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         else
  27                 return true;
  28         double heading = atan2(
  29                 this->ps().y2() - this->ps().y1(),
  30                 this->ps().x2() - this->ps().x1()
  31         );
  32         while (heading < 0) heading += 2 * M_PI;
  33         double h = this->gc().h();
  34         while (h < 0) h += 2 * M_PI;
  35         if (std::abs(heading - h) < M_PI / 4)
  36                 return true;
  37         return false;
  38 }
  39
  40 void PSPlanner::gc_to_4()
  41 {
  42         double angl_slot = atan2(
  43                 this->ps().y3() - this->ps().y4(),
  44                 this->ps().x3() - this->ps().x4()
  45         );
  46         double angl_delta = M_PI / 2;
  47         if (this->ps().right())
  48                 angl_delta = -M_PI / 2;
  49         double x = this->ps().x4();
  50         double y = this->ps().y4();
  51         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  52         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  53         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  54         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  55         this->gc().x(x);
  56         this->gc().y(y);
  57         this->gc().h(angl_slot);
  58 }
  59
  60 std::tuple<double, double, double, double> circle_line_intersection(
  61         double cx, double cy, double r,
  62         double x1, double y1,
  63         double x2, double y2
  64 )
  65 {
  66         double t = (y2 - y1) / (x2 - x1);
  67         //double a = 1 + pow(t, 2);
  68         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  69         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  70         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  71         //        - pow(r, 2);
  72         double a = 1 + pow(t, 2);
  73         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  74         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  75         c += pow(-t * x1 + y1, 2);
  76         c += 2 * cy * t * x1 - 2 * cy * y1;
  77         double D = pow(b, 2) - 4 * a * c;
  78         if (D < 0)
  79                 return std::make_tuple(cx, cy, cx, cy);
  80         double res_x1 = (-b + sqrt(D)) / (2 * a);
  81         double res_y1 = t * (res_x1 - x1) + y1;
  82         double res_x2 = (-b - sqrt(D)) / (2 * a);
  83         double res_y2 = t * (res_x2 - x1) + y1;
  84         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  85 }
  86
  87 double edist(double x1, double y1, double x2, double y2)
  88 {
  89         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  90 }
  91
  92 void PSPlanner::guess_gc()
  93 {
  94         double x = this->ps().x1();
  95         double y = this->ps().y1();
  96         double h = this->ps().heading();
  97         double dts = + M_PI / 2; // direction to slot
  98         if (this->ps().right())
  99                 dts = - M_PI / 2;
 100         if (this->ps().parallel()) {
 101                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 102                 x += (this->gc().dr() + 0.01) * cos(h);
 103                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 104                 y += (this->gc().dr() + 0.01) * sin(h);
 105         } else {
 106                 // Forward parking
 107                 double entry_width = edist(
 108                         this->ps().x1(), this->ps().y1(),
 109                         this->ps().x4(), this->ps().y4()
 110                 );
 111                 x += entry_width / 2 * cos(h);
 112                 y += entry_width / 2 * sin(h);
 113                 h = atan2(
 114                         this->ps().y2() - this->ps().y1(),
 115                         this->ps().x2() - this->ps().x1()
 116                 );
 117                 while (h < 0) h += 2 * M_PI;
 118
 119                 //// This is for backward parking only.
