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                                 // TODO (p1, p2) x (lr, rr)
 381                                 auto cli2 = ::intersect(
 382                                         cclx, ccly, ccl_rr,
 383                                         this->ps().x2(), this->ps().y2(),
 384                                         this->ps().x3(), this->ps().y3()
 385                                 );
 386                                 double a2 = smaller_angle_of_two(
 387                                         this->cc().rrx(), this->cc().rry(),
 388                                         cclx, ccly,
 389                                         std::get<1>(cli2), std::get<2>(cli2),
 390                                         std::get<3>(cli2), std::get<4>(cli2)
 391                                 );
 392                         } else if (ccl_lr >= ccl_p1) {
 393                                 // in parking slot
 394                                 auto cli1 = ::intersect(
 395                                         cclx, ccly, ccl_lr,
 396                                         this->ps().x1(), this->ps().y1(),
 397                                         this->ps().x2(), this->ps().y2()
 398                                 );
 399                                 double a1 = smaller_angle_of_two(
 400                                         this->cc().lrx(), this->cc().lry(),
 401                                         cclx, ccly,
 402                                         std::get<1>(cli1), std::get<2>(cli1),
 403                                         std::get<3>(cli1), std::get<4>(cli1)
 404                                 );
 405                                 auto cli2 = ::intersect(
 406                                         cclx, ccly, ccl_rr,
 407                                         this->ps().x2(), this->ps().y2(),
 408                                         this->ps().x3(), this->ps().y3()
 409                                 );
 410                                 double a2 = smaller_angle_of_two(
 411                                         this->cc().rrx(), this->cc().rry(),
 412                                         cclx, ccly,
 413                                         std::get<1>(cli2), std::get<2>(cli2),
 414                                         std::get<3>(cli2), std::get<4>(cli2)
 415                                 );
 416                         }
 417
 418                         double r1 = sqrt(
 419                             pow(this->cc().lry() - ccly, 2)
 420                             + pow(this->cc().lrx() - cclx, 2)
 421                         );
 422                         auto cli1 = ::intersect(
 423                             cclx, ccly, r1,
 424                             this->ps().x1(), this->ps().y1(),
 425                             this->ps().x2(), this->ps().y2()
 426                         );
 427                         double a11 = ::angle_between_three_points(
 428                             this->cc().lrx(), this->cc().lry(),
 429                             cclx, ccly,
 430                             std::get<1>(cli1), std::get<2>(cli1)
 431                         );
 432                         double a12 = ::angle_between_three_points(
 433                             this->cc().lrx(), this->cc().lry(),
 434                             cclx, ccly,
 435                             std::get<3>(cli1), std::get<4>(cli1)
 436                         );
 437                         double a1 = std::min(a11, a12);
 438 {
 439         double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
 440         if (
 441                 edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
 442                 && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
 443         ) {
 444                 auto clif = ::intersect(
 445                         cclx, ccly, rf,
 446                         this->cc().lrx(), this->cc().lry(),
 447                         this->cc().rrx(), this->cc().rry()
 448                 );
 449                 double xf = std::get<1>(clif);
 450                 double yf = std::get<2>(clif);
 451                 if (
 452                         edist(
 453                                 std::get<3>(clif), std::get<4>(clif),
 454                                 this->cc().x(), this->cc().y()
 455
 456                         )
 457                         < edist(xf, yf, this->cc().x(), this->cc().y())
 458                 ) {
 459                         xf = std::get<3>(clif);
 460                         yf = std::get<4>(clif);
 461                 }
 462                 double af = ::angle_between_three_points(
 463                         xf, yf,
 464                         cclx, ccly,
 465                         this->ps().x1(), this->ps().y1()
 466                 );
 467                 a1 = af;
 468         }
 469 }
 470
 471                         double r2 = sqrt(
 472                             pow(this->cc().rry() - ccly, 2)
 473                             + pow(this->cc().rrx() - cclx, 2)
 474                         );
 475                         auto cli2 = ::intersect(
 476                             cclx, ccly, r2,
 477                             this->ps().x1(), this->ps().y1(),
 478                             this->ps().x2(), this->ps().y2()
 479                         );
 480                         double a21 = ::angle_between_three_points(
 481                             this->cc().rrx(), this->cc().rry(),
 482                             cclx, ccly,
 483                             std::get<1>(cli2), std::get<2>(cli2)
 484                         );
 485                         double a22 = ::angle_between_three_points(
 486                             this->cc().rrx(), this->cc().rry(),
 487                             cclx, ccly,
 488                             std::get<3>(cli2), std::get<4>(cli2)
