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         double heading = atan2(
  27                 this->ps().y2() - this->ps().y1(),
  28                 this->ps().x2() - this->ps().x1()
  29         );
  30         while (heading < 0) heading += 2 * M_PI;
  31         double h = this->gc().h();
  32         while (h < 0) h += 2 * M_PI;
  33         if (std::abs(heading - h) < M_PI / 4)
  34                 return true;
  35         return false;
  36 }
  37
  38 void PSPlanner::gc_to_4()
  39 {
  40         double angl_slot = atan2(
  41                 this->ps().y3() - this->ps().y4(),
  42                 this->ps().x3() - this->ps().x4()
  43         );
  44         double angl_delta = M_PI / 2;
  45         if (this->ps().right())
  46                 angl_delta = -M_PI / 2;
  47         double x = this->ps().x4();
  48         double y = this->ps().y4();
  49         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  50         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  51         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  52         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  53         this->gc().x(x);
  54         this->gc().y(y);
  55         this->gc().h(angl_slot);
  56 }
  57
  58 std::tuple<double, double, double, double> circle_line_intersection(
  59         double cx, double cy, double r,
  60         double x1, double y1,
  61         double x2, double y2
  62 )
  63 {
  64         double t = (y2 - y1) / (x2 - x1);
  65         //double a = 1 + pow(t, 2);
  66         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  67         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  68         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  69         //        - pow(r, 2);
  70         double a = 1 + pow(t, 2);
  71         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  72         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  73         c += pow(-t * x1 + y1, 2);
  74         c += 2 * cy * t * x1 - 2 * cy * y1;
  75         double D = pow(b, 2) - 4 * a * c;
  76         if (D < 0)
  77                 return std::make_tuple(cx, cy, cx, cy);
  78         double res_x1 = (-b + sqrt(D)) / (2 * a);
  79         double res_y1 = t * (res_x1 - x1) + y1;
  80         double res_x2 = (-b - sqrt(D)) / (2 * a);
  81         double res_y2 = t * (res_x2 - x1) + y1;
  82         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  83 }
  84
  85 double edist(double x1, double y1, double x2, double y2)
  86 {
  87         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  88 }
  89
  90 void PSPlanner::guess_gc()
  91 {
  92         double x = this->ps().x1();
  93         double y = this->ps().y1();
  94         double h = this->ps().heading();
  95         double dts = + M_PI / 2; // direction to slot
  96         if (this->ps().right())
  97                 dts = - M_PI / 2;
  98         if (this->ps().parallel()) {
  99                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 100                 x += (this->gc().dr() + 0.01) * cos(h);
 101                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 102                 y += (this->gc().dr() + 0.01) * sin(h);
 103         } else {
 104                 if (std::abs(
 105                         atan2(
 106                                 this->ps().y2() - this->ps().y1(),
 107                                 this->ps().x2() - this->ps().x1()
 108                         )
 109                         - this->ps().heading()
 110                 ) < M_PI / 2) {
 111                         // forward parking
 112                         this->gc_to_4();
 113                         double bx;
 114                         double by;
 115                         double cx;
 116                         double cy;
 117                         if (this->ps().right()) {
 118                                 bx = this->gc().lfx();
 119                                 by = this->gc().lfy();
 120                                 cx = this->gc().ccr().x();
 121                                 cy = this->gc().ccr().y();
 122                         } else {
 123                                 bx = this->gc().rfx();
 124                                 by = this->gc().rfy();
 125                                 cx = this->gc().ccl().x();
 126                                 cy = this->gc().ccl().y();
 127                         }
 128                         double radi_angl = atan2(by - cy, bx - cx);
 129                         radi_angl += dts;
 130                         double angl_delta = this->gc().h() - radi_angl;
 131                         this->gc().rotate(bx, by, angl_delta);
 132                         // TODO there is a bug somewhere :/
 133                         //
 134                         // cli returns not exact intersection, therefore the
 135                         // distance to x1, y1 of border is shorter. Then, when
 136                         // moving, the distance `dist_o` is not sufficient and
 137                         // car still collide with parking slot. It shouldn't be
 138                         // problem until it collides with obstacle.
