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                 dts *= 0.99; // precision workaround
 100                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 101                 x += (this->gc().dr() + 0.01) * cos(h);
 102                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 103                 y += (this->gc().dr() + 0.01) * sin(h);
 104         } else {
 105                 if (std::abs(
 106                         atan2(
 107                                 this->ps().y2() - this->ps().y1(),
 108                                 this->ps().x2() - this->ps().x1()
 109                         )
 110                         - this->ps().heading()
 111                 ) < M_PI / 2) {
 112                         // forward parking
 113                         x = this->ps().x4();
 114                         y = this->ps().y4();
 115                         h = dts;
 116                         x += (this->gc().dr() + 0.01) * cos(h);
 117                         y += (this->gc().dr() + 0.01) * sin(h);
 118                         if (this->ps().right())
 119                                 dts -= M_PI / 2;
 120                         else
 121                                 dts += M_PI / 2;
 122                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 123                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 124                 } else {
 125                         dts = atan2(
 126                                 this->ps().y2() - this->ps().y1(),
 127                                 this->ps().x2() - this->ps().x1()
 128                         );
 129                         dts *= 1.01; // precision workaround
 130                         // backward parking
 131                         h = dts + M_PI;
 132                         x += -(this->gc().df() + 0.01) * cos(h);
 133                         y += -(this->gc().df() + 0.01) * sin(h);
 134                         if (this->ps().right())
 135                                 dts += M_PI / 2;
 136                         else
 137                                 dts -= M_PI / 2;
 138                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 139                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 140                 }
 141         }
 142         while (h > M_PI)
 143                 h -= 2 * M_PI;
 144         while (h <= -M_PI)
 145                 h += 2 * M_PI;
 146         this->gc().x(x);
 147         this->gc().y(y);
 148         this->gc().h(h);
 149 }
 150
 151 bool PSPlanner::left()
 152 {
 153         double lfx = this->cc().lfx();
 154         double lfy = this->cc().lfy();
 155         double lrx = this->cc().lrx();
 156         double lry = this->cc().lry();
 157         double rrx = this->cc().rrx();
 158         double rry = this->cc().rry();
 159         double rfx = this->cc().rfx();
 160         double rfy = this->cc().rfy();
 161         double lfs = sgn(
 162                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 163                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 164         );
 165         double lrs = sgn(
 166                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 167                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 168         );
 169         double rrs = sgn(
 170                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 171                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 172         );
 173         double rfs = sgn(
 174                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 175                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 176         );
 177         if (this->ps().parallel())
 178                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 179         else if (!this->forward())
 180                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 181         else
 182                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 183 }
 184
 185 bool PSPlanner::parked()
 186 {
 187         std::vector<std::tuple<double, double>> slot;
 188         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 189         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 190         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 191         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 192         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 193                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 194                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 195                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 196 }
 197
 198 std::vector<BicycleCar> PSPlanner::possible_inits(
 199         unsigned int cnt,
 200         double dist
 201 )
 202 {
 203         std::vector<BicycleCar> pi;
 204         this->cc().sp(this->cc().sp() * dist);
 205         this->cc().st(this->cc().st() * 1);
 206         BicycleCar orig_cc(this->cc());
 207         for (unsigned int i = 0; i < cnt; i++) {
 208                 this->cc().next();
 209                 pi.push_back(BicycleCar(this->cc()));
 210         }
 211         this->cc() = BicycleCar(orig_cc);
 212         return pi;
 213 }
 214
 215 // find entry
 216 void PSPlanner::fe()
 217 {
 218         if (this->ps().parallel())
 219                 return this->fe_parallel();
 220         else
 221                 return this->fe_perpendicular();
 222 }
 223
 224 void PSPlanner::fe_parallel()
 225 {
 226         // angle for distance from "entry" corner
 227         double dist_angl = this->ps().heading() + M_PI;
 228         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 229         // set bicycle car `bci` basic dimensions and heading
 230         BicycleCar bci = BicycleCar(this->gc());
 231         BicycleCar bco = BicycleCar(this->gc());
 232         bci.h(this->ps().heading());
 233         // move 0.01 from the "entry" corner
 234         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 235         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 236         // align with parking "top" of slot (move backward)
 237         dist_angl = bci.h() + M_PI;
 238         bci.x(bci.x() + bci.df() * cos(dist_angl));
 239         bci.y(bci.y() + bci.df() * sin(dist_angl));
 240         // align with "entry" to pakring slot (move outside)
 241         dist_angl = this->ps().heading();
 242         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 243         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 244         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 245         // set default speed, steer
 246         bci.st(bci.wb() / bci.mtr());
 247         if (!this->ps().right())
 248                 bci.st(bci.st() * -1);
 249         bci.sp(-0.01);
