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                 lm.push_back(BicycleCar(this->cc()));
 146                 while (!this->left()) {
 147                         while (!this->collide() && !this->left()) {
 148                                 this->cc().next();
 149                                 lm.push_back(BicycleCar(this->cc()));
 150                         }
 151                         if (this->left() && !this->collide()) {
 152                                 break;
 153                         } else {
 154                                 lm.pop_back();
 155                                 this->cc().sp(this->cc().sp() * -1);
 156                                 this->cc().next();
 157                                 this->cc().st(this->cc().st() * -1);
 158                                 this->c_++;
 159                                 lm.push_back(BicycleCar(this->cc()));
 160                         }
 161                 }
 162                 if (this->cc().st() < 0) {
 163                         this->c_++;
 164                         lm.push_back(BicycleCar(this->cc()));
 165                 }
 166         } else {
 167                 // go 1 m forward
 168                 this->cc().sp(0.1);
 169                 BicycleCar orig_cc(this->cc());
 170                 for (unsigned int i = 0; i < 10; i++) {
 171                         this->cc().next();
 172                         lm.push_back(BicycleCar(this->cc()));
 173                 }
 174                 this->cc() = BicycleCar(orig_cc);
 175         }
 176         return lm;
 177 }
 178
 179 bool PSPlanner::left()
 180 {
 181         double lfx = this->cc().lfx();
 182         double lfy = this->cc().lfy();
 183         double lrx = this->cc().lrx();
 184         double lry = this->cc().lry();
 185         double rrx = this->cc().rrx();
 186         double rry = this->cc().rry();
 187         double rfx = this->cc().rfx();
 188         double rfy = this->cc().rfy();
 189         double lfs = sgn(
 190                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 191                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 192         );
 193         double lrs = sgn(
 194                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 195                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 196         );
 197         double rrs = sgn(
 198                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 199                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 200         );
 201         double rfs = sgn(
 202                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 203                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 204         );
 205         if (this->ps().parallel())
 206                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 207         else if (!this->forward())
 208                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 209         else
 210                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 211 }
 212
 213 bool PSPlanner::parked()
 214 {
 215         std::vector<std::tuple<double, double>> slot;
 216         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 217         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 218         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 219         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 220         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 221                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 222                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 223                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 224 }
 225
 226 std::vector<BicycleCar> PSPlanner::possible_goals(
 227         unsigned int cnt,
 228         double dist
 229 )
 230 {
 231         std::vector<BicycleCar> pi;
 232         if (this->ps().parallel())
 233                 this->cc().sp(1);
 234         else
 235                 this->cc().sp(-1);
 236         this->cc().sp(this->cc().sp() * dist);
 237         BicycleCar orig_cc(this->cc());
 238         for (unsigned int i = 0; i < cnt; i++) {
 239                 this->cc().next();
 240                 pi.push_back(BicycleCar(this->cc()));
 241         }
 242         this->cc() = BicycleCar(orig_cc);
 243         if (this->ps().parallel()) {
 244                 this->cc().st(0);
 245                 for (unsigned int i = 0; i < cnt; i++) {
 246                         this->cc().next();
 247                         pi.push_back(BicycleCar(this->cc()));
 248                 }
 249                 this->cc() = BicycleCar(orig_cc);
 250         } else {
 251                 if (!this->ps().right()) {
 252                         this->cc().set_max_steer();
 253                         for (unsigned int i = 0; i < cnt; i++) {
 254                                 this->cc().next();
 255                                 pi.push_back(BicycleCar(this->cc()));
 256                         }
 257                 } else {
 258                         this->cc().set_max_steer();
