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         double heading = atan2(
  27                 this->ps().y2() - this->ps().y1(),
  28                 this->ps().x2() - this->ps().x1()
  29         );
  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)
  34                 return true;
  35         return false;
  36 }
  37
  38 void PSPlanner::gc_to_4()
  39 {
  40         double angl_slot = atan2(
  41                 this->ps().y3() - this->ps().y4(),
  42                 this->ps().x3() - this->ps().x4()
  43         );
  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);
  53         this->gc().x(x);
  54         this->gc().y(y);
  55         this->gc().h(angl_slot);
  56 }
  57
  58 std::tuple<double, double, double, double> circle_line_intersection(
  59         double cx, double cy, double r,
  60         double x1, double y1,
  61         double x2, double y2
  62 )
  63 {
  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)
  69         //        - pow(r, 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;
  76         if (D < 0)
  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);
  83 }
  84
  85 double edist(double x1, double y1, double x2, double y2)
  86 {
  87         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  88 }
  89
  90 void PSPlanner::guess_gc()
  91 {
  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())
  97                 dts = - M_PI / 2;
  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);
 103         } else {
 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()
 108                 );
 109                 double dist_l =
 110                         this->gc().orradi()
 111                         - (this->gc().mtr() + this->gc().w() / 2)
 112                 ;
 113                 double move1 = dist_l + this->gc().w() / 2;
 114                 double dist_r = entry_width - this->gc().w() - dist_l;
 115                 double move2 = sqrt(
 116                         pow(this->gc().iradi(), 2)
 117                         - pow(this->gc().iradi() - dist_r, 2)
 118                 );
 119                 move2 -= this->gc().dr() / 2; // workaround
 120                 x += move1 * cos(h);
 121                 y += move1 * sin(h);
 122                 x += move2 * cos(h + dts);
 123                 y += move2 * sin(h + dts);
 124                 h += dts + M_PI;
 125         }
 126         while (h > M_PI)
 127                 h -= 2 * M_PI;
 128         while (h <= -M_PI)
 129                 h += 2 * M_PI;
 130         this->gc().x(x);
 131         this->gc().y(y);
 132         this->gc().h(h);
 133 }
 134
 135 bool PSPlanner::left()
 136 {
 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();
 145         double lfs = sgn(
 146                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 147                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 148         );
 149         double lrs = sgn(
 150                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 151                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 152         );
 153         double rrs = sgn(
 154                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 155                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 156         );
 157         double rfs = sgn(
 158                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 159                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 160         );
 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);
 165         else
 166                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 167 }
 168
 169 bool PSPlanner::parked()
 170 {
 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);
 180 }
 181
 182 std::vector<BicycleCar> PSPlanner::possible_goals(
 183         unsigned int cnt,
 184         double dist
 185 )
 186 {
 187         std::vector<BicycleCar> pi;
 188         if (this->cc().sp() > 0)
 189                 this->cc().sp(1);
 190         else
 191                 this->cc().sp(-1);
 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++) {
 196                 this->cc().next();