 120                 //double entry_width = edist(
 121                 //        this->ps().x1(), this->ps().y1(),
 122                 //        this->ps().x4(), this->ps().y4()
 123                 //);
 124                 //double dist_l =
 125                 //        this->gc().orradi()
 126                 //        - (this->gc().mtr() + this->gc().w() / 2)
 127                 //;
 128                 //double move1 = dist_l + this->gc().w() / 2;
 129                 //double dist_r = entry_width - this->gc().w() - dist_l;
 130                 //double move2 = sqrt(
 131                 //        pow(this->gc().iradi(), 2)
 132                 //        - pow(this->gc().iradi() - dist_r, 2)
 133                 //);
 134                 //move2 -= this->gc().dr() / 2; // workaround
 135                 //x += move1 * cos(h);
 136                 //y += move1 * sin(h);
 137                 //dts = atan2(
 138                 //        this->ps().y2() - this->ps().y1(),
 139                 //        this->ps().x2() - this->ps().x1()
 140                 //);
 141                 //while (dts < 0) dts += 2 * M_PI;
 142                 //x += move2 * cos(h + dts);
 143                 //y += move2 * sin(h + dts);
 144                 //h += dts - M_PI / 2;
 145         }
 146         while (h > M_PI)
 147                 h -= 2 * M_PI;
 148         while (h <= -M_PI)
 149                 h += 2 * M_PI;
 150         this->gc().x(x);
 151         this->gc().y(y);
 152         this->gc().h(h);
 153 }
 154
 155 std::vector<BicycleCar> PSPlanner::last_maneuver()
 156 {
 157         std::vector<BicycleCar> lm;
 158         if (this->ps().parallel()) {
 159                 // zig-zag out from the slot
 160                 this->cc() = BicycleCar(this->gc());
 161                 this->cc().sp(0.1);
 162                 while (!this->left()) {
 163                         while (!this->collide() && !this->left()) {
 164                                 this->cc().next();
 165                                 lm.push_back(BicycleCar(this->cc()));
 166                         }
 167                         if (this->left() && !this->collide()) {
 168                                 break;
 169                         } else {
 170                                 lm.pop_back();
 171                                 this->cc().sp(this->cc().sp() * -1);
 172                                 this->cc().next();
 173                                 this->cc().st(this->cc().st() * -1);
 174                                 this->c_++;
 175                                 lm.push_back(BicycleCar(this->cc()));
 176                         }
 177                 }
 178                 if (this->cc().st() < 0) {
 179                         this->c_++;
 180                         lm.push_back(BicycleCar(this->cc()));
 181                 }
 182         } else {
 183                 // go 1 m forward
 184                 this->cc().sp(0.1);
 185                 BicycleCar orig_cc(this->cc());
 186                 for (unsigned int i = 0; i < 10; i++) {
 187                         this->cc().next();
 188                         lm.push_back(BicycleCar(this->cc()));
 189                 }
 190                 this->cc() = BicycleCar(orig_cc);
 191         }
 192         return lm;
 193 }
 194
 195 bool PSPlanner::left()
 196 {
 197         double lfx = this->cc().lfx();
 198         double lfy = this->cc().lfy();
 199         double lrx = this->cc().lrx();
 200         double lry = this->cc().lry();
 201         double rrx = this->cc().rrx();
 202         double rry = this->cc().rry();
 203         double rfx = this->cc().rfx();
 204         double rfy = this->cc().rfy();
 205         double lfs = sgn(
 206                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 207                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 208         );
 209         double lrs = sgn(
 210                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 211                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 212         );
 213         double rrs = sgn(
 214                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 215                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 216         );
 217         double rfs = sgn(
 218                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 219                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 220         );
 221         if (this->ps().parallel())
 222                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 223         else if (!this->forward())
 224                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 225         else
 226                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 227 }
 228
 229 bool PSPlanner::parked()
 230 {
 231         std::vector<std::tuple<double, double>> slot;
 232         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 233         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 234         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 235         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 236         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 237                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 238                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 239                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 240 }
 241
 242 std::vector<BicycleCar> PSPlanner::possible_goals(
 243         unsigned int cnt,
 244         double dist
 245 )
 246 {
 247         std::vector<BicycleCar> pi;
 248         if (this->ps().parallel())
 249                 this->cc().sp(1);
 250         else
 251                 this->cc().sp(-1);
 252         this->cc().sp(this->cc().sp() * dist);