 259                         this->cc().st(this->cc().st() * -1);
 260                         for (unsigned int i = 0; i < cnt; i++) {
 261                                 this->cc().next();
 262                                 pi.push_back(BicycleCar(this->cc()));
 263                         }
 264                 }
 265                 this->cc() = BicycleCar(orig_cc);
 266         }
 267         return pi;
 268 }
 269
 270 void PSPlanner::shrink_to_perfect_len()
 271 {
 272         if (!this->ps().parallel())
 273                 return;
 274         double perfect_len = this->gc().perfect_parking_slot_len();
 275         if (edist(
 276                 this->ps().x1(), this->ps().y1(),
 277                 this->ps().x4(), this->ps().y4()
 278         ) < perfect_len)
 279                 return;
 280         double h = this->ps().heading();
 281         h -= M_PI;
 282         while (h < 0) h += 2 * M_PI;
 283         double ch = perfect_len * cos(h);
 284         double sh = perfect_len * sin(h);
 285         this->ps().border(
 286                 this->ps().x4() + ch, this->ps().y4() + sh,
 287                 this->ps().x3() + ch, this->ps().y3() + sh,
 288                 this->ps().x3(), this->ps().y3(),
 289                 this->ps().x4(), this->ps().y4()
 290         );
 291 }
 292
 293 // find entry
 294 void PSPlanner::fe()
 295 {
 296         this->c_ = 0;
 297         if (this->ps().parallel()) {
 298                 return this->fe_parallel();
 299         } else {
 300                 this->guess_gc();
 301                 this->cc() = BicycleCar(this->gc());
 302                 //this->cc().set_max_steer();
 303                 //if (this->ps().right())
 304                 //        this->cc().st(this->cc().st() * -1);
 305                 this->cc().sp(-0.2);
 306         }
 307 }
 308
 309 double angle_between_closer_point(
 310         double sx, double sy, // common start point
 311         double cx, double cy, // common middle point
 312         double x1, double y1, // first ending point
 313         double x2, double y2 // second ending point
 314 ) {
 315         if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
 316                 return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 317         else
 318                 return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 319 }
 320
 321 void PSPlanner::fe_parallel()
 322 {
 323         this->shrink_to_perfect_len();
 324         BicycleCar bco = BicycleCar(this->gc());
 325         this->cc() = BicycleCar();
 326         this->cc().sp(-0.01);
 327         this->cc().set_max_steer();
 328         if (!this->ps().right())
 329                 this->cc().st(this->cc().st() * -1);
 330         this->cc().h(this->ps().heading());
 331         double angl_in_slot = this->ps().heading() - M_PI / 4;
 332         if (!this->ps().right())
 333                 angl_in_slot += M_PI / 2;
 334         this->cc().x(
 335                 this->ps().x4()
 336                 + this->cc().w()/2 * cos(
 337                         this->ps().heading()
 338                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 339                 )
 340                 + (this->cc().df() + 0.01) * cos(
 341                         this->ps().heading() + M_PI
 342                 )
 343         );
 344         this->cc().y(
 345                 this->ps().y4()
 346                 + this->cc().w()/2 * sin(
 347                         this->ps().heading()
 348                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 349                 )
 350                 + (this->cc().df() + 0.01) * sin(
 351                         this->ps().heading() + M_PI
 352                 )
 353         );
 354
 355         std::queue<BicycleCar, std::list<BicycleCar>> q;
 356         while (!this->collide()) {
 357                 q.push(this->cc());
 358                 this->cc().rotate(
 359                         this->ps().x4(),
 360                         this->ps().y4() - 0.01,
 361                         ((this->ps().right()) ? 0.001 : -0.001)
 362                 );
 363         }
 364         // BFS - find entry current car `cc` and corresponding goal car `gc`
 365         unsigned int iter_cntr = 0;
 366         while (!q.empty() && iter_cntr < 30) {
 367                 this->cc() = BicycleCar(q.front());
 368                 q.pop();
 369                 if (this->ps().right() && this->cc().sp() < 0) {
 370                         double cclx = this->cc().ccl().x();
 371                         double ccly = this->cc().ccl().y();
 372                         double ccl_lr = edist(
 373                                 cclx, ccly,
 374                                 this->cc().lrx(), this->cc().lry()
 375                         );
 376                         double ccl_rr = edist(
 377                                 cclx, ccly,
 378                                 this->cc().rrx(), this->cc().rry()
 379                         );
 380                         double ccl_p1 = edist(
 381                                 cclx, ccly,
 382                                 this->ps().x1(), this->ps().y1()
