6 bool PSPlanner::collide()
8 std::vector<std::tuple<double, double>> bc;
9 bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
10 bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
11 bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
12 bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
13 bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
14 std::vector<std::tuple<double, double>> ps;
15 ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
16 ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
17 ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
18 ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
19 return std::get<0>(::collide(bc, ps));
22 bool PSPlanner::forward()
24 if (this->ps().parallel())
26 double heading = atan2(
27 this->ps().y2() - this->ps().y1(),
28 this->ps().x2() - this->ps().x1()
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)
38 void PSPlanner::gc_to_4()
40 double angl_slot = atan2(
41 this->ps().y3() - this->ps().y4(),
42 this->ps().x3() - this->ps().x4()
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);
55 this->gc().h(angl_slot);
58 std::tuple<double, double, double, double> circle_line_intersection(
59 double cx, double cy, double r,
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)
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;
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);
85 double edist(double x1, double y1, double x2, double y2)
87 return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
90 void PSPlanner::guess_gc()
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())
98 if (this->ps().parallel()) {
99 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
100 x += (this->gc().dr() + 0.01) * cos(h);
101 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
102 y += (this->gc().dr() + 0.01) * sin(h);
104 // This is for backward parking only.
105 double entry_width = edist(
106 this->ps().x1(), this->ps().y1(),
107 this->ps().x4(), this->ps().y4()
111 - (this->gc().mtr() + this->gc().w() / 2)
113 double move1 = dist_l + this->gc().w() / 2;
114 double dist_r = entry_width - this->gc().w() - dist_l;
116 pow(this->gc().iradi(), 2)
117 - pow(this->gc().iradi() - dist_r, 2)
119 move2 -= this->gc().dr() / 2; // workaround
122 x += move2 * cos(h + dts);
123 y += move2 * sin(h + dts);
135 bool PSPlanner::left()
137 double lfx = this->cc().lfx();
138 double lfy = this->cc().lfy();
139 double lrx = this->cc().lrx();
140 double lry = this->cc().lry();
141 double rrx = this->cc().rrx();
142 double rry = this->cc().rry();
143 double rfx = this->cc().rfx();
144 double rfy = this->cc().rfy();
146 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
147 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
150 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
151 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
154 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
155 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
158 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
159 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
161 if (this->ps().parallel())
162 return lfs == rfs && (lfs != lrs || lfs != rrs);
163 else if (!this->forward())
164 return lfs == rfs && (lfs != lrs || lfs != rrs);
166 return lrs == rrs && (lrs != lfs || lrs != rfs);
169 bool PSPlanner::parked()
171 std::vector<std::tuple<double, double>> slot;
172 slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
173 slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
174 slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
175 slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
176 return inside(this->gc().lfx(), this->gc().lfy(), slot)
177 && inside(this->gc().lrx(), this->gc().lry(), slot)
178 && inside(this->gc().rrx(), this->gc().rry(), slot)
179 && inside(this->gc().rfx(), this->gc().rfy(), slot);
182 std::vector<BicycleCar> PSPlanner::possible_goals(
187 std::vector<BicycleCar> pi;
188 if (this->cc().sp() > 0)
192 this->cc().sp(this->cc().sp() * dist);
193 this->cc().st(this->cc().st() * 1);
194 BicycleCar orig_cc(this->cc());
195 for (unsigned int i = 0; i < cnt; i++) {
197 pi.push_back(BicycleCar(this->cc()));
199 this->cc() = BicycleCar(orig_cc);
207 if (this->ps().parallel()) {
208 return this->fe_parallel();
211 this->cc() = BicycleCar(this->gc());
212 return this->fer_perpendicular();
216 void PSPlanner::fe_parallel()
218 BicycleCar bco = BicycleCar(this->gc());
219 this->cc() = BicycleCar();
220 this->cc().sp(-0.01);
221 this->cc().set_max_steer();
222 if (!this->ps().right())
223 this->cc().st(this->cc().st() * -1);
224 this->cc().h(this->ps().heading());
225 double angl_in_slot = this->ps().heading() - M_PI / 4;
226 if (!this->ps().right())
227 angl_in_slot += M_PI / 2;
230 + this->cc().w()/2 * cos(
232 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
234 + (this->cc().df() + 0.01) * cos(
235 this->ps().heading() + M_PI
240 + this->cc().w()/2 * sin(
242 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
244 + (this->cc().df() + 0.01) * sin(
245 this->ps().heading() + M_PI
249 std::queue<BicycleCar, std::list<BicycleCar>> q;
250 while (!this->collide()) {
254 this->ps().y4() - 0.01,
255 ((this->ps().right()) ? 0.01 : -0.01)
258 // BFS - find entry current car `cc` and corresponding goal car `gc`
259 unsigned int iter_cntr = 0;
260 while (!q.empty() && iter_cntr < 30) {
261 this->cc() = BicycleCar(q.front());
266 this->cc().h() - this->ps().heading()
269 this->cc().h() - this->ps().heading()
273 this->cc().sp(this->cc().sp() * -1);
275 this->gc() = BicycleCar(this->cc());
278 this->cc().st(this->cc().st() * -1);
279 q.push(BicycleCar(this->cc()));
280 if (sgn(this->cc().st()) == sgn(q.front().st()))
284 this->gc() = BicycleCar(bco);
286 return this->fer_parallel();
289 void PSPlanner::fe_perpendicular()
291 // TODO Try multiple angles when going from parking slot.