 197                 pi.push_back(BicycleCar(this->cc()));
 198         }
 199         this->cc() = BicycleCar(orig_cc);
 200         return pi;
 201 }
 202
 203 // find entry
 204 void PSPlanner::fe()
 205 {
 206         this->c_ = 0;
 207         if (this->ps().parallel()) {
 208                 return this->fe_parallel();
 209         } else {
 210                 this->guess_gc();
 211                 this->cc() = BicycleCar(this->gc());
 212                 this->cc().set_max_steer();
 213                 if (this->ps().right())
 214                         this->cc().st(this->cc().st() * -1);
 215                 this->cc().sp(1);
 216         }
 217 }
 218
 219 void PSPlanner::fe_parallel()
 220 {
 221         BicycleCar bco = BicycleCar(this->gc());
 222         this->cc() = BicycleCar();
 223         this->cc().sp(-0.01);
 224         this->cc().set_max_steer();
 225         if (!this->ps().right())
 226                 this->cc().st(this->cc().st() * -1);
 227         this->cc().h(this->ps().heading());
 228         double angl_in_slot = this->ps().heading() - M_PI / 4;
 229         if (!this->ps().right())
 230                 angl_in_slot += M_PI / 2;
 231         this->cc().x(
 232                 this->ps().x4()
 233                 + this->cc().w()/2 * cos(
 234                         this->ps().heading()
 235                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 236                 )
 237                 + (this->cc().df() + 0.01) * cos(
 238                         this->ps().heading() + M_PI
 239                 )
 240         );
 241         this->cc().y(
 242                 this->ps().y4()
 243                 + this->cc().w()/2 * sin(
 244                         this->ps().heading()
 245                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 246                 )
 247                 + (this->cc().df() + 0.01) * sin(
 248                         this->ps().heading() + M_PI
 249                 )
 250         );
 251
 252         std::queue<BicycleCar, std::list<BicycleCar>> q;
 253         while (!this->collide()) {
 254                 q.push(this->cc());
 255                 this->cc().rotate(
 256                         this->ps().x4(),
 257                         this->ps().y4() - 0.01,
 258                         ((this->ps().right()) ? 0.001 : -0.001)
 259                 );
 260         }
 261         // BFS - find entry current car `cc` and corresponding goal car `gc`
 262         unsigned int iter_cntr = 0;
 263         while (!q.empty() && iter_cntr < 30) {
 264                 this->cc() = BicycleCar(q.front());
 265                 q.pop();
 266                 while (
 267                         !this->collide()
 268                         && (std::abs(
 269                                 this->cc().h() - this->ps().heading()
 270                         ) > M_PI / 32)
 271                         && (std::abs(
 272                                 this->cc().h() - this->ps().heading()
 273                         ) < M_PI / 2)
 274                 )
 275                         this->cc().next();
 276                 this->cc().sp(this->cc().sp() * -1);
 277                 this->cc().next();
 278                 this->gc() = BicycleCar(this->cc());
 279                 if (this->parked())
 280                         goto successfinish;
 281                 this->cc().st(this->cc().st() * -1);
 282                 q.push(BicycleCar(this->cc()));
 283                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 284                         iter_cntr++;
 285         }
 286         // fallback to fer
 287         this->gc() = BicycleCar(bco);
 288 successfinish:
 289         return this->fer_parallel();
 290 }
 291
 292 void PSPlanner::fe_perpendicular()
 293 {
 294         // TODO Try multiple angles when going from parking slot.
 295         //
 296         //      Do not use just the maximum steer angle. Test angles
 297         //      until the whole current car `cc` is out of the parking
 298         //      slot `ps`.
 299         //
 300         //      Another approach could be testing angles from the
 301         //      beginning of the escape parkig slot maneuver.
