src/psp.cc

   1 #include <cmath>
   2 #include <list>
   3 #include <queue>
   4 #include "psp.h"
   5
   6 #ifdef USE_SOLID
   7         #define USE_QUADS
   8         #include <SOLID/solid.h>
   9         #include <3D/Point.h>
  10         #include <3D/Quaternion.h>
  11         void do_nothing(
  12                 void *client_data,
  13                 DtObjectRef obj1,
  14                 DtObjectRef obj2,
  15                 const DtCollData *coll_data
  16         )
  17         {
  18         }
  19 #endif /* USE_SOLID */
  20
  21 bool PSPlanner::collide()
  22 {
  23 #ifdef USE_SOLID
  24         // create shapes
  25         DtShapeRef bcbox = dtBox(this->cc().w(), this->cc().l(), 1);
  26         DtShapeRef tbox = dtBox(
  27                 sqrt(
  28                         pow(this->ps().x4() - this->ps().x3(), 2)
  29                         + pow(this->ps().y4() - this->ps().y3(), 2)
  30                 ),
  31                 2,
  32                 1
  33         ); // for top and bottom
  34         DtShapeRef rbox = dtBox(
  35                 2,
  36                 sqrt(
  37                         pow(this->ps().x4() - this->ps().x1(), 2)
  38                         + pow(this->ps().y4() - this->ps().y1(), 2)
  39                 ) + 2 * 2,
  40                 1
  41         ); // for right and left
  42         // create objects
  43         dtCreateObject(&this->cc(), bcbox);
  44         double ps_b = 0;
  45         double ps_t = 0;
  46         dtCreateObject(&ps_b, tbox);
  47         dtCreateObject(&ps_t, tbox);
  48         dtDisableCaching();
  49         dtSetDefaultResponse(do_nothing, DT_SIMPLE_RESPONSE, stdout);
  50         // properly position objects
  51         dtSelectObject(&this->cc());
  52         dtLoadIdentity();
  53         Quaternion cc_q(-this->cc().h(), 0, 0);
  54         dtRotate(cc_q[X], cc_q[Y], cc_q[Z], cc_q[W]);
  55         double center_shift = this->cc().l() / 2 - this->cc().dr();
  56         dtTranslate(
  57                 this->cc().x() + center_shift * cos(this->cc().h()),
  58                 this->cc().y() + center_shift * sin(this->cc().h()),
  59                 0
  60         );
  61         dtSelectObject(&ps_b);
  62         dtLoadIdentity();
  63         cc_q = Quaternion(-this->ps().heading(), 0, 0);
  64         dtRotate(cc_q[X], cc_q[Y], cc_q[Z], cc_q[W]);
  65         center_shift = - 2 / 2;
  66         dtTranslate(
  67                 this->ps().x1()
  68                 + (this->ps().x2() - this->ps().x1()) / 2
  69                 + center_shift * cos(this->ps().heading()),
  70                 this->ps().y1()
  71                 + (this->ps().y2() - this->ps().y1()) / 2
  72                 + center_shift * sin(this->ps().heading()),
  73                 0
  74         );
  75         dtSelectObject(&ps_t);
  76         dtLoadIdentity();
  77         cc_q = Quaternion(-this->ps().heading(), 0, 0);
  78         dtRotate(cc_q[X], cc_q[Y], cc_q[Z], cc_q[W]);
  79         center_shift = 2 / 2;
  80         dtTranslate(
  81                 this->ps().x4()
  82                 + (this->ps().x3() - this->ps().x4()) / 2
  83                 + center_shift * cos(this->ps().heading()),
  84                 this->ps().y4()
  85                 + (this->ps().y3() - this->ps().y4()) / 2
  86                 + center_shift * sin(this->ps().heading()),
  87                 0
  88         );
  89         // check collisions
  90         bool collide = true;
  91         if (dtTest() == 0)
  92                 collide = false;
  93         // delete shapes and objects
  94         dtDeleteObject(&this->cc());
  95         dtDeleteObject(&ps_b);
  96         dtDeleteObject(&ps_t);
  97         dtDeleteShape(bcbox);
  98         dtDeleteShape(tbox);
  99         dtDeleteShape(rbox);
 100         return collide;
 101 #else /* USE_SOLID */
 102         if(std::get<0>(intersect(
 103                 this->cc().lfx(), this->cc().lfy(),
 104                 this->cc().lrx(), this->cc().lry(),
 105                 this->ps().x1(), this->ps().y1(),
 106                 this->ps().x2(), this->ps().y2()
 107         )))
 108                 return true;
 109         if(std::get<0>(intersect(
 110                 this->cc().rfx(), this->cc().rfy(),
 111                 this->cc().rrx(), this->cc().rry(),
 112                 this->ps().x1(), this->ps().y1(),
 113                 this->ps().x2(), this->ps().y2()
 114         )))
 115                 return true;
 116         if(std::get<0>(intersect(
 117                 this->cc().lfx(), this->cc().lfy(),
 118                 this->cc().rfx(), this->cc().rfy(),
 119                 this->ps().x1(), this->ps().y1(),
 120                 this->ps().x2(), this->ps().y2()
 121         )))
 122                 return true;
 123         if(std::get<0>(intersect(
 124                 this->cc().lrx(), this->cc().lry(),