 489                         );
 490                         double a2 = std::min(a21, a22);
 491
 492                         double r3 = sqrt(
 493                             pow(this->cc().rry() - ccly, 2)
 494                             + pow(this->cc().rrx() - cclx, 2)
 495                         );
 496                         auto cli3 = ::intersect(
 497                             cclx, ccly, r3,
 498                             this->ps().x2(), this->ps().y2(),
 499                             this->ps().x3(), this->ps().y3()
 500                         );
 501                         double a31 = ::angle_between_three_points(
 502                             this->cc().rrx(), this->cc().rry(),
 503                             cclx, ccly,
 504                             std::get<1>(cli3), std::get<2>(cli3)
 505                         );
 506                         double a32 = ::angle_between_three_points(
 507                             this->cc().rrx(), this->cc().rry(),
 508                             cclx, ccly,
 509                             std::get<3>(cli3), std::get<4>(cli3)
 510                         );
 511                         double a3 = std::min(a31, a32);
 512
 513                         if (std::get<0>(cli1) && (
 514                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 515                             || (a1 < a2 && !std::get<0>(cli3))
 516                             || (a1 < a3 && !std::get<0>(cli2))
 517                             || (a1 < a2 && a1 < a3)
 518                         )) {
 519                             this->cc().rotate(cclx, ccly, -a1);
 520                         } else if (std::get<0>(cli2) && (
 521                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 522                             || (a2 < a1 && !std::get<0>(cli3))
 523                             || (a2 < a3 && !std::get<0>(cli1))
 524                             || (a2 < a1 && a2 < a3)
 525                         )) {
 526                             this->cc().rotate(cclx, ccly, -a2);
 527                         } else if (std::get<0>(cli3) && (
 528                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 529                             || (a3 < a1 && !std::get<0>(cli2))
 530                             || (a3 < a2 && !std::get<0>(cli1))
 531                             || (a3 < a1 && a3 < a2)
 532                         )) {
 533                             this->cc().rotate(cclx, ccly, -a3);
 534                         } else {
 535                             continue;
 536                         }
 537                         if (::right_side_of_line(
 538                             this->cc().x(), this->cc().y(),
 539                             this->cc().x() + cos(this->ps().heading()),
 540                             this->cc().y() + sin(this->ps().heading()),
 541                             this->cc().x() + cos(this->cc().h()),
 542                             this->cc().y() + sin(this->cc().h())
 543                         ))
 544                             continue;
 545                 } else if (this->ps().right() && this->cc().sp() > 0) {
 546                         double ccrx = this->cc().ccr().x();
 547                         double ccry = this->cc().ccr().y();
 548 {
 549         double rf = sqrt(
 550                 pow(this->cc().lfy() - ccry, 2)
 551                 + pow(this->cc().lfx() - ccrx, 2)
 552         );
 553         auto clif = ::intersect(
 554                 ccrx, ccry, rf,
 555                 this->ps().x1(), this->ps().y1(),
 556                 this->ps().x4(), this->ps().y4()
 557         );
 558         if (std::get<0>(clif)) {
 559                 double xf = std::get<1>(clif);
 560                 double yf = std::get<2>(clif);
 561                 if (
 562                         edist(
 563                                 this->ps().x4(),
 564                                 this->ps().y4(),
 565                                 std::get<3>(clif),
 566                                 std::get<4>(clif)
 567                         ) < edist(
 568                                 this->ps().x4(),
 569                                 this->ps().y4(),
 570                                 xf, yf
 571                         )
 572                 ) {
 573                         xf = std::get<3>(clif);
 574                         yf = std::get<4>(clif);
 575                 }
 576                 auto af = ::angle_between_three_points(
 577                         this->cc().lfx(),
 578                         this->cc().lfy(),
 579                         ccrx, ccry,
 580                         xf, yf
 581                 );
 582                 auto tmp_cc = BicycleCar(this->cc());
 583                 this->cc().rotate(ccrx, ccry, -af);
 584                 if (
 585                         !this->collide()
 586                         && (edist(
 587                                 this->ps().x1(), this->ps().y1(),
 588                                 xf, yf
 589                         ) < edist(
 590                                 this->ps().x1(), this->ps().y1(),
 591                                 this->ps().x4(), this->ps().y4()
 592                         ))
 593                 ) {
 594                         this->cc().sp(-0.01);
 595                         this->cc().set_max_steer();
 596                         this->cc().st(this->cc().st() * -1);
 597                         this->gc() = BicycleCar(this->cc());
 598                         goto successfinish;
 599                 } else {
 600                         this->cc() = BicycleCar(tmp_cc);
 601                 }
 602         } else {
 603                 // should be parked and found in previous iteration or continue
 604                 // with the parking process
 605         }
 606 }
 607                         double r1 = sqrt(
