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::left()
  23 {
  24         double lfx = this->cc().lfx();
  25         double lfy = this->cc().lfy();
  26         double lrx = this->cc().lrx();
  27         double lry = this->cc().lry();
  28         double rrx = this->cc().rrx();
  29         double rry = this->cc().rry();
  30         double rfx = this->cc().rfx();
  31         double rfy = this->cc().rfy();
  32         double lfs = sgn(
  33                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  34                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  35         );
  36         double lrs = sgn(
  37                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  38                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  39         );
  40         double rrs = sgn(
  41                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  42                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  43         );
  44         double rfs = sgn(
  45                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
  46                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
  47         );
  48         if (this->ps().parallel())
  49                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  50         else if (!this->forward())
  51                 return lfs == rfs && (lfs != lrs || lfs != rrs);
  52         else
  53                 return lrs == rrs && (lrs != lfs || lrs != rfs);
  54 }
  55
  56 bool PSPlanner::parked()
  57 {
  58         std::vector<std::tuple<double, double>> slot;
  59         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
  60         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
  61         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
  62         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
  63         return inside(this->gc().lfx(), this->gc().lfy(), slot)
  64                 && inside(this->gc().lrx(), this->gc().lry(), slot)
  65                 && inside(this->gc().rrx(), this->gc().rry(), slot)
  66                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
  67 }
  68
  69 // find entry
  70 void PSPlanner::fe()
  71 {
  72         if (this->ps().parallel())
  73                 return this->fe_parallel();
  74         else
  75                 return this->fe_perpendicular();
  76 }
  77
  78 void PSPlanner::fe_parallel()
  79 {
  80         // angle for distance from "entry" corner
  81         double dist_angl = this->ps().heading() + M_PI;
  82         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
  83         // set bicycle car `bci` basic dimensions and heading
  84         BicycleCar bci = BicycleCar(this->gc());
  85         BicycleCar bco = BicycleCar(this->gc());
  86         bci.h(this->ps().heading());
  87         // move 0.01 from the "entry" corner
  88         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
  89         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
  90         // align with parking "top" of slot (move backward)
  91         dist_angl = bci.h() + M_PI;
  92         bci.x(bci.x() + bci.df() * cos(dist_angl));
  93         bci.y(bci.y() + bci.df() * sin(dist_angl));
  94         // align with "entry" to pakring slot (move outside)
  95         dist_angl = this->ps().heading();
  96         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
  97         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
  98         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
  99         // BFS - init all starts
 100         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 101         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 102         if (this->ps().right())
 103                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 104         else
 105                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 106         double DIST_ANGL = dist_angl;
 107         std::queue<BicycleCar, std::list<BicycleCar>> q;
 108         while (
 109                 (
 110                         this->ps().right()
 111                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 112                 )
 113                 || (
 114                         !this->ps().right()
 115                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 116                 )
 117         ) {
 118                 this->cc() = BicycleCar(bci);
 119                 if (this->ps().right()) {
 120                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 121                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 122                 } else {
 123                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 124                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 125                 }
 126                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 127                 if (!this->collide()) {
 128                         this->cc().st(this->cc().wb() / this->cc().mtr());
 129                         if (!this->ps().right())
 130                                 this->cc().st(this->cc().st() * -1);
 131                         this->cc().sp(-0.01);
 132                         q.push(BicycleCar(this->cc()));
 133                 }
 134                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 135         }
 136         // BFS - find entry current car `cc` and corresponding goal car `gc`
 137         unsigned int iter_cntr;
 138         while (!q.empty() && iter_cntr < 9) {
 139                 this->cc() = BicycleCar(q.front());
 140                 q.pop();
 141                 while (
 142                         !this->collide()
 143                         && (std::abs(
 144                                 this->cc().h() - this->ps().heading()
 145                         ) < M_PI / 2)
 146                 )
 147                         this->cc().next();
 148                 this->cc().sp(this->cc().sp() * -1);
 149                 this->cc().next();
 150                 this->gc() = BicycleCar(this->cc());
 151                 if (this->parked())
 152                         goto successfinish;
 153                 this->cc().st(this->cc().st() * -1);
 154                 q.push(BicycleCar(this->cc()));
 155                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 156                         iter_cntr++;
 157         }
 158         // fallback to fer
 159         this->gc() = BicycleCar(bco);
 160 successfinish:
 161         return this->fer_parallel();
 162 }
 163
 164 void PSPlanner::fe_perpendicular()
 165 {
 166         // TODO Try multiple angles when going from parking slot.