 253         BicycleCar orig_cc(this->cc());
 254         for (unsigned int i = 0; i < cnt; i++) {
 255                 this->cc().next();
 256                 pi.push_back(BicycleCar(this->cc()));
 257         }
 258         this->cc() = BicycleCar(orig_cc);
 259         if (this->ps().parallel()) {
 260                 this->cc().st(0);
 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         } else {
 267                 if (!this->ps().right()) {
 268                         this->cc().set_max_steer();
 269                         for (unsigned int i = 0; i < cnt; i++) {
 270                                 this->cc().next();
 271                                 pi.push_back(BicycleCar(this->cc()));
 272                         }
 273                 } else {
 274                         this->cc().set_max_steer();
 275                         this->cc().st(this->cc().st() * -1);
 276                         for (unsigned int i = 0; i < cnt; i++) {
 277                                 this->cc().next();
 278                                 pi.push_back(BicycleCar(this->cc()));
 279                         }
 280                 }
 281                 this->cc() = BicycleCar(orig_cc);
 282         }
 283         return pi;
 284 }
 285
 286 // find entry
 287 void PSPlanner::fe()
 288 {
 289         this->c_ = 0;
 290         if (this->ps().parallel()) {
 291                 return this->fe_parallel();
 292         } else {
 293                 this->guess_gc();
 294                 this->cc() = BicycleCar(this->gc());
 295                 //this->cc().set_max_steer();
 296                 //if (this->ps().right())
 297                 //        this->cc().st(this->cc().st() * -1);
 298                 this->cc().sp(-0.2);
 299         }
 300 }
 301
 302 double smaller_angle_of_two(
 303         double sx, double sy, // common start point
 304         double cx, double cy, // common middle point
 305         double x1, double y1, // first ending point
 306         double x2, double y2 // second ending point
 307 ) {
 308         double a1 = ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
 309         double a2 = ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 310         return std::min(a1, a2);
 311 }
 312
 313 void PSPlanner::fe_parallel()
 314 {
 315         BicycleCar bco = BicycleCar(this->gc());
 316         this->cc() = BicycleCar();
 317         this->cc().sp(-0.01);
 318         this->cc().set_max_steer();
 319         if (!this->ps().right())
 320                 this->cc().st(this->cc().st() * -1);
 321         this->cc().h(this->ps().heading());
 322         double angl_in_slot = this->ps().heading() - M_PI / 4;
 323         if (!this->ps().right())
 324                 angl_in_slot += M_PI / 2;
 325         this->cc().x(
 326                 this->ps().x4()
 327                 + this->cc().w()/2 * cos(
 328                         this->ps().heading()
 329                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 330                 )
 331                 + (this->cc().df() + 0.01) * cos(
 332                         this->ps().heading() + M_PI
 333                 )
 334         );
 335         this->cc().y(
 336                 this->ps().y4()
 337                 + this->cc().w()/2 * sin(
 338                         this->ps().heading()
 339                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 340                 )
 341                 + (this->cc().df() + 0.01) * sin(
 342                         this->ps().heading() + M_PI
 343                 )
 344         );
 345
 346         std::queue<BicycleCar, std::list<BicycleCar>> q;
 347         while (!this->collide()) {
 348                 q.push(this->cc());
 349                 this->cc().rotate(
 350                         this->ps().x4(),
 351                         this->ps().y4() - 0.01,
 352                         ((this->ps().right()) ? 0.001 : -0.001)
 353                 );
 354         }
 355         // BFS - find entry current car `cc` and corresponding goal car `gc`
 356         unsigned int iter_cntr = 0;
 357         while (!q.empty() && iter_cntr < 30) {
 358                 this->cc() = BicycleCar(q.front());
 359                 q.pop();
 360                 if (this->ps().right() && this->cc().sp() < 0) {
 361                         double cclx = this->cc().ccl().x();
 362                         double ccly = this->cc().ccl().y();
 363                         double ccl_lr = edist(
 364                                 cclx, ccly,
 365                                 this->cc().lrx(), this->cc().lry()
 366                         );
 367                         double ccl_rr = edist(
 368                                 cclx, ccly,
 369                                 this->cc().rrx(), this->cc().rry()
 370                         );
 371                         double ccl_p1 = edist(
 372                                 cclx, ccly,
 373                                 this->ps().x1(), this->ps().y1()
 374                         );
 375                         if (ccl_rr < ccl_p1) {
 376                                 // pass parking slot
 377                                 continue;
 378                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
 379                                 // partially out of parking slot
 380                                 auto cli1 = ::intersect(
 381                                         cclx, ccly, ccl_p1,
 382                                         this->cc().lrx(), this->cc().lry(),
 383                                         this->cc().rrx(), this->cc().rry()
 384                                 );
 385                                 double a1 = ::smaller_angle_of_two(
 386                                         this->ps().x1(), this->ps().y1(),