 383                         );
 384                         if (ccl_rr < ccl_p1) {
 385                                 // pass parking slot
 386                                 continue;
 387                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 388                                 // partially out of parking slot
 389                                 auto cli1 = ::intersect(
 390                                         cclx, ccly, ccl_p1,
 391                                         this->cc().lrx(), this->cc().lry(),
 392                                         this->cc().rrx(), this->cc().rry()
 393                                 );
 394                                 double a1 = ::angle_between_closer_point(
 395                                         this->ps().x1(), this->ps().y1(),
 396                                         cclx, ccly,
 397                                         std::get<1>(cli1), std::get<2>(cli1),
 398                                         std::get<3>(cli1), std::get<4>(cli1)
 399                                 );
 400                                 auto cli2 = ::intersect(
 401                                         cclx, ccly, ccl_rr,
 402                                         this->ps().x2(), this->ps().y2(),
 403                                         this->ps().x3(), this->ps().y3()
 404                                 );
 405                                 double a2 = angle_between_closer_point(
 406                                         this->cc().rrx(), this->cc().rry(),
 407                                         cclx, ccly,
 408                                         std::get<1>(cli2), std::get<2>(cli2),
 409                                         std::get<3>(cli2), std::get<4>(cli2)
 410                                 );
 411                                 if (std::get<0>(cli1) && (
 412                                         !std::get<0>(cli2)
 413                                         || a1 < a2
 414                                 )) {
 415                                         this->cc().rotate(cclx, ccly, -a1);
 416                                         if (::right_side_of_line(
 417                                                 this->cc().x(), this->cc().y(),
 418
 419                                                 this->cc().x()
 420                                                 + cos(this->ps().heading()),
 421                                                 this->cc().y()
 422                                                 + sin(this->ps().heading()),
 423
 424                                                 this->cc().x()
 425                                                 + cos(this->cc().h()),
 426                                                 this->cc().y()
 427                                                 + sin(this->cc().h())
 428                                         )) {
 429                                                 continue;
 430                                         }
 431                                 } else if (std::get<0>(cli2) && (
 432                                         !std::get<0>(cli1)
 433                                         || a2 < a1
 434                                 )) {
 435                                         this->cc().rotate(cclx, ccly, -a2);
 436                                 } else {
 437                                         continue;
 438                                 }
 439                         } else if (ccl_lr >= ccl_p1) {
 440                                 // in parking slot
 441                                 auto cli1 = ::intersect(
 442                                         cclx, ccly, ccl_lr,
 443                                         this->ps().x1(), this->ps().y1(),
 444                                         this->ps().x2(), this->ps().y2()
 445                                 );
 446                                 double a1 = angle_between_closer_point(
 447                                         this->cc().lrx(), this->cc().lry(),
 448                                         cclx, ccly,
 449                                         std::get<1>(cli1), std::get<2>(cli1),
 450                                         std::get<3>(cli1), std::get<4>(cli1)
 451                                 );
 452                                 auto cli2 = ::intersect(
 453                                         cclx, ccly, ccl_rr,
 454                                         this->ps().x2(), this->ps().y2(),
 455                                         this->ps().x3(), this->ps().y3()
 456                                 );
 457                                 double a2 = angle_between_closer_point(
 458                                         this->cc().rrx(), this->cc().rry(),
 459                                         cclx, ccly,
 460                                         std::get<1>(cli2), std::get<2>(cli2),
 461                                         std::get<3>(cli2), std::get<4>(cli2)
 462                                 );
 463                                 if (std::get<0>(cli1) && (