 167         //
 168         //      Do not use just the maximum steer angle. Test angles
 169         //      until the whole current car `cc` is out of the parking
 170         //      slot `ps`.
 171         //
 172         //      Another approach could be testing angles from the
 173         //      beginning of the escape parkig slot maneuver.
 174         return fer_perpendicular();
 175 }
 176
 177 void PSPlanner::fer()
 178 {
 179         if (this->ps().parallel())
 180                 return this->fer_parallel();
 181         else
 182                 return this->fer_perpendicular();
 183 }
 184
 185 void PSPlanner::fer_parallel()
 186 {
 187         this->cc().st(this->cc().wb() / this->cc().mtr());
 188         if (!this->ps().right())
 189                 this->cc().st(this->cc().st() * -1);
 190         this->cc().sp(0.01);
 191         while (!this->left()) {
 192                 while (!this->collide() && !this->left())
 193                         this->cc().next();
 194                 if (this->left() && !this->collide()) {
 195                         break;
 196                 } else {
 197                         this->cc().sp(this->cc().sp() * -1);
 198                         this->cc().next();
 199                         this->cc().st(this->cc().st() * -1);
 200                 }
 201         }
 202 }
 203
 204 void PSPlanner::fer_perpendicular()
 205 {
 206         double cc_h = this->cc().h();
 207         double x;
 208         double y;
 209         // check inner radius
 210         if (this->forward()) {
 211                 x = this->ps().x1();
 212                 y = this->ps().y1();
 213         } else {
 214                 x = this->ps().x4();
 215                 y = this->ps().y4();
 216         }
 217         double x1;
 218         double y1;
 219         if (this->ps().right()) {
 220                 x1 = this->cc().ccr().x();
 221                 y1 = this->cc().ccr().y();
 222         } else {
 223                 x1 = this->cc().ccl().x();
 224                 y1 = this->cc().ccl().y();
 225         }
 226         double IR = this->cc().iradi();
 227         double a = 1;
 228         double b;
 229         if (this->forward())
 230                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 231         else
 232                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 233         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 234         double D = D = pow(b, 2) - 4 * a * c;
 235         double delta;
 236         delta = -b - sqrt(D);
 237         delta /= 2 * a;
 238         double delta_1 = delta;
 239         // check outer radius
 240         if (this->forward()) {
 241                 x = this->ps().x4();
 242                 y = this->ps().y4();
 243         } else {
 244                 x = this->ps().x1();
 245                 y = this->ps().y1();
 246         }
 247         IR = this->cc().ofradi();
 248         a = 1;
 249         if (this->forward())
 250                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 251         else
 252                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 253         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 254         D = pow(b, 2) - 4 * a * c;
 255         if (this->forward()) {
 256                 delta = -b + sqrt(D);
 257                 delta /= 2 * a;
 258         }
 259         double delta_2 = delta;
 260         delta = -b - sqrt(D);
 261         delta /= 2 * a;
 262         double delta_3 = delta;
 263         delta = std::max(delta_1, std::max(delta_2, delta_3));
 264         // current car `cc` can get out of slot with max steer
 265         this->cc().x(this->cc().x() + delta * cos(cc_h));
 266         this->cc().y(this->cc().y() + delta * sin(cc_h));
 267         this->cc().h(cc_h);
 268         // get current car `cc` out of slot
 269         if (this->forward())
 270                 this->cc().sp(-0.1);
 271         else
 272                 this->cc().sp(0.1);
 273         this->cc().st(this->cc().wb() / this->cc().mtr());
 274         if (this->ps().right())
 275                 this->cc().st(this->cc().st() * -1);
 276         while (!this->left()) {
 277                 while (!this->collide() && !this->left())
 278                         this->cc().next();
 279                 if (this->left() && !this->collide()) {
 280                         break;
 281                 } else {
 282                         this->cc().sp(this->cc().sp() * -1);
 283                         this->cc().next();
 284                         this->cc().st(this->cc().st() * -1);
 285                 }
 286         }
 287 }
 288
 289 bool PSPlanner::forward()
 290 {
 291         double heading = this->ps().heading();
 292         while (heading < 0) heading += 2 * M_PI;
 293         if (!this->ps().parallel())
 294                 heading -= M_PI / 2;
 295         double h = this->gc().h();
 296         while (h < 0) h += 2 * M_PI;
 297         if (-0.00001 < heading - h && heading - h < 0.00001)
 298                 return true;
 299         else
 300                 return false;
 301 }
 302
 303 PSPlanner::PSPlanner()
 304 {
 305 }