 608                             pow(this->cc().rfy() - ccry, 2)
 609                             + pow(this->cc().rfx() - ccrx, 2)
 610                         );
 611                         auto cli1 = ::intersect(
 612                             ccrx, ccry, r1,
 613                             this->ps().x3(), this->ps().y3(),
 614                             this->ps().x4(), this->ps().y4()
 615                         );
 616                         double a11 = ::angle_between_three_points(
 617                             this->cc().lrx(), this->cc().lry(),
 618                             ccrx, ccry,
 619                             std::get<1>(cli1), std::get<2>(cli1)
 620                         );
 621                         double a12 = ::angle_between_three_points(
 622                             this->cc().lrx(), this->cc().lry(),
 623                             ccrx, ccry,
 624                             std::get<3>(cli1), std::get<4>(cli1)
 625                         );
 626                         double a1 = std::min(a11, a12);
 627
 628                         double r2 = sqrt(
 629                             pow(this->cc().lfy() - ccry, 2)
 630                             + pow(this->cc().lfx() - ccrx, 2)
 631                         );
 632                         auto cli2 = ::intersect(
 633                             ccrx, ccry, r2,
 634                             this->ps().x3(), this->ps().y3(),
 635                             this->ps().x4(), this->ps().y4()
 636                         );
 637                         double a21 = ::angle_between_three_points(
 638                             this->cc().rrx(), this->cc().rry(),
 639                             ccrx, ccry,
 640                             std::get<1>(cli2), std::get<2>(cli2)
 641                         );
 642                         double a22 = ::angle_between_three_points(
 643                             this->cc().rrx(), this->cc().rry(),
 644                             ccrx, ccry,
 645                             std::get<3>(cli2), std::get<4>(cli2)
 646                         );
 647                         double a2 = std::min(a21, a22);
 648
 649                         double r3 = sqrt(
 650                             pow(this->cc().rfy() - ccry, 2)
 651                             + pow(this->cc().rfx() - ccrx, 2)
 652                         );
 653                         auto cli3 = ::intersect(
 654                             ccrx, ccry, r3,
 655                             this->ps().x3(), this->ps().y3(),
 656                             this->ps().x2(), this->ps().y2()
 657                         );
 658                         double a31 = ::angle_between_three_points(
 659                             this->cc().rrx(), this->cc().rry(),
 660                             ccrx, ccry,
 661                             std::get<1>(cli3), std::get<2>(cli3)
 662                         );
 663                         double a32 = ::angle_between_three_points(
 664                             this->cc().rrx(), this->cc().rry(),
 665                             ccrx, ccry,
 666                             std::get<3>(cli3), std::get<4>(cli3)
 667                         );
 668                         double a3 = std::min(a31, a32);
 669
 670                         if (std::get<0>(cli1) && (
 671                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 672                             || (a1 < a2 && !std::get<0>(cli3))
 673                             || (a1 < a3 && !std::get<0>(cli2))
 674                             || (a1 < a2 && a1 < a3)
 675                         )) {
 676                             this->cc().rotate(ccrx, ccry, -a1);
 677                         } else if (std::get<0>(cli2) && (
 678                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 679                             || (a2 < a1 && !std::get<0>(cli3))
 680                             || (a2 < a3 && !std::get<0>(cli1))
 681                             || (a2 < a1 && a2 < a3)
 682                         )) {
 683                             this->cc().rotate(ccrx, ccry, -a2);
 684                         } else if (std::get<0>(cli3) && (
 685                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 686                             || (a3 < a1 && !std::get<0>(cli2))
 687                             || (a3 < a2 && !std::get<0>(cli1))
 688                             || (a3 < a1 && a3 < a2)
 689                         )) {
 690                             this->cc().rotate(ccrx, ccry, -a3);
 691                         } else {
 692                             continue;
 693                         }
 694                 } else {
 695                         // TODO left parking slot (both forward, backward)
 696                 }
 697                 this->cc().sp(this->cc().sp() * -1);
 698                 this->cc().next();
 699                 this->gc() = BicycleCar(this->cc());
 700                 if (this->parked())
 701                         goto successfinish;
 702                 this->cc().st(this->cc().st() * -1);
 703                 q.push(BicycleCar(this->cc()));
 704                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 705                         iter_cntr++;
 706         }
 707         // fallback to fer
 708         this->gc() = BicycleCar(bco);
 709 successfinish:
 710         return this->fer_parallel();
 711 }
 712
 713 void PSPlanner::fe_perpendicular()
 714 {
 715         // TODO Try multiple angles when going from parking slot.
 716         //
 717         //      Do not use just the maximum steer angle. Test angles
 718         //      until the whole current car `cc` is out of the parking
 719         //      slot `ps`.
 720         //
 721         //      Another approach could be testing angles from the
 722         //      beginning of the escape parkig slot maneuver.