 387                                         cclx, ccly,
 388                                         std::get<1>(cli1), std::get<2>(cli1),
 389                                         std::get<3>(cli1), std::get<4>(cli1)
 390                                 );
 391                                 auto cli2 = ::intersect(
 392                                         cclx, ccly, ccl_rr,
 393                                         this->ps().x2(), this->ps().y2(),
 394                                         this->ps().x3(), this->ps().y3()
 395                                 );
 396                                 double a2 = smaller_angle_of_two(
 397                                         this->cc().rrx(), this->cc().rry(),
 398                                         cclx, ccly,
 399                                         std::get<1>(cli2), std::get<2>(cli2),
 400                                         std::get<3>(cli2), std::get<4>(cli2)
 401                                 );
 402                                 if (std::get<0>(cli1) && (
 403                                         !std::get<0>(cli2)
 404                                         || a1 < a2
 405                                 )) {
 406                                         this->cc().rotate(cclx, ccly, -a1);
 407                                 } else if (std::get<0>(cli2) && (
 408                                         !std::get<0>(cli1)
 409                                         || a2 < a1
 410                                 )) {
 411                                         this->cc().rotate(cclx, ccly, -a2);
 412                                 } else {
 413                                         continue;
 414                                 }
 415                         } else if (ccl_lr >= ccl_p1) {
 416                                 // in parking slot
 417                                 auto cli1 = ::intersect(
 418                                         cclx, ccly, ccl_lr,
 419                                         this->ps().x1(), this->ps().y1(),
 420                                         this->ps().x2(), this->ps().y2()
 421                                 );
 422                                 double a1 = smaller_angle_of_two(
 423                                         this->cc().lrx(), this->cc().lry(),
 424                                         cclx, ccly,
 425                                         std::get<1>(cli1), std::get<2>(cli1),
 426                                         std::get<3>(cli1), std::get<4>(cli1)
 427                                 );
 428                                 auto cli2 = ::intersect(
 429                                         cclx, ccly, ccl_rr,
 430                                         this->ps().x2(), this->ps().y2(),
 431                                         this->ps().x3(), this->ps().y3()
 432                                 );
 433                                 double a2 = smaller_angle_of_two(
 434                                         this->cc().rrx(), this->cc().rry(),
 435                                         cclx, ccly,
 436                                         std::get<1>(cli2), std::get<2>(cli2),
 437                                         std::get<3>(cli2), std::get<4>(cli2)
 438                                 );
 439                                 if (std::get<0>(cli1) && (
 440                                         !std::get<0>(cli2)
 441                                         || a1 < a2
 442                                 )) {
 443                                         this->cc().rotate(cclx, ccly, -a1);
 444                                 } else if (std::get<0>(cli2) && (
 445                                         !std::get<0>(cli1)
 446                                         || a2 < a1
 447                                 )) {
 448                                         this->cc().rotate(cclx, ccly, -a2);
 449                                 } else {
 450                                         continue;
 451                                 }
 452                         }
 453                 } else if (this->ps().right() && this->cc().sp() > 0) {
 454                         double ccrx = this->cc().ccr().x();
 455                         double ccry = this->cc().ccr().y();
 456                         double ccr_lf = edist(
 457                                 ccrx, ccry,
 458                                 this->cc().lfx(), this->cc().lfy()
 459                         );
 460                         double ccr_rf = edist(
 461                                 ccrx, ccry,
 462                                 this->cc().rfx(), this->cc().rfy()
 463                         );
 464                         {
 465                                 auto clif = ::intersect(
 466                                         ccrx, ccry, ccr_lf,
 467                                         this->ps().x1(), this->ps().y1(),
 468                                         this->ps().x4(), this->ps().y4()
 469                                 );
 470                                 double af = std::abs(
 471                                         this->ps().heading()
 472                                         - this->cc().h()
 473                                 );
 474                                 double xf = this->ps().x4();
 475                                 double yf = this->ps().y4();
 476                                 if (std::get<0>(clif)) {
 477                                         xf = std::get<1>(clif);
 478                                         yf = std::get<2>(clif);
 479                                         if (
 480                                                 edist(