 464                                         !std::get<0>(cli2)
 465                                         || a1 < a2
 466                                 )) {
 467                                         this->cc().rotate(cclx, ccly, -a1);
 468                                         if (::right_side_of_line(
 469                                                 this->cc().x(), this->cc().y(),
 470
 471                                                 this->cc().x()
 472                                                 + cos(this->ps().heading()),
 473                                                 this->cc().y()
 474                                                 + sin(this->ps().heading()),
 475
 476                                                 this->cc().x()
 477                                                 + cos(this->cc().h()),
 478                                                 this->cc().y()
 479                                                 + sin(this->cc().h())
 480                                         )) {
 481                                                 continue;
 482                                         }
 483                                 } else if (std::get<0>(cli2) && (
 484                                         !std::get<0>(cli1)
 485                                         || a2 < a1
 486                                 )) {
 487                                         this->cc().rotate(cclx, ccly, -a2);
 488                                 } else {
 489                                         continue;
 490                                 }
 491                         }
 492                 } else if (this->ps().right() && this->cc().sp() > 0) {
 493                         double ccrx = this->cc().ccr().x();
 494                         double ccry = this->cc().ccr().y();
 495                         double ccr_lf = edist(
 496                                 ccrx, ccry,
 497                                 this->cc().lfx(), this->cc().lfy()
 498                         );
 499                         double ccr_rf = edist(
 500                                 ccrx, ccry,
 501                                 this->cc().rfx(), this->cc().rfy()
 502                         );
 503                         {
 504                                 double af = std::abs(
 505                                         this->ps().heading()
 506                                         - this->cc().h()
 507                                 );
 508                                 auto tmp_cc = BicycleCar(this->cc());
 509                                 this->cc().rotate(ccrx, ccry, -af);
 510                                 this->gc() = BicycleCar(this->cc());
 511                                 if (
 512                                         !this->collide()
 513                                         && this->parked()
 514                                 ) {
 515                                         this->cc().sp(this->cc().sp() * -1);
 516                                         this->gc() = BicycleCar(this->cc());
 517                                         goto successfinish;
 518                                 } else {
 519                                         this->cc() = BicycleCar(tmp_cc);
 520                                 }
 521                         }
 522                         auto cli1 = ::intersect(
 523                                 ccrx, ccry, ccr_rf,
 524                                 this->ps().x3(), this->ps().y3(),
 525                                 this->ps().x4(), this->ps().y4()
 526                         );
 527                         double a1 = angle_between_closer_point(
 528                                 this->cc().rfx(), this->cc().rfy(),
 529                                 ccrx, ccry,
 530                                 std::get<1>(cli1), std::get<2>(cli1),
 531                                 std::get<3>(cli1), std::get<4>(cli1)
 532                         );
 533                         auto cli2 = ::intersect(
 534                                 ccrx, ccry, ccr_rf,
 535                                 this->ps().x2(), this->ps().y2(),
 536                                 this->ps().x3(), this->ps().y3()
 537                         );
 538                         double a2 = angle_between_closer_point(
 539                                 this->cc().rfx(), this->cc().rfy(),
 540                                 ccrx, ccry,
 541                                 std::get<1>(cli2), std::get<2>(cli2),
 542                                 std::get<3>(cli2), std::get<4>(cli2)
 543                         );
 544                         auto cli3 = ::intersect(
 545                                 ccrx, ccry, ccr_lf,
 546                                 this->ps().x3(), this->ps().y3(),
 547                                 this->ps().x4(), this->ps().y4()
 548                         );
 549                         double a3 = angle_between_closer_point(
 550                                 this->cc().lfx(), this->cc().lfy(),
 551                                 ccrx, ccry,
