->cc().sp(0.01);
 462         this->cc().set_max_steer();
 463         if (this->ps().right())
 464                 this->cc().st(this->cc().st() * -1);
 465         while (!this->left()) {
 466                 while (!this->collide() && !this->left())
 467                         this->cc().next();
 468                 if (this->left() && !this->collide()) {
 469                         break;
 470                 } else {
 471                         this->cc().sp(this->cc().sp() * -1);
 472                         this->cc().next();
 473                         this->cc().st(this->cc().st() * -1);
 474                 }
 475         }
 476 }
 477
 478 PSPlanner::PSPlanner()
 479 {
 480 }