 481                                                         this->ps().x4(),
 482                                                         this->ps().y4(),
 483                                                         std::get<3>(clif),
 484                                                         std::get<4>(clif)
 485                                                 ) < edist(
 486                                                         this->ps().x4(),
 487                                                         this->ps().y4(),
 488                                                         xf, yf
 489                                                 )
 490                                         ) {
 491                                                 xf = std::get<3>(clif);
 492                                                 yf = std::get<4>(clif);
 493                                         }
 494                                         af = ::angle_between_three_points(
 495                                                 this->cc().lfx(),
 496                                                 this->cc().lfy(),
 497                                                 ccrx, ccry,
 498                                                 xf, yf
 499                                         );
 500                                 }
 501                                 auto tmp_cc = BicycleCar(this->cc());
 502                                 this->cc().rotate(ccrx, ccry, -af);
 503                                 if (
 504                                         !this->collide()
 505                                         && (
 506                                                 edist(
 507                                                         this->ps().x1(),
 508                                                         this->ps().y1(),
 509                                                         xf, yf
 510                                                 ) < edist(
 511                                                         this->ps().x1(),
 512                                                         this->ps().y1(),
 513                                                         this->ps().x4(),
 514                                                         this->ps().y4()
 515                                                 )
 516                                                 || !std::get<0>(clif)
 517                                         )
 518                                 ) {
 519                                         this->cc().sp(this->cc().sp() * -1);
 520                                         this->gc() = BicycleCar(this->cc());
 521                                         goto successfinish;
 522                                 } else {
 523                                         this->cc() = BicycleCar(tmp_cc);
 524                                 }
 525                         }
 526                         // TODO (ccr, rf) x (p3, p4)
 527                         // TODO (ccr, rf) x (p2, p3)
 528                         // TODO (ccr, lf) x (p3, p4)
 529 {
 530         double rf = sqrt(
 531                 pow(this->cc().lfy() - ccry, 2)
 532                 + pow(this->cc().lfx() - ccrx, 2)
 533         );
 534         auto clif = ::intersect(
 535                 ccrx, ccry, rf,
 536                 this->ps().x1(), this->ps().y1(),
 537                 this->ps().x4(), this->ps().y4()
 538         );
 539         if (std::get<0>(clif)) {
 540                 double xf = std::get<1>(clif);
 541                 double yf = std::get<2>(clif);
 542                 if (
 543                         edist(
 544                                 this->ps().x4(),
 545                                 this->ps().y4(),
 546                                 std::get<3>(clif),
 547                                 std::get<4>(clif)
 548                         ) < edist(
 549                                 this->ps().x4(),
 550                                 this->ps().y4(),
 551                                 xf, yf
 552                         )
 553                 ) {
 554                         xf = std::get<3>(clif);
 555                         yf = std::get<4>(clif);
 556                 }
 557                 auto af = ::angle_between_three_points(
 558                         this->cc().lfx(),
 559                         this->cc().lfy(),
 560                         ccrx, ccry,
 561                         xf, yf
 562                 );
 563                 auto tmp_cc = BicycleCar(this->cc());
 564                 this->cc().rotate(ccrx, ccry, -af);
 565                 if (
 566                         !this->collide()
 567                         && (edist(
 568                                 this->ps().x1(), this->ps().y1(),
 569                                 xf, yf
 570                         ) < edist(
 571                                 this->ps().x1(), this->ps().y1(),
 572                                 this->ps().x4(), this->ps().y4()
 573                         ))
 574                 ) {
 575                         this->cc().sp(-0.01);
 576                         this->cc().set_max_steer();
 577                         this->cc().st(this->cc().st() * -1);
 578                         this->gc() = BicycleCar(this->cc());
 579                         goto successfinish;
 580                 } else {
 581                         this->cc() = BicycleCar(tmp_cc);
 582                 }
 583         } else {
 584                 // should be parked and found in previous iteration or continue
 585                 // with the parking process
 586         }
 587 }
 588                         double r1 = sqrt(
 589                             pow(this->cc().rfy() - ccry, 2)
 590                             + pow(this->cc().rfx() - ccrx, 2)