 139                         //
 140                         if (this->ps().right()) {
 141                                 cx = this->gc().ccr().x();
 142                                 cy = this->gc().ccr().y();
 143                         } else {
 144                                 cx = this->gc().ccl().x();
 145                                 cy = this->gc().ccl().y();
 146                         }
 147                         auto cli = circle_line_intersection(
 148                                 cx, cy, this->gc().iradi(),
 149                                 this->ps().x1(), this->ps().y1(),
 150                                 this->ps().x2(), this->ps().y2()
 151                         );
 152                         double d1 = edist(
 153                                 this->ps().x1(), this->ps().y1(),
 154                                 std::get<0>(cli), std::get<1>(cli)
 155                         );
 156                         double d2 = edist(
 157                                 this->ps().x1(), this->ps().y1(),
 158                                 std::get<2>(cli), std::get<3>(cli)
 159                         );
 160                         double dist_o = std::min<double>(d1, d2);
 161                         double angl_o = atan2(
 162                                 this->ps().y4() - this->ps().y3(),
 163                                 this->ps().x4() - this->ps().x3()
 164                         );
 165                         // projection
 166                         double angl_d = atan2(
 167                                 this->ps().y1() - this->ps().y2(),
 168                                 this->ps().x1() - this->ps().x2()
 169                         );
 170                         angl_d -= angl_o;
 171                         dist_o *= cos(angl_d);
 172                         this->gc().x(this->gc().x() + dist_o * cos(angl_o));
 173                         this->gc().y(this->gc().y() + dist_o * sin(angl_o));
 174                         // --- ENDTODO ---
 175                         this->gc().sp(-0.01);
 176                         this->gc().st(dts);
 177                         return;
 178                 } else {
 179                         dts = atan2(
 180                                 this->ps().y2() - this->ps().y1(),
 181                                 this->ps().x2() - this->ps().x1()
 182                         );
 183                         dts *= 1.01; // precision workaround
 184                         // backward parking
 185                         h = dts + M_PI;
 186                         x += -(this->gc().df() + 0.01) * cos(h);
 187                         y += -(this->gc().df() + 0.01) * sin(h);
 188                         if (this->ps().right())
 189                                 dts += M_PI / 2;
 190                         else
 191                                 dts -= M_PI / 2;
 192                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 193                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 194                 }
 195         }
 196         while (h > M_PI)
 197                 h -= 2 * M_PI;
 198         while (h <= -M_PI)
 199                 h += 2 * M_PI;
 200         this->gc().x(x);
 201         this->gc().y(y);
 202         this->gc().h(h);
 203 }
 204
 205 bool PSPlanner::left()
 206 {
 207         double lfx = this->cc().lfx();
 208         double lfy = this->cc().lfy();
 209         double lrx = this->cc().lrx();
 210         double lry = this->cc().lry();
 211         double rrx = this->cc().rrx();
 212         double rry = this->cc().rry();
 213         double rfx = this->cc().rfx();
 214         double rfy = this->cc().rfy();
 215         double lfs = sgn(
 216                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 217                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 218         );
 219         double lrs = sgn(
 220                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 221                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 222         );
 223         double rrs = sgn(
 224                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 225                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 226         );
 227         double rfs = sgn(
 228                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 229                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 230         );
 231         if (this->ps().parallel())
 232                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 233         else if (!this->forward())
 234                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 235         else
 236                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 237 }
 238
 239 bool PSPlanner::parked()
 240 {
 241         std::vector<std::tuple<double, double>> slot;
 242         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 243         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 244         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 245         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 246         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 247                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 248                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 249                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 250 }
 251
 252 std::vector<BicycleCar> PSPlanner::possible_goals(