 552                                 std::get<1>(cli3), std::get<2>(cli3),
 553                                 std::get<3>(cli3), std::get<4>(cli3)
 554                         );
 555                         if (std::get<0>(cli1) && (
 556                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 557                             || (a1 < a2 && !std::get<0>(cli3))
 558                             || (a1 < a3 && !std::get<0>(cli2))
 559                             || (a1 < a2 && a1 < a3)
 560                         )) {
 561                             this->cc().rotate(ccrx, ccry, -a1);
 562                         } else if (std::get<0>(cli2) && (
 563                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 564                             || (a2 < a1 && !std::get<0>(cli3))
 565                             || (a2 < a3 && !std::get<0>(cli1))
 566                             || (a2 < a1 && a2 < a3)
 567                         )) {
 568                             this->cc().rotate(ccrx, ccry, -a2);
 569                         } else if (std::get<0>(cli3) && (
 570                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 571                             || (a3 < a1 && !std::get<0>(cli2))
 572                             || (a3 < a2 && !std::get<0>(cli1))
 573                             || (a3 < a1 && a3 < a2)
 574                         )) {
 575                             this->cc().rotate(ccrx, ccry, -a3);
 576                         } else {
 577                             continue;
 578                         }
 579                 } else if (!this->ps().right() && this->cc().sp() < 0) {
 580                         double ccrx = this->cc().ccr().x();
 581                         double ccry = this->cc().ccr().y();
 582                         double ccr_rr = edist(
 583                                 ccrx, ccry,
 584                                 this->cc().rrx(), this->cc().rry()
 585                         );
 586                         double ccr_lr = edist(
 587                                 ccrx, ccry,
 588                                 this->cc().lrx(), this->cc().lry()
 589                         );
 590                         double ccr_p1 = edist(
 591                                 ccrx, ccry,
 592                                 this->ps().x1(), this->ps().y1()
 593                         );
 594                         if (ccr_lr < ccr_p1) {
 595                                 // pass parking slot
 596                                 continue;
 597                         } else if (ccr_lr >= ccr_p1 && ccr_rr < ccr_p1) {
 598                                 // partially out of parking slot
 599                                 auto cli1 = ::intersect(
 600                                         ccrx, ccry, ccr_p1,
 601                                         this->cc().lrx(), this->cc().lry(),
 602                                         this->cc().rrx(), this->cc().rry()
 603                                 );
 604                                 double a1 = ::angle_between_closer_point(
 605                                         this->ps().x1(), this->ps().y1(),
 606                                         ccrx, ccry,
 607                                         std::get<1>(cli1), std::get<2>(cli1),
 608                                         std::get<3>(cli1), std::get<4>(cli1)
 609                                 );
 610                                 auto cli2 = ::intersect(
 611                                         ccrx, ccry, ccr_lr,
 612                                         this->ps().x2(), this->ps().y2(),
 613                                         this->ps().x3(), this->ps().y3()
 614                                 );
 615                                 double a2 = angle_between_closer_point(
 616                                         this->cc().lrx(), this->cc().lry(),
 617                                         ccrx, ccry,
 618                                         std::get<1>(cli2), std::get<2>(cli2),
 619                                         std::get<3>(cli2), std::get<4>(cli2)
 620                                 );
 621                                 if (std::get<0>(cli1) && (
 622                                         !std::get<0>(cli2)
 623                                         || a1 < a2
 624                                 )) {
 625                                         this->cc().rotate(ccrx, ccry, a1);
 626                                         if (!::right_side_of_line(
 627                                                 this->cc().x(), this->cc().y(),
 628
 629                                                 this->cc().x()
 630                                                 + cos(this->ps().heading()),
 631                                                 this->cc().y()
 632                                                 + sin(this->ps().heading()),
 633
 634                                                 this->cc().x()
 635                                                 + cos(this->cc().h()),
 636                                                 this->cc().y()
