6 bool PSPlanner::collide()
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));
22 bool PSPlanner::forward()
24 double heading = this->ps().heading();
25 while (heading < 0) heading += 2 * M_PI;
26 if (!this->ps().parallel())
28 double h = this->gc().h();
29 while (h < 0) h += 2 * M_PI;
30 if (-0.00001 < heading - h && heading - h < 0.00001)
36 void PSPlanner::guess_gc()
38 double x = this->ps().x1();
39 double y = this->ps().y1();
40 double h = this->ps().heading();
41 double dts = + M_PI / 2; // direction to slot
42 if (this->ps().right())
44 if (this->ps().parallel()) {
45 x += (this->gc().w() + 0.01) * cos(h + dts);
46 x += (this->gc().dr() + 0.01) * cos(h);
47 y += (this->gc().w() + 0.01) * sin(h + dts);
48 y += (this->gc().dr() + 0.01) * sin(h);
50 x += (this->ps().x4() - this->ps().x1()) / 2;
51 x += (this->gc().df() + 0.01) * cos(h + dts);
52 y += (this->ps().y4() - this->ps().y1()) / 2;
53 y += (this->gc().df() + 0.01) * sin(h + dts);
54 if (this->ps().right())
68 bool PSPlanner::left()
70 double lfx = this->cc().lfx();
71 double lfy = this->cc().lfy();
72 double lrx = this->cc().lrx();
73 double lry = this->cc().lry();
74 double rrx = this->cc().rrx();
75 double rry = this->cc().rry();
76 double rfx = this->cc().rfx();
77 double rfy = this->cc().rfy();
79 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
80 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
83 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
84 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
87 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
88 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
91 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
92 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
94 if (this->ps().parallel())
95 return lfs == rfs && (lfs != lrs || lfs != rrs);
96 else if (!this->forward())
97 return lfs == rfs && (lfs != lrs || lfs != rrs);
99 return lrs == rrs && (lrs != lfs || lrs != rfs);
102 bool PSPlanner::parked()
104 std::vector<std::tuple<double, double>> slot;
105 slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
106 slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
107 slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
108 slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
109 return inside(this->gc().lfx(), this->gc().lfy(), slot)
110 && inside(this->gc().lrx(), this->gc().lry(), slot)
111 && inside(this->gc().rrx(), this->gc().rry(), slot)
112 && inside(this->gc().rfx(), this->gc().rfy(), slot);
118 if (this->ps().parallel())
119 return this->fe_parallel();
121 return this->fe_perpendicular();
124 void PSPlanner::fe_parallel()
126 // angle for distance from "entry" corner
127 double dist_angl = this->ps().heading() + M_PI;
128 dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
129 // set bicycle car `bci` basic dimensions and heading
130 BicycleCar bci = BicycleCar(this->gc());
131 BicycleCar bco = BicycleCar(this->gc());
132 bci.h(this->ps().heading());
133 // move 0.01 from the "entry" corner
134 bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
135 bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
136 // align with parking "top" of slot (move backward)
137 dist_angl = bci.h() + M_PI;
138 bci.x(bci.x() + bci.df() * cos(dist_angl));
139 bci.y(bci.y() + bci.df() * sin(dist_angl));
140 // align with "entry" to pakring slot (move outside)
141 dist_angl = this->ps().heading();
142 dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
143 bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
144 bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
145 // BFS - init all starts
146 // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
147 double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
148 if (this->ps().right())
149 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
151 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
152 double DIST_ANGL = dist_angl;
153 std::queue<BicycleCar, std::list<BicycleCar>> q;
157 && dist_angl < DIST_ANGL + 3 * M_PI / 4
161 && dist_angl > DIST_ANGL - 3 * M_PI / 4
164 this->cc() = BicycleCar(bci);
165 if (this->ps().right()) {
166 this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
167 this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
169 this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
170 this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
172 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
173 if (!this->collide()) {
174 this->cc().st(this->cc().wb() / this->cc().mtr());
175 if (!this->ps().right())
176 this->cc().st(this->cc().st() * -1);
177 this->cc().sp(-0.01);
178 q.push(BicycleCar(this->cc()));
180 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
182 // BFS - find entry current car `cc` and corresponding goal car `gc`
183 unsigned int iter_cntr;
184 while (!q.empty() && iter_cntr < 9) {
185 this->cc() = BicycleCar(q.front());
190 this->cc().h() - this->ps().heading()
194 this->cc().sp(this->cc().sp() * -1);
196 this->gc() = BicycleCar(this->cc());
199 this->cc().st(this->cc().st() * -1);
200 q.push(BicycleCar(this->cc()));
201 if (sgn(this->cc().st()) == sgn(q.front().st()))
205 this->gc() = BicycleCar(bco);
207 return this->fer_parallel();
210 void PSPlanner::fe_perpendicular()
212 // TODO Try multiple angles when going from parking slot.
214 // Do not use just the maximum steer angle. Test angles
215 // until the whole current car `cc` is out of the parking
218 // Another approach could be testing angles from the
219 // beginning of the escape parkig slot maneuver.
220 return fer_perpendicular();
223 void PSPlanner::fer()
225 if (this->ps().parallel())
226 return this->fer_parallel();
228 return this->fer_perpendicular();
231 void PSPlanner::fer_parallel()
233 this->cc().st(this->cc().wb() / this->cc().mtr());
234 if (!this->ps().right())
235 this->cc().st(this->cc().st() * -1);
237 while (!this->left()) {
238 while (!this->collide() && !this->left())
240 if (this->left() && !this->collide()) {
243 this->cc().sp(this->cc().sp() * -1);
245 this->cc().st(this->cc().st() * -1);
250 void PSPlanner::fer_perpendicular()
252 double cc_h = this->cc().h();
255 // check inner radius
256 if (this->forward()) {
265 if (this->ps().right()) {
266 x1 = this->cc().ccr().x();
267 y1 = this->cc().ccr().y();
269 x1 = this->cc().ccl().x();
270 y1 = this->cc().ccl().y();
272 double IR = this->cc().iradi();
276 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
278 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
279 double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
280 double D = D = pow(b, 2) - 4 * a * c;
282 delta = -b - sqrt(D);
284 double delta_1 = delta;
285 // check outer radius
286 if (this->forward()) {
293 IR = this->cc().ofradi();
296 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
298 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
299 c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
300 D = pow(b, 2) - 4 * a * c;
301 if (this->forward()) {
302 delta = -b + sqrt(D);
305 double delta_2 = delta;
306 delta = -b - sqrt(D);
308 double delta_3 = delta;
309 delta = std::max(delta_1, std::max(delta_2, delta_3));
310 // current car `cc` can get out of slot with max steer
311 this->cc().x(this->cc().x() + delta * cos(cc_h));
312 this->cc().y(this->cc().y() + delta * sin(cc_h));
314 // get current car `cc` out of slot
319 this->cc().st(this->cc().wb() / this->cc().mtr());
320 if (this->ps().right())
321 this->cc().st(this->cc().st() * -1);
322 while (!this->left()) {
323 while (!this->collide() && !this->left())
325 if (this->left() && !this->collide()) {
328 this->cc().sp(this->cc().sp() * -1);
330 this->cc().st(this->cc().st() * -1);
335 PSPlanner::PSPlanner()