 591                         );
 592                         auto cli1 = ::intersect(
 593                             ccrx, ccry, r1,
 594                             this->ps().x3(), this->ps().y3(),
 595                             this->ps().x4(), this->ps().y4()
 596                         );
 597                         double a11 = ::angle_between_three_points(
 598                             this->cc().lrx(), this->cc().lry(),
 599                             ccrx, ccry,
 600                             std::get<1>(cli1), std::get<2>(cli1)
 601                         );
 602                         double a12 = ::angle_between_three_points(
 603                             this->cc().lrx(), this->cc().lry(),
 604                             ccrx, ccry,
 605                             std::get<3>(cli1), std::get<4>(cli1)
 606                         );
 607                         double a1 = std::min(a11, a12);
 608
 609                         double r2 = sqrt(
 610                             pow(this->cc().lfy() - ccry, 2)
 611                             + pow(this->cc().lfx() - ccrx, 2)
 612                         );
 613                         auto cli2 = ::intersect(
 614                             ccrx, ccry, r2,
 615                             this->ps().x3(), this->ps().y3(),
 616                             this->ps().x4(), this->ps().y4()
 617                         );
 618                         double a21 = ::angle_between_three_points(
 619                             this->cc().rrx(), this->cc().rry(),
 620                             ccrx, ccry,
 621                             std::get<1>(cli2), std::get<2>(cli2)
 622                         );
 623                         double a22 = ::angle_between_three_points(
 624                             this->cc().rrx(), this->cc().rry(),
 625                             ccrx, ccry,
 626                             std::get<3>(cli2), std::get<4>(cli2)
 627                         );
 628                         double a2 = std::min(a21, a22);
 629
 630                         double r3 = sqrt(
 631                             pow(this->cc().rfy() - ccry, 2)
 632                             + pow(this->cc().rfx() - ccrx, 2)
 633                         );
 634                         auto cli3 = ::intersect(
 635                             ccrx, ccry, r3,
 636                             this->ps().x3(), this->ps().y3(),
 637                             this->ps().x2(), this->ps().y2()
 638                         );
 639                         double a31 = ::angle_between_three_points(
 640                             this->cc().rrx(), this->cc().rry(),
 641                             ccrx, ccry,
 642                             std::get<1>(cli3), std::get<2>(cli3)
 643                         );
 644                         double a32 = ::angle_between_three_points(
 645                             this->cc().rrx(), this->cc().rry(),
 646                             ccrx, ccry,
 647                             std::get<3>(cli3), std::get<4>(cli3)
 648                         );
 649                         double a3 = std::min(a31, a32);
 650
 651                         if (std::get<0>(cli1) && (
 652                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 653                             || (a1 < a2 && !std::get<0>(cli3))
 654                             || (a1 < a3 && !std::get<0>(cli2))
 655                             || (a1 < a2 && a1 < a3)
 656                         )) {
 657                             this->cc().rotate(ccrx, ccry, -a1);
 658                         } else if (std::get<0>(cli2) && (
 659                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 660                             || (a2 < a1 && !std::get<0>(cli3))
 661                             || (a2 < a3 && !std::get<0>(cli1))
 662                             || (a2 < a1 && a2 < a3)
 663                         )) {
 664                             this->cc().rotate(ccrx, ccry, -a2);
 665                         } else if (std::get<0>(cli3) && (
 666                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 667                             || (a3 < a1 && !std::get<0>(cli2))
 668                             || (a3 < a2 && !std::get<0>(cli1))
 669                             || (a3 < a1 && a3 < a2)
 670                         )) {
 671                             this->cc().rotate(ccrx, ccry, -a3);
 672                         } else {
 673                             continue;
 674                         }
 675                 } else {
 676                         // TODO left parking slot (both forward, backward)
 677                 }
 678                 this->cc().sp(this->cc().sp() * -1);
 679                 this->cc().next();
 680                 this->gc() = BicycleCar(this->cc());
 681                 if (this->parked())
 682                         goto successfinish;
 683                 this->cc().st(this->cc().st() * -1);
 684                 q.push(BicycleCar(this->cc()));
 685                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 686                         iter_cntr++;
 687         }
 688         // fallback to fer
 689         this->gc() = BicycleCar(bco);
 690 successfinish:
 691         return this->fer_parallel();
 692 }
 693
 694 void PSPlanner::fe_perpendicular()
 695 {
 696         // TODO Try multiple angles when going from parking slot.
 697         //
 698         //      Do not use just the maximum steer angle. Test angles
 699         //      until the whole current car `cc` is out of the parking
 700         //      slot `ps`.
 701         //
 702         //      Another approach could be testing angles from the
 703         //      beginning of the escape parkig slot maneuver.