 125                 this->cc().rrx(), this->cc().rry(),
 126                 this->ps().x1(), this->ps().y1(),
 127                 this->ps().x2(), this->ps().y2()
 128         )))
 129                 return true;
 130         if(std::get<0>(intersect(
 131                 this->cc().lfx(), this->cc().lfy(),
 132                 this->cc().lrx(), this->cc().lry(),
 133                 this->ps().x2(), this->ps().y2(),
 134                 this->ps().x3(), this->ps().y3()
 135         )))
 136                 return true;
 137         if(std::get<0>(intersect(
 138                 this->cc().rfx(), this->cc().rfy(),
 139                 this->cc().rrx(), this->cc().rry(),
 140                 this->ps().x2(), this->ps().y2(),
 141                 this->ps().x3(), this->ps().y3()
 142         )))
 143                 return true;
 144         if(std::get<0>(intersect(
 145                 this->cc().lfx(), this->cc().lfy(),
 146                 this->cc().rfx(), this->cc().rfy(),
 147                 this->ps().x2(), this->ps().y2(),
 148                 this->ps().x3(), this->ps().y3()
 149         )))
 150                 return true;
 151         if(std::get<0>(intersect(
 152                 this->cc().lrx(), this->cc().lry(),
 153                 this->cc().rrx(), this->cc().rry(),
 154                 this->ps().x2(), this->ps().y2(),
 155                 this->ps().x3(), this->ps().y3()
 156         )))
 157                 return true;
 158         if(std::get<0>(intersect(
 159                 this->cc().lfx(), this->cc().lfy(),
 160                 this->cc().lrx(), this->cc().lry(),
 161                 this->ps().x3(), this->ps().y3(),
 162                 this->ps().x4(), this->ps().y4()
 163         )))
 164                 return true;
 165         if(std::get<0>(intersect(
 166                 this->cc().rfx(), this->cc().rfy(),
 167                 this->cc().rrx(), this->cc().rry(),
 168                 this->ps().x3(), this->ps().y3(),
 169                 this->ps().x4(), this->ps().y4()
 170         )))
 171                 return true;
 172         if(std::get<0>(intersect(
 173                 this->cc().lfx(), this->cc().lfy(),
 174                 this->cc().rfx(), this->cc().rfy(),
 175                 this->ps().x3(), this->ps().y3(),
 176                 this->ps().x4(), this->ps().y4()
 177         )))
 178                 return true;
 179         if(std::get<0>(intersect(
 180                 this->cc().lrx(), this->cc().lry(),
 181                 this->cc().rrx(), this->cc().rry(),
 182                 this->ps().x3(), this->ps().y3(),
 183                 this->ps().x4(), this->ps().y4()
 184         )))
 185                 return true;
 186         return false;
 187 #endif /* USE_SOLID */
 188 }
 189
 190 bool PSPlanner::left()
 191 {
 192         double lfx = this->cc().lfx();
 193         double lfy = this->cc().lfy();
 194         double lrx = this->cc().lrx();
 195         double lry = this->cc().lry();
 196         double rrx = this->cc().rrx();
 197         double rry = this->cc().rry();
 198         double rfx = this->cc().rfx();
 199         double rfy = this->cc().rfy();
 200         double lfs = sgn(
 201                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 202                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 203         );
 204         double lrs = sgn(
 205                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 206                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 207         );
 208         double rrs = sgn(
 209                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 210                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 211         );
 212         double rfs = sgn(
 213                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 214                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 215         );
 216         if (this->ps().parallel())
 217                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 218         else if (!this->forward())
 219                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 220         else
 221                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 222 }
 223
 224 bool PSPlanner::parked()
 225 {
 226         std::vector<std::tuple<double, double>> slot;
 227         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 228         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 229         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 230         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 231         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 232                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 233                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 234                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 235 }