 637                                                 + sin(this->cc().h())
 638                                         )) {
 639                                                 continue;
 640                                         }
 641                                 } else if (std::get<0>(cli2) && (
 642                                         !std::get<0>(cli1)
 643                                         || a2 < a1
 644                                 )) {
 645                                         this->cc().rotate(ccrx, ccry, a2);
 646                                 } else {
 647                                         continue;
 648                                 }
 649                         } else if (ccr_rr >= ccr_p1) {
 650                                 // in parking slot
 651                                 auto cli1 = ::intersect(
 652                                         ccrx, ccry, ccr_rr,
 653                                         this->ps().x1(), this->ps().y1(),
 654                                         this->ps().x2(), this->ps().y2()
 655                                 );
 656                                 double a1 = angle_between_closer_point(
 657                                         this->cc().rrx(), this->cc().rry(),
 658                                         ccrx, ccry,
 659                                         std::get<1>(cli1), std::get<2>(cli1),
 660                                         std::get<3>(cli1), std::get<4>(cli1)
 661                                 );
 662                                 auto cli2 = ::intersect(
 663                                         ccrx, ccry, ccr_lr,
 664                                         this->ps().x2(), this->ps().y2(),
 665                                         this->ps().x3(), this->ps().y3()
 666                                 );
 667                                 double a2 = angle_between_closer_point(
 668                                         this->cc().lrx(), this->cc().lry(),
 669                                         ccrx, ccry,
 670                                         std::get<1>(cli2), std::get<2>(cli2),
 671                                         std::get<3>(cli2), std::get<4>(cli2)
 672                                 );
 673                                 if (std::get<0>(cli1) && (
 674                                         !std::get<0>(cli2)
 675                                         || a1 < a2
 676                                 )) {
 677                                         this->cc().rotate(ccrx, ccry, a1);
 678                                         if (!::right_side_of_line(
 679                                                 this->cc().x(), this->cc().y(),
 680
 681                                                 this->cc().x()
 682                                                 + cos(this->ps().heading()),
 683                                                 this->cc().y()
 684                                                 + sin(this->ps().heading()),
 685
 686                                                 this->cc().x()
 687                                                 + cos(this->cc().h()),
 688                                                 this->cc().y()
 689                                                 + sin(this->cc().h())
 690                                         )) {
 691                                                 continue;
 692                                         }
 693                                 } else if (std::get<0>(cli2) && (
 694                                         !std::get<0>(cli1)
 695                                         || a2 < a1
 696                                 )) {
 697                                         this->cc().rotate(ccrx, ccry, a2);
 698                                 } else {
 699                                         continue;
 700                                 }
 701                         }
 702                 } else if (!this->ps().right() && this->cc().sp() > 0) {
 703                         double cclx = this->cc().ccl().x();
 704                         double ccly = this->cc().ccl().y();
 705                         double ccl_rf = edist(
 706                                 cclx, ccly,
 707                                 this->cc().rfx(), this->cc().rfy()
 708                         );
 709                         double ccl_lf = edist(
 710                                 cclx, ccly,
 711                                 this->cc().lfx(), this->cc().lfy()
 712                         );
 713                         {
 714                                 double af = std::abs(
 715                                         this->ps().heading()
 716                                         - this->cc().h()
 717                                 );
 718                                 auto tmp_cc = BicycleCar(this->cc());
 719                                 this->cc().rotate(cclx, ccly, af);
 720                                 this->gc() = BicycleCar(this->cc());
 721                                 if (