293 // Do not use just the maximum steer angle. Test angles
294 // until the whole current car `cc` is out of the parking
297 // Another approach could be testing angles from the
298 // beginning of the escape parkig slot maneuver.
300 this->cc().sp(-0.01);
303 while (!this->left())
308 void PSPlanner::fer()
311 if (this->ps().parallel()) {
313 this->cc() = BicycleCar(this->gc());
314 this->cc().set_max_steer();
315 if (!this->ps().right())
316 this->cc().st(this->cc().st() * -1);
318 return this->fer_parallel();
320 return this->fer_perpendicular();
324 void PSPlanner::fer_parallel()
326 this->cusps_.clear();
327 while (!this->left()) {
328 while (!this->collide() && !this->left())
330 if (this->left() && !this->collide()) {
333 this->cc().sp(this->cc().sp() * -1);
335 this->cc().st(this->cc().st() * -1);
337 this->cusps_.push_back(this->cc());
340 if (this->cc().st() < 0) {
342 this->cusps_.push_back(this->cc());
346 void PSPlanner::fer_perpendicular()
348 bool delta_use[] = {true, true, true};
349 double cc_h = this->cc().h();
352 // check inner radius
353 if (this->forward()) {
362 if (this->ps().right()) {
363 x1 = this->cc().ccr().x();
364 y1 = this->cc().ccr().y();
366 x1 = this->cc().ccl().x();
367 y1 = this->cc().ccl().y();
369 double IR = this->cc().iradi();
373 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
375 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
376 double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
377 double D = pow(b, 2) - 4 * a * c;
379 delta = -b - sqrt(D);
381 double delta_1 = delta;
383 delta_use[0] = false;
384 // check outer radius
385 if (this->forward()) {
392 IR = this->cc().ofradi();
395 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
397 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
398 c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
399 D = pow(b, 2) - 4 * a * c;
400 if (this->forward()) {
401 delta = -b + sqrt(D);
404 double delta_2 = delta;
406 delta_use[1] = false;
407 delta = -b - sqrt(D);
409 double delta_3 = delta;
411 delta_use[2] = false;
412 if (delta_use[0] && delta_use[1] && delta_use[2])
413 delta = std::max(delta_1, std::max(delta_2, delta_3));
414 else if (delta_use[0] && delta_use[1])
415 delta = std::max(delta_1, delta_2);
416 else if (delta_use[0] && delta_use[2])
417 delta = std::max(delta_1, delta_3);
418 else if (delta_use[1] && delta_use[2])
419 delta = std::max(delta_2, delta_3);
420 else if (delta_use[0])
422 else if (delta_use[1])
424 else if (delta_use[2])
428 // current car `cc` can get out of slot with max steer
429 this->cc().x(this->cc().x() + delta * cos(cc_h));
430 this->cc().y(this->cc().y() + delta * sin(cc_h));
432 // get current car `cc` out of slot
434 this->cc().sp(-0.01);
437 this->cc().set_max_steer();
438 if (this->ps().right())
439 this->cc().st(this->cc().st() * -1);
440 while (!this->left()) {
441 while (!this->collide() && !this->left())
443 if (this->left() && !this->collide()) {
446 this->cc().sp(this->cc().sp() * -1);
448 this->cc().st(this->cc().st() * -1);
453 PSPlanner::PSPlanner()