 236
 237 // find entry
 238 void PSPlanner::fe()
 239 {
 240         if (this->ps().parallel())
 241                 return this->fe_parallel();
 242         else
 243                 return this->fe_perpendicular();
 244 }
 245
 246 void PSPlanner::fe_parallel()
 247 {
 248         // angle for distance from "entry" corner
 249         double dist_angl = this->ps().heading() + M_PI;
 250         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 251         // set bicycle car `bci` basic dimensions and heading
 252         BicycleCar bci = BicycleCar(this->gc());
 253         BicycleCar bco = BicycleCar(this->gc());
 254         bci.h(this->ps().heading());
 255         // move 0.01 from the "entry" corner
 256         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 257         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 258         // align with parking "top" of slot (move backward)
 259         dist_angl = bci.h() + M_PI;
 260         bci.x(bci.x() + bci.df() * cos(dist_angl));
 261         bci.y(bci.y() + bci.df() * sin(dist_angl));
 262         // align with "entry" to pakring slot (move outside)
 263         dist_angl = this->ps().heading();
 264         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 265         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 266         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 267         // BFS - init all starts
 268         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 269         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 270         if (this->ps().right())
 271                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 272         else
 273                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 274         double DIST_ANGL = dist_angl;
 275         std::queue<BicycleCar, std::list<BicycleCar>> q;
 276         while (
 277                 (
 278                         this->ps().right()
 279                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 280                 )
 281                 || (
 282                         !this->ps().right()
 283                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 284                 )
 285         ) {
 286                 this->cc() = BicycleCar(bci);
 287                 if (this->ps().right()) {
 288                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 289                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 290                 } else {
 291                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 292                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 293                 }
 294                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 295                 if (!this->collide()) {
 296                         this->cc().st(this->cc().wb() / this->cc().mtr());
 297                         if (!this->ps().right())
 298                                 this->cc().st(this->cc().st() * -1);
 299                         this->cc().sp(-0.01);
 300                         q.push(BicycleCar(this->cc()));
 301                 }
 302                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 303         }
 304         // BFS - find entry current car `cc` and corresponding goal car `gc`
 305         unsigned int iter_cntr;
 306         while (!q.empty() && iter_cntr < 9) {
 307                 this->cc() = BicycleCar(q.front());
 308                 q.pop();
 309                 while (
 310                         !this->collide()
 311                         && (std::abs(
 312                                 this->cc().h() - this->ps().heading()
 313                         ) < M_PI / 2)
 314                 )
 315                         this->cc().next();
 316                 this->cc().sp(this->cc().sp() * -1);
 317                 this->cc().next();
 318                 this->gc() = BicycleCar(this->cc());
 319                 if (this->parked())
 320                         goto successfinish;
 321                 this->cc().st(this->cc().st() * -1);
 322                 q.push(BicycleCar(this->cc()));
 323                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 324                         iter_cntr++;
 325         }
 326         // fallback to fer
 327         this->gc() = BicycleCar(bco);
 328 successfinish:
 329         return this->fer_parallel();
 330 }
 331
 332 void PSPlanner::fe_perpendicular()
 333 {
 334         // TODO Try multiple angles when going from parking slot.
 335         //
 336         //      Do not use just the maximum steer angle. Test angles
 337         //      until the whole current car `cc` is out of the parking
 338         //      slot `ps`.
 339         //
 340         //      Another approach could be testing angles from the
 341         //      beginning of the escape parkig slot maneuver.