 250         // BFS - init all starts
 251         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 252         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 253         if (this->ps().right())
 254                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 255         else
 256                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 257         double DIST_ANGL = dist_angl;
 258         std::queue<BicycleCar, std::list<BicycleCar>> q;
 259         while (
 260                 (
 261                         this->ps().right()
 262                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 263                 )
 264                 || (
 265                         !this->ps().right()
 266                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 267                 )
 268         ) {
 269                 this->cc() = BicycleCar(bci);
 270                 if (this->ps().right()) {
 271                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 272                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 273                 } else {
 274                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 275                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 276                 }
 277                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 278                 if (!this->collide()) {
 279                         q.push(BicycleCar(this->cc()));
 280                 }
 281                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 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 < 9) {
 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         if (this->ps().parallel())
 336                 return this->fer_parallel();
 337         else
 338                 return this->fer_perpendicular();
 339 }
 340
 341 void PSPlanner::fer_parallel()
 342 {
 343         this->cc().st(this->cc().wb() / this->cc().mtr());
 344         if (!this->ps().right())
 345                 this->cc().st(this->cc().st() * -1);
 346         this->cc().sp(0.01);
 347         while (!this->left()) {
 348                 while (!this->collide() && !this->left())
 349                         this->cc().next();
 350                 if (this->left() && !this->collide()) {
 351                         break;
 352                 } else {
 353                         this->cc().sp(this->cc().sp() * -1);
 354                         this->cc().next();
 355                         this->cc().st(this->cc().st() * -1);
 356                 }
 357         }
 358 }
 359
 360 void PSPlanner::fer_perpendicular()
 361 {
 362         bool delta_use[] = {true, true, true};
 363         double cc_h = this->cc().h();
 364         double x;
 365         double y;
 366         // check inner radius
 367         if (this->forward()) {
 368                 x = this->ps().x1();
 369                 y = this->ps().y1();
 370         } else {
 371                 x = this->ps().x4();
 372                 y = this->ps().y4();
 373         }
 374         double x1;
 375         double y1;
 376         if (this->ps().right()) {
 377                 x1 = this->cc().ccr().x();
 378                 y1 = this->cc().ccr().y();
 379         } else {
 380                 x1 = this->cc().ccl().x();
 381                 y1 = this->cc().ccl().y();
 382         }
 383         double IR = this->cc().iradi();
 384         double a = 1;
 385         double b;
 386         if (this->forward())
 387                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 388         else
 389                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 390         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 391         double D = pow(b, 2) - 4 * a * c;
 392         double delta;
 393         delta = -b - sqrt(D);
 394         delta /= 2 * a;
 395         double delta_1 = delta;
 396         if (D < 0)
 397                 delta_use[0] = false;
 398         // check outer radius
 399         if (this->forward()) {
 400                 x = this->ps().x4();
 401                 y = this->ps().y4();
 402         } else {
 403                 x = this->ps().x1();
 404                 y = this->ps().y1();
 405         }
 406         IR = this->cc().ofradi();
 407         a = 1;
 408         if (this->forward())
 409                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 410         else
 411                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 412         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 413         D = pow(b, 2) - 4 * a * c;
 414         if (this->forward()) {
 415                 delta = -b + sqrt(D);
 416                 delta /= 2 * a;
 417         }
 418         double delta_2 = delta;
 419         if (D < 0)
 420                 delta_use[1] = false;
 421         delta = -b - sqrt(D);
 422         delta /= 2 * a;
 423         double delta_3 = delta;
 424         if (D < 0)
 425                 delta_use[2] = false;
 426         if (delta_use[0] && delta_use[1] && delta_use[22])
 427                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 428         else if (delta_use[0] && delta_use[1])
 429                 delta = std::max(delta_1, delta_2);
 430         else if (delta_use[0] && delta_use[2])
 431                 delta = std::max(delta_1, delta_3);
 432         else if (delta_use[1] && delta_use[2])
 433                 delta = std::max(delta_2, delta_3);
 434         else if (delta_use[0])
 435                 delta = delta_1;
 436         else if (delta_use[1])
 437                 delta = delta_2;
 438         else if (delta_use[2])
 439                 delta = delta_3;
 440         else
 441                 return;
 442         // current car `cc` can get out of slot with max steer
 443         this->cc().x(this->cc().x() + delta * cos(cc_h));
 444         this->cc().y(this->cc().y() + delta * sin(cc_h));
 445         this->cc().h(cc_h);
 446         // get current car `cc` out of slot
 447         if (this->forward())
 448                 this->cc().sp(-0.01);
 449         else
 450                 this->cc().sp(0.01);
 451         this->cc().st(this->cc().wb() / this->cc().mtr());
 452         if (this->ps().right())
 453                 this->cc().st(this->cc().st() * -1);
 454         while (!this->left()) {
 455                 while (!this->collide() && !this->left())
 456                         this->cc().next();
 457                 if (this->left() && !this->collide()) {
 458                         break;
 459                 } else {
 460                         this->cc().sp(this->cc().sp() * -1);
 461                         this->cc().next();
 462                         this->cc().st(this->cc().st() * -1);
 463                 }
 464         }
 465 }
 466
 467 PSPlanner::PSPlanner()
 468 {
 469 }