 722                                         !this->collide()
 723                                         && this->parked()
 724                                 ) {
 725                                         this->cc().sp(this->cc().sp() * -1);
 726                                         this->gc() = BicycleCar(this->cc());
 727                                         goto successfinish;
 728                                 } else {
 729                                         this->cc() = BicycleCar(tmp_cc);
 730                                 }
 731                         }
 732                         auto cli1 = ::intersect(
 733                                 cclx, ccly, ccl_lf,
 734                                 this->ps().x3(), this->ps().y3(),
 735                                 this->ps().x4(), this->ps().y4()
 736                         );
 737                         double a1 = angle_between_closer_point(
 738                                 this->cc().lfx(), this->cc().lfy(),
 739                                 cclx, ccly,
 740                                 std::get<1>(cli1), std::get<2>(cli1),
 741                                 std::get<3>(cli1), std::get<4>(cli1)
 742                         );
 743                         auto cli2 = ::intersect(
 744                                 cclx, ccly, ccl_lf,
 745                                 this->ps().x2(), this->ps().y2(),
 746                                 this->ps().x3(), this->ps().y3()
 747                         );
 748                         double a2 = angle_between_closer_point(
 749                                 this->cc().lfx(), this->cc().lfy(),
 750                                 cclx, ccly,
 751                                 std::get<1>(cli2), std::get<2>(cli2),
 752                                 std::get<3>(cli2), std::get<4>(cli2)
 753                         );
 754                         auto cli3 = ::intersect(
 755                                 cclx, ccly, ccl_rf,
 756                                 this->ps().x3(), this->ps().y3(),
 757                                 this->ps().x4(), this->ps().y4()
 758                         );
 759                         double a3 = angle_between_closer_point(
 760                                 this->cc().rfx(), this->cc().rfy(),
 761                                 cclx, ccly,
 762                                 std::get<1>(cli3), std::get<2>(cli3),
 763                                 std::get<3>(cli3), std::get<4>(cli3)
 764                         );
 765                         if (std::get<0>(cli1) && (
 766                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 767                             || (a1 < a2 && !std::get<0>(cli3))
 768                             || (a1 < a3 && !std::get<0>(cli2))
 769                             || (a1 < a2 && a1 < a3)
 770                         )) {
 771                             this->cc().rotate(cclx, ccly, a1);
 772                         } else if (std::get<0>(cli2) && (
 773                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 774                             || (a2 < a1 && !std::get<0>(cli3))
 775                             || (a2 < a3 && !std::get<0>(cli1))
 776                             || (a2 < a1 && a2 < a3)
 777                         )) {
 778                             this->cc().rotate(cclx, ccly, a2);
 779                         } else if (std::get<0>(cli3) && (
 780                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 781                             || (a3 < a1 && !std::get<0>(cli2))
 782                             || (a3 < a2 && !std::get<0>(cli1))
 783                             || (a3 < a1 && a3 < a2)
 784                         )) {
 785                             this->cc().rotate(cclx, ccly, a3);
 786                         } else {
 787                             continue;
 788                         }
 789                 } else {
 790                         // TODO left parking slot (both forward, backward)
 791                 }
 792                 this->cc().sp(this->cc().sp() * -1);
 793                 this->cc().next();
 794                 this->gc() = BicycleCar(this->cc());
 795                 if (this->parked())
 796                         goto successfinish;
 797                 this->cc().st(this->cc().st() * -1);
 798                 q.push(BicycleCar(this->cc()));
 799                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 800                         iter_cntr++;
 801         }
 802         // fallback to fer
 803         this->gc() = BicycleCar(bco);
 804 successfinish:
 805         return this->fer_parallel();
 806 }
 807
 808 void PSPlanner::fe_perpendicular()
 809 {
 810         // TODO Try multiple angles when going from parking slot.
 811         //
 812         //      Do not use just the maximum steer angle. Test angles
 813         //      until the whole current car `cc` is out of the parking
 814         //      slot `ps`.
 815         //
 816         //      Another approach could be testing angles from the
 817         //      beginning of the escape parkig slot maneuver.