 704         if (this->forward())
 705                 this->cc().sp(-0.01);
 706         else
 707                 this->cc().sp(0.01);
 708         while (!this->left())
 709                 this->cc().next();
 710         return;
 711 }
 712
 713 void PSPlanner::fer()
 714 {
 715         this->c_ = 0;
 716         if (this->ps().parallel()) {
 717                 this->guess_gc();
 718                 this->cc() = BicycleCar(this->gc());
 719                 this->cc().set_max_steer();
 720                 if (!this->ps().right())
 721                         this->cc().st(this->cc().st() * -1);
 722                 this->cc().sp(0.01);
 723                 return this->fer_parallel();
 724         } else {
 725                 return this->fer_perpendicular();
 726         }
 727 }
 728
 729 void PSPlanner::fer_parallel()
 730 {
 731         this->cusps_.clear();
 732         while (!this->left()) {
 733                 while (!this->collide() && !this->left())
 734                         this->cc().next();
 735                 if (this->left() && !this->collide()) {
 736                         break;
 737                 } else {
 738                         this->cc().sp(this->cc().sp() * -1);
 739                         this->cc().next();
 740                         this->cc().st(this->cc().st() * -1);
 741                         this->c_++;
 742                         this->cusps_.push_back(this->cc());
 743                 }
 744         }
 745         if (this->cc().st() < 0) {
 746                 this->c_++;
 747                 this->cusps_.push_back(this->cc());
 748         }
 749 }
 750
 751 void PSPlanner::fer_perpendicular()
 752 {
 753         bool delta_use[] = {true, true, true};
 754         double cc_h = this->cc().h();
 755         double x;
 756         double y;
 757         // check inner radius
 758         if (this->forward()) {
 759                 x = this->ps().x1();
 760                 y = this->ps().y1();
 761         } else {
 762                 x = this->ps().x4();
 763                 y = this->ps().y4();
 764         }
 765         double x1;
 766         double y1;
 767         if (this->ps().right()) {
 768                 x1 = this->cc().ccr().x();
 769                 y1 = this->cc().ccr().y();
 770         } else {
 771                 x1 = this->cc().ccl().x();
 772                 y1 = this->cc().ccl().y();
 773         }
 774         double IR = this->cc().iradi();
 775         double a = 1;
 776         double b;
 777         if (this->forward())
 778                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 779         else
 780                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 781         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 782         double D = pow(b, 2) - 4 * a * c;
 783         double delta;
 784         delta = -b - sqrt(D);
 785         delta /= 2 * a;
 786         double delta_1 = delta;
 787         if (D < 0)
 788                 delta_use[0] = false;
 789         // check outer radius
 790         if (this->forward()) {
 791                 x = this->ps().x4();
 792                 y = this->ps().y4();
 793         } else {
 794                 x = this->ps().x1();
 795                 y = this->ps().y1();
 796         }
 797         IR = this->cc().ofradi();
 798         a = 1;
 799         if (this->forward())
 800                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 801         else
 802                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 803         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 804         D = pow(b, 2) - 4 * a * c;
 805         if (this->forward()) {
 806                 delta = -b + sqrt(D);
 807                 delta /= 2 * a;
 808         }
 809         double delta_2 = delta;
 810         if (D < 0)
 811                 delta_use[1] = false;
 812         delta = -b - sqrt(D);
 813         delta /= 2 * a;
 814         double delta_3 = delta;
 815         if (D < 0)
 816                 delta_use[2] = false;
 817         if (delta_use[0] && delta_use[1] && delta_use[2])
 818                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 819         else if (delta_use[0] && delta_use[1])
 820                 delta = std::max(delta_1, delta_2);
 821         else if (delta_use[0] && delta_use[2])
 822                 delta = std::max(delta_1, delta_3);
 823         else if (delta_use[1] && delta_use[2])
 824                 delta = std::max(delta_2, delta_3);
 825         else if (delta_use[0])
 826                 delta = delta_1;
 827         else if (delta_use[1])
 828                 delta = delta_2;
 829         else if (delta_use[2])
 830                 delta = delta_3;
 831         else
 832                 return;
 833         // current car `cc` can get out of slot with max steer
 834         this->cc().x(this->cc().x() + delta * cos(cc_h));
 835         this->cc().y(this->cc().y() + delta * sin(cc_h));
 836         this->cc().h(cc_h);
 837         // get current car `cc` out of slot
 838         if (this->forward())
 839                 this->cc().sp(-0.01);
 840         else
 841                 this->cc().sp(0.01);
 842         this->cc().set_max_steer();
 843         if (this->ps().right())
 844                 this->cc().st(this->cc().st() * -1);
 845         while (!this->left()) {
 846                 while (!this->collide() && !this->left())
 847                         this->cc().next();
 848                 if (this->left() && !this->collide()) {
 849                         break;
 850                 } else {
 851                         this->cc().sp(this->cc().sp() * -1);
 852                         this->cc().next();
 853                         this->cc().st(this->cc().st() * -1);
 854                 }
 855         }
 856 }
 857
 858 PSPlanner::PSPlanner()
 859 {
 860 }