 253         unsigned int cnt,
 254         double dist
 255 )
 256 {
 257         std::vector<BicycleCar> pi;
 258         this->cc().sp(this->cc().sp() * dist);
 259         this->cc().st(this->cc().st() * 1);
 260         BicycleCar orig_cc(this->cc());
 261         for (unsigned int i = 0; i < cnt; i++) {
 262                 this->cc().next();
 263                 pi.push_back(BicycleCar(this->cc()));
 264         }
 265         this->cc() = BicycleCar(orig_cc);
 266         return pi;
 267 }
 268
 269 // find entry
 270 void PSPlanner::fe()
 271 {
 272         if (this->ps().parallel())
 273                 return this->fe_parallel();
 274         else
 275                 return this->fe_perpendicular();
 276 }
 277
 278 void PSPlanner::fe_parallel()
 279 {
 280         // angle for distance from "entry" corner
 281         double dist_angl = this->ps().heading() + M_PI;
 282         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 283         // set bicycle car `bci` basic dimensions and heading
 284         BicycleCar bci = BicycleCar(this->gc());
 285         BicycleCar bco = BicycleCar(this->gc());
 286         bci.h(this->ps().heading());
 287         // move 0.01 from the "entry" corner
 288         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 289         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 290         // align with parking "top" of slot (move backward)
 291         dist_angl = bci.h() + M_PI;
 292         bci.x(bci.x() + bci.df() * cos(dist_angl));
 293         bci.y(bci.y() + bci.df() * sin(dist_angl));
 294         // align with "entry" to pakring slot (move outside)
 295         dist_angl = this->ps().heading();
 296         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 297         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 298         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 299         // set default speed, steer
 300         bci.st(bci.wb() / bci.mtr());
 301         if (!this->ps().right())
 302                 bci.st(bci.st() * -1);
 303         bci.sp(-0.01);
 304         // BFS - init all starts
 305         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 306         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 307         if (this->ps().right())
 308                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 309         else
 310                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 311         double DIST_ANGL = dist_angl;
 312         std::queue<BicycleCar, std::list<BicycleCar>> q;
 313         while (
 314                 (
 315                         this->ps().right()
 316                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 317                 )
 318                 || (
 319                         !this->ps().right()
 320                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 321                 )
 322         ) {
 323                 this->cc() = BicycleCar(bci);
 324                 if (this->ps().right()) {
 325                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 326                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 327                 } else {
 328                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 329                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 330                 }
 331                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 332                 if (!this->collide()) {
 333                         q.push(BicycleCar(this->cc()));
 334                 }
 335                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 336         }
 337         // BFS - find entry current car `cc` and corresponding goal car `gc`
 338         unsigned int iter_cntr = 0;
 339         while (!q.empty() && iter_cntr < 100) {
 340                 this->cc() = BicycleCar(q.front());
 341                 q.pop();
 342                 while (
 343                         !this->collide()
 344                         && (std::abs(
 345                                 this->cc().h() - this->ps().heading()
 346                         ) > M_PI / 32)
 347                         && (std::abs(
 348                                 this->cc().h() - this->ps().heading()
 349                         ) < M_PI / 2)
 350                 )
 351                         this->cc().next();
 352                 this->cc().sp(this->cc().sp() * -1);
 353                 this->cc().next();
 354                 this->gc() = BicycleCar(this->cc());
 355                 if (this->parked())
 356                         goto successfinish;
 357                 this->cc().st(this->cc().st() * -1);
 358                 q.push(BicycleCar(this->cc()));
 359                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 360                         iter_cntr++;
 361         }
 362         // fallback to fer
 363         this->gc() = BicycleCar(bco);
 364 successfinish:
 365         return this->fer_parallel();
 366 }
 367
 368 void PSPlanner::fe_perpendicular()
 369 {
 370         // TODO Try multiple angles when going from parking slot.
 371         //
 372         //      Do not use just the maximum steer angle. Test angles
 373         //      until the whole current car `cc` is out of the parking
 374         //      slot `ps`.
 375         //
 376         //      Another approach could be testing angles from the
 377         //      beginning of the escape parkig slot maneuver.