 818         if (this->forward())
 819                 this->cc().sp(-0.01);
 820         else
 821                 this->cc().sp(0.01);
 822         while (!this->left())
 823                 this->cc().next();
 824         return;
 825 }
 826
 827 void PSPlanner::fer()
 828 {
 829         this->c_ = 0;
 830         if (this->ps().parallel()) {
 831                 this->guess_gc();
 832                 this->cc() = BicycleCar(this->gc());
 833                 this->cc().set_max_steer();
 834                 if (!this->ps().right())
 835                         this->cc().st(this->cc().st() * -1);
 836                 this->cc().sp(0.01);
 837                 return this->fer_parallel();
 838         } else {
 839                 return this->fer_perpendicular();
 840         }
 841 }
 842
 843 void PSPlanner::fer_parallel()
 844 {
 845         this->cusps_.clear();
 846         while (!this->left()) {
 847                 while (!this->collide() && !this->left())
 848                         this->cc().next();
 849                 if (this->left() && !this->collide()) {
 850                         break;
 851                 } else {
 852                         this->cc().sp(this->cc().sp() * -1);
 853                         this->cc().next();
 854                         this->cc().st(this->cc().st() * -1);
 855                         this->c_++;
 856                         this->cusps_.push_back(this->cc());
 857                 }
 858         }
 859         if (this->cc().st() < 0) {
 860                 this->c_++;
 861                 this->cusps_.push_back(this->cc());
 862         }
 863 }
 864
 865 void PSPlanner::fer_perpendicular()
 866 {
 867         bool delta_use[] = {true, true, true};
 868         double cc_h = this->cc().h();
 869         double x;
 870         double y;
 871         // check inner radius
 872         if (this->forward()) {
 873                 x = this->ps().x1();
 874                 y = this->ps().y1();
 875         } else {
 876                 x = this->ps().x4();
 877                 y = this->ps().y4();
 878         }
 879         double x1;
 880         double y1;
 881         if (this->ps().right()) {
 882                 x1 = this->cc().ccr().x();
 883                 y1 = this->cc().ccr().y();
 884         } else {
 885                 x1 = this->cc().ccl().x();
 886                 y1 = this->cc().ccl().y();
 887         }
 888         double IR = this->cc().iradi();
 889         double a = 1;
 890         double b;
 891         if (this->forward())
 892                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 893         else
 894                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 895         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 896         double D = pow(b, 2) - 4 * a * c;
 897         double delta;
 898         delta = -b - sqrt(D);
 899         delta /= 2 * a;
 900         double delta_1 = delta;
 901         if (D < 0)
 902                 delta_use[0] = false;
 903         // check outer radius
 904         if (this->forward()) {
 905                 x = this->ps().x4();
 906                 y = this->ps().y4();
 907         } else {
 908                 x = this->ps().x1();
 909                 y = this->ps().y1();
 910         }
 911         IR = this->cc().ofradi();
 912         a = 1;
 913         if (this->forward())
 914                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 915         else
 916                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 917         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 918         D = pow(b, 2) - 4 * a * c;
 919         if (this->forward()) {
 920                 delta = -b + sqrt(D);
 921                 delta /= 2 * a;
 922         }
 923         double delta_2 = delta;
 924         if (D < 0)
 925                 delta_use[1] = false;
 926         delta = -b - sqrt(D);
 927         delta /= 2 * a;
 928         double delta_3 = delta;
 929         if (D < 0)
 930                 delta_use[2] = false;
 931         if (delta_use[0] && delta_use[1] && delta_use[2])
 932                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 933         else if (delta_use[0] && delta_use[1])
 934                 delta = std::max(delta_1, delta_2);
 935         else if (delta_use[0] && delta_use[2])
 936                 delta = std::max(delta_1, delta_3);
 937         else if (delta_use[1] && delta_use[2])
 938                 delta = std::max(delta_2, delta_3);
 939         else if (delta_use[0])
 940                 delta = delta_1;
 941         else if (delta_use[1])
 942                 delta = delta_2;
 943         else if (delta_use[2])
 944                 delta = delta_3;
 945         else
 946                 return;
 947         // current car `cc` can get out of slot with max steer
 948         this->cc().x(this->cc().x() + delta * cos(cc_h));
 949         this->cc().y(this->cc().y() + delta * sin(cc_h));
 950         this->cc().h(cc_h);
 951         // get current car `cc` out of slot
 952         if (this->forward())
 953                 this->cc().sp(-0.01);
 954         else
 955                 this->cc().sp(0.01);
 956         this->cc().set_max_steer();
 957         if (this->ps().right())
 958                 this->cc().st(this->cc().st() * -1);
 959         while (!this->left()) {
 960                 while (!this->collide() && !this->left())
 961                         this->cc().next();
 962                 if (this->left() && !this->collide()) {
 963                         break;
 964                 } else {
 965                         this->cc().sp(this->cc().sp() * -1);
 966                         this->cc().next();
 967                         this->cc().st(this->cc().st() * -1);
 968                 }
 969         }
 970 }
 971
 972 PSPlanner::PSPlanner()
 973 {
 974 }