 342         return fer_perpendicular();
 343 }
 344
 345 void PSPlanner::fer()
 346 {
 347         if (this->ps().parallel())
 348                 return this->fer_parallel();
 349         else
 350                 return this->fer_perpendicular();
 351 }
 352
 353 void PSPlanner::fer_parallel()
 354 {
 355         this->cc().st(this->cc().wb() / this->cc().mtr());
 356         if (!this->ps().right())
 357                 this->cc().st(this->cc().st() * -1);
 358         this->cc().sp(0.01);
 359         while (!this->left()) {
 360                 while (!this->collide() && !this->left())
 361                         this->cc().next();
 362                 if (this->left() && !this->collide()) {
 363                         break;
 364                 } else {
 365                         this->cc().sp(this->cc().sp() * -1);
 366                         this->cc().next();
 367                         this->cc().st(this->cc().st() * -1);
 368                 }
 369         }
 370 }
 371
 372 void PSPlanner::fer_perpendicular()
 373 {
 374         double cc_h = this->cc().h();
 375         double x;
 376         double y;
 377         // check inner radius
 378         if (this->forward()) {
 379                 x = this->ps().x1();
 380                 y = this->ps().y1();
 381         } else {
 382                 x = this->ps().x4();
 383                 y = this->ps().y4();
 384         }
 385         double x1;
 386         double y1;
 387         if (this->ps().right()) {
 388                 x1 = this->cc().ccr().x();
 389                 y1 = this->cc().ccr().y();
 390         } else {
 391                 x1 = this->cc().ccl().x();
 392                 y1 = this->cc().ccl().y();
 393         }
 394         double IR = this->cc().iradi();
 395         double a = 1;
 396         double b;
 397         if (this->forward())
 398                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 399         else
 400                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 401         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 402         double D = D = pow(b, 2) - 4 * a * c;
 403         double delta;
 404         delta = -b - sqrt(D);
 405         delta /= 2 * a;
 406         double delta_1 = delta;
 407         // check outer radius
 408         if (this->forward()) {
 409                 x = this->ps().x4();
 410                 y = this->ps().y4();
 411         } else {
 412                 x = this->ps().x1();
 413                 y = this->ps().y1();
 414         }
 415         IR = this->cc().ofradi();
 416         a = 1;
 417         if (this->forward())
 418                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 419         else
 420                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 421         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 422         D = pow(b, 2) - 4 * a * c;
 423         if (this->forward()) {
 424                 delta = -b + sqrt(D);
 425                 delta /= 2 * a;
 426         }
 427         double delta_2 = delta;
 428         delta = -b - sqrt(D);
 429         delta /= 2 * a;
 430         double delta_3 = delta;
 431         delta = std::max(delta_1, std::max(delta_2, delta_3));
 432         // current car `cc` can get out of slot with max steer
 433         this->cc().x(this->cc().x() + delta * cos(cc_h));
 434         this->cc().y(this->cc().y() + delta * sin(cc_h));
 435         this->cc().h(cc_h);
 436         // get current car `cc` out of slot
 437         if (this->forward())
 438                 this->cc().sp(-0.1);
 439         else
 440                 this->cc().sp(0.1);
 441         this->cc().st(this->cc().wb() / this->cc().mtr());
 442         if (this->ps().right())
 443                 this->cc().st(this->cc().st() * -1);
 444         while (!this->left()) {
 445                 while (!this->collide() && !this->left())
 446                         this->cc().next();
 447                 if (this->left() && !this->collide()) {
 448                         break;
 449                 } else {
 450                         this->cc().sp(this->cc().sp() * -1);
 451                         this->cc().next();
 452                         this->cc().st(this->cc().st() * -1);
 453                 }
 454         }
 455 }
 456
 457 bool PSPlanner::forward()
 458 {
 459         double heading = this->ps().heading();
 460         while (heading < 0) heading += 2 * M_PI;
 461         if (!this->ps().parallel())
 462                 heading -= M_PI / 2;
 463         double h = this->gc().h();
 464         while (h < 0) h += 2 * M_PI;
 465         if (-0.00001 < heading - h && heading - h < 0.00001)
 466                 return true;
 467         else
 468                 return false;
 469 }
 470
 471 PSPlanner::PSPlanner()
 472 {
 473 }
 474
 475 std::tuple<bool, double, double> intersect(
 476         double x1, double y1,
 477         double x2, double y2,
 478         double x3, double y3,
 479         double x4, double y4
 480 )
 481 {
 482         double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
 483         if (deno == 0)
 484                 return std::make_tuple(false, 0, 0);
 485         double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
 486         t /= deno;
 487         double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
 488         u *= -1;
 489         u /= deno;
 490         if (t < 0 || t > 1 || u < 0 || u > 1)
 491                 return std::make_tuple(false, 0, 0);
 492         return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
 493 }
 494
 495 bool inside(double x, double y, std::vector<std::tuple<double, double>> poly)
 496 {
 497         unsigned int i = 0;
 498         unsigned int j = 3;
 499         bool inside = false;
 500         for (i = 0; i < 4; i++) {
 501                 if (
 502                         (std::get<1>(poly[i]) > y) != (std::get<1>(poly[j]) > y)
 503                         && (
 504                                 x < std::get<0>(poly[i])
 505                                 + (std::get<0>(poly[j]) - std::get<0>(poly[i]))
 506                                 * (y - std::get<1>(poly[i]))
 507                                 / (std::get<1>(poly[j]) - std::get<1>(poly[i]))
 508                         )
 509                 )
 510                         inside = !inside;
 511                 j = i;
 512         }
 513         return inside;
 514 }