 378         if (this->forward())
 379                 this->cc().sp(-0.01);
 380         else
 381                 this->cc().sp(0.01);
 382         while (!this->left())
 383                 this->cc().next();
 384         return;
 385 }
 386
 387 void PSPlanner::fer()
 388 {
 389         if (this->ps().parallel())
 390                 return this->fer_parallel();
 391         else
 392                 return this->fer_perpendicular();
 393 }
 394
 395 void PSPlanner::fer_parallel()
 396 {
 397         this->cc().st(this->cc().wb() / this->cc().mtr());
 398         if (!this->ps().right())
 399                 this->cc().st(this->cc().st() * -1);
 400         this->cc().sp(0.01);
 401         this->cusps_.clear();
 402         while (!this->left()) {
 403                 while (!this->collide() && !this->left())
 404                         this->cc().next();
 405                 if (this->left() && !this->collide()) {
 406                         break;
 407                 } else {
 408                         this->cc().sp(this->cc().sp() * -1);
 409                         this->cc().next();
 410                         this->cc().st(this->cc().st() * -1);
 411                         this->c_++;
 412                         this->cusps_.push_back(this->cc());
 413                 }
 414         }
 415         if (this->cc().st() < 0) {
 416                 this->c_++;
 417                 this->cusps_.push_back(this->cc());
 418         }
 419 }
 420
 421 void PSPlanner::fer_perpendicular()
 422 {
 423         bool delta_use[] = {true, true, true};
 424         double cc_h = this->cc().h();
 425         double x;
 426         double y;
 427         // check inner radius
 428         if (this->forward()) {
 429                 x = this->ps().x1();
 430                 y = this->ps().y1();
 431         } else {
 432                 x = this->ps().x4();
 433                 y = this->ps().y4();
 434         }
 435         double x1;
 436         double y1;
 437         if (this->ps().right()) {
 438                 x1 = this->cc().ccr().x();
 439                 y1 = this->cc().ccr().y();
 440         } else {
 441                 x1 = this->cc().ccl().x();
 442                 y1 = this->cc().ccl().y();
 443         }
 444         double IR = this->cc().iradi();
 445         double a = 1;
 446         double b;
 447         if (this->forward())
 448                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 449         else
 450                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 451         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 452         double D = pow(b, 2) - 4 * a * c;
 453         double delta;
 454         delta = -b - sqrt(D);
 455         delta /= 2 * a;
 456         double delta_1 = delta;
 457         if (D < 0)
 458                 delta_use[0] = false;
 459         // check outer radius
 460         if (this->forward()) {
 461                 x = this->ps().x4();
 462                 y = this->ps().y4();
 463         } else {
 464                 x = this->ps().x1();
 465                 y = this->ps().y1();
 466         }
 467         IR = this->cc().ofradi();
 468         a = 1;
 469         if (this->forward())
 470                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 471         else
 472                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 473         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 474         D = pow(b, 2) - 4 * a * c;
 475         if (this->forward()) {
 476                 delta = -b + sqrt(D);
 477                 delta /= 2 * a;
 478         }
 479         double delta_2 = delta;
 480         if (D < 0)
 481                 delta_use[1] = false;
 482         delta = -b - sqrt(D);
 483         delta /= 2 * a;
 484         double delta_3 = delta;
 485         if (D < 0)
 486                 delta_use[2] = false;
 487         if (delta_use[0] && delta_use[1] && delta_use[22])
 488                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 489         else if (delta_use[0] && delta_use[1])
 490                 delta = std::max(delta_1, delta_2);
 491         else if (delta_use[0] && delta_use[2])
 492                 delta = std::max(delta_1, delta_3);
 493         else if (delta_use[1] && delta_use[2])
 494                 delta = std::max(delta_2, delta_3);
 495         else if (delta_use[0])
 496                 delta = delta_1;
 497         else if (delta_use[1])
 498                 delta = delta_2;
 499         else if (delta_use[2])
 500                 delta = delta_3;
 501         else
 502                 return;
 503         // current car `cc` can get out of slot with max steer
 504         this->cc().x(this->cc().x() + delta * cos(cc_h));
 505         this->cc().y(this->cc().y() + delta * sin(cc_h));
 506         this->cc().h(cc_h);
 507         // get current car `cc` out of slot
 508         if (this->forward())
 509                 this->cc().sp(-0.01);
 510         else
 511                 this->cc().sp(0.01);
 512         this->cc().st(this->cc().wb() / this->cc().mtr());
 513         if (this->ps().right())
 514                 this->cc().st(this->cc().st() * -1);
 515         while (!this->left()) {
 516                 while (!this->collide() && !this->left())
 517                         this->cc().next();
 518                 if (this->left() && !this->collide()) {
 519                         break;
 520                 } else {
 521                         this->cc().sp(this->cc().sp() * -1);
 522                         this->cc().next();
 523                         this->cc().st(this->cc().st() * -1);
 524                 }
 525         }
 526 }
 527
 528 PSPlanner::PSPlanner()
 529 {
 530 }