 302         if (this->forward())
 303                 this->cc().sp(-0.01);
 304         else
 305                 this->cc().sp(0.01);
 306         while (!this->left())
 307                 this->cc().next();
 308         return;
 309 }
 310
 311 void PSPlanner::fer()
 312 {
 313         this->c_ = 0;
 314         if (this->ps().parallel()) {
 315                 this->guess_gc();
 316                 this->cc() = BicycleCar(this->gc());
 317                 this->cc().set_max_steer();
 318                 if (!this->ps().right())
 319                         this->cc().st(this->cc().st() * -1);
 320                 this->cc().sp(0.01);
 321                 return this->fer_parallel();
 322         } else {
 323                 return this->fer_perpendicular();
 324         }
 325 }
 326
 327 void PSPlanner::fer_parallel()
 328 {
 329         this->cusps_.clear();
 330         while (!this->left()) {
 331                 while (!this->collide() && !this->left())
 332                         this->cc().next();
 333                 if (this->left() && !this->collide()) {
 334                         break;
 335                 } else {
 336                         this->cc().sp(this->cc().sp() * -1);
 337                         this->cc().next();
 338                         this->cc().st(this->cc().st() * -1);
 339                         this->c_++;
 340                         this->cusps_.push_back(this->cc());
 341                 }
 342         }
 343         if (this->cc().st() < 0) {
 344                 this->c_++;
 345                 this->cusps_.push_back(this->cc());
 346         }
 347 }
 348
 349 void PSPlanner::fer_perpendicular()
 350 {
 351         bool delta_use[] = {true, true, true};
 352         double cc_h = this->cc().h();
 353         double x;
 354         double y;
 355         // check inner radius
 356         if (this->forward()) {
 357                 x = this->ps().x1();
 358                 y = this->ps().y1();
 359         } else {
 360                 x = this->ps().x4();
 361                 y = this->ps().y4();
 362         }
 363         double x1;
 364         double y1;
 365         if (this->ps().right()) {
 366                 x1 = this->cc().ccr().x();
 367                 y1 = this->cc().ccr().y();
 368         } else {
 369                 x1 = this->cc().ccl().x();
 370                 y1 = this->cc().ccl().y();
 371         }
 372         double IR = this->cc().iradi();
 373         double a = 1;
 374         double b;
 375         if (this->forward())
 376                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 377         else
 378                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 379         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 380         double D = pow(b, 2) - 4 * a * c;
 381         double delta;
 382         delta = -b - sqrt(D);
 383         delta /= 2 * a;
 384         double delta_1 = delta;
 385         if (D < 0)
 386                 delta_use[0] = false;
 387         // check outer radius
 388         if (this->forward()) {
 389                 x = this->ps().x4();
 390                 y = this->ps().y4();
 391         } else {
 392                 x = this->ps().x1();
 393                 y = this->ps().y1();
 394         }
 395         IR = this->cc().ofradi();
 396         a = 1;
 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         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 402         D = pow(b, 2) - 4 * a * c;
 403         if (this->forward()) {
 404                 delta = -b + sqrt(D);
 405                 delta /= 2 * a;
 406         }
 407         double delta_2 = delta;
 408         if (D < 0)
 409                 delta_use[1] = false;
 410         delta = -b - sqrt(D);
 411         delta /= 2 * a;
 412         double delta_3 = delta;
 413         if (D < 0)
 414                 delta_use[2] = false;
 415         if (delta_use[0] && delta_use[1] && delta_use[2])
 416                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 417         else if (delta_use[0] && delta_use[1])
 418                 delta = std::max(delta_1, delta_2);
 419         else if (delta_use[0] && delta_use[2])
 420                 delta = std::max(delta_1, delta_3);
 421         else if (delta_use[1] && delta_use[2])
 422                 delta = std::max(delta_2, delta_3);
 423         else if (delta_use[0])
 424                 delta = delta_1;
 425         else if (delta_use[1])
 426                 delta = delta_2;
 427         else if (delta_use[2])
 428                 delta = delta_3;
 429         else
 430                 return;
 431         // current car `cc` can get out of slot with max steer
 432         this->cc().x(this->cc().x() + delta * cos(cc_h));
 433         this->cc().y(this->cc().y() + delta * sin(cc_h));
 434         this->cc().h(cc_h);
 435         // get current car `cc` out of slot
 436         if (this->forward())
 437                 this->cc().sp(-0.01);
 438         else
 439                 this->cc().sp(0.01);
 440         this->cc().set_max_steer();
 441         if (this->ps().right())
 442                 this->cc().st(this->cc().st() * -1);
 443         while (!this->left()) {
 444                 while (!this->collide() && !this->left())
 445                         this->cc().next();
 446                 if (this->left() && !this->collide()) {
 447                         break;
 448                 } else {
 449                         this->cc().sp(this->cc().sp() * -1);
 450                         this->cc().next();
 451                         this->cc().st(this->cc().st() * -1);
 452                 }
 453         }
 454 }
 455
 456 PSPlanner::PSPlanner()
 457 {
 458 }