 723         if (this->forward())
 724                 this->cc().sp(-0.01);
 725         else
 726                 this->cc().sp(0.01);
 727         while (!this->left())
 728                 this->cc().next();
 729         return;
 730 }
 731
 732 void PSPlanner::fer()
 733 {
 734         this->c_ = 0;
 735         if (this->ps().parallel()) {
 736                 this->guess_gc();
 737                 this->cc() = BicycleCar(this->gc());
 738                 this->cc().set_max_steer();
 739                 if (!this->ps().right())
 740                         this->cc().st(this->cc().st() * -1);
 741                 this->cc().sp(0.01);
 742                 return this->fer_parallel();
 743         } else {
 744                 return this->fer_perpendicular();
 745         }
 746 }
 747
 748 void PSPlanner::fer_parallel()
 749 {
 750         this->cusps_.clear();
 751         while (!this->left()) {
 752                 while (!this->collide() && !this->left())
 753                         this->cc().next();
 754                 if (this->left() && !this->collide()) {
 755                         break;
 756                 } else {
 757                         this->cc().sp(this->cc().sp() * -1);
 758                         this->cc().next();
 759                         this->cc().st(this->cc().st() * -1);
 760                         this->c_++;
 761                         this->cusps_.push_back(this->cc());
 762                 }
 763         }
 764         if (this->cc().st() < 0) {
 765                 this->c_++;
 766                 this->cusps_.push_back(this->cc());
 767         }
 768 }
 769
 770 void PSPlanner::fer_perpendicular()
 771 {
 772         bool delta_use[] = {true, true, true};
 773         double cc_h = this->cc().h();
 774         double x;
 775         double y;
 776         // check inner radius
 777         if (this->forward()) {
 778                 x = this->ps().x1();
 779                 y = this->ps().y1();
 780         } else {
 781                 x = this->ps().x4();
 782                 y = this->ps().y4();
 783         }
 784         double x1;
 785         double y1;
 786         if (this->ps().right()) {
 787                 x1 = this->cc().ccr().x();
 788                 y1 = this->cc().ccr().y();
 789         } else {
 790                 x1 = this->cc().ccl().x();
 791                 y1 = this->cc().ccl().y();
 792         }
 793         double IR = this->cc().iradi();
 794         double a = 1;
 795         double b;
 796         if (this->forward())
 797                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 798         else
 799                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 800         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 801         double D = pow(b, 2) - 4 * a * c;
 802         double delta;
 803         delta = -b - sqrt(D);
 804         delta /= 2 * a;
 805         double delta_1 = delta;
 806         if (D < 0)
 807                 delta_use[0] = false;
 808         // check outer radius
 809         if (this->forward()) {
 810                 x = this->ps().x4();
 811                 y = this->ps().y4();
 812         } else {
 813                 x = this->ps().x1();
 814                 y = this->ps().y1();
 815         }
 816         IR = this->cc().ofradi();
 817         a = 1;
 818         if (this->forward())
 819                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 820         else
 821                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 822         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 823         D = pow(b, 2) - 4 * a * c;
 824         if (this->forward()) {
 825                 delta = -b + sqrt(D);
 826                 delta /= 2 * a;
 827         }
 828         double delta_2 = delta;
 829         if (D < 0)
 830                 delta_use[1] = false;
 831         delta = -b - sqrt(D);
 832         delta /= 2 * a;
 833         double delta_3 = delta;
 834         if (D < 0)
 835                 delta_use[2] = false;
 836         if (delta_use[0] && delta_use[1] && delta_use[2])
 837                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 838         else if (delta_use[0] && delta_use[1])
 839                 delta = std::max(delta_1, delta_2);
 840         else if (delta_use[0] && delta_use[2])
 841                 delta = std::max(delta_1, delta_3);
 842         else if (delta_use[1] && delta_use[2])
 843                 delta = std::max(delta_2, delta_3);
 844         else if (delta_use[0])
 845                 delta = delta_1;
 846         else if (delta_use[1])
 847                 delta = delta_2;
 848         else if (delta_use[2])
 849                 delta = delta_3;
 850         else
 851                 return;
 852         // current car `cc` can get out of slot with max steer
 853         this->cc().x(this->cc().x() + delta * cos(cc_h));
 854         this->cc().y(this->cc().y() + delta * sin(cc_h));
 855         this->cc().h(cc_h);
 856         // get current car `cc` out of slot
 857         if (this->forward())
 858                 this->cc().sp(-0.01);
 859         else
 860                 this->cc().sp(0.01);
 861         this->cc().set_max_steer();
 862         if (this->ps().right())
 863                 this->cc().st(this->cc().st() * -1);
 864         while (!this->left()) {
 865                 while (!this->collide() && !this->left())
 866                         this->cc().next();
 867                 if (this->left() && !this->collide()) {
 868                         break;
 869                 } else {
 870                         this->cc().sp(this->cc().sp() * -1);
 871                         this->cc().next();
 872                         this->cc().st(this->cc().st() * -1);
 873                 }
 874         }
 875 }
 876
 877 PSPlanner::PSPlanner()
 878 {
 879 }