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 void PSPlanner::fe_parallel()
 303 {
 304         BicycleCar bco = BicycleCar(this->gc());
 305         this->cc() = BicycleCar();
 306         this->cc().sp(-0.01);
 307         this->cc().set_max_steer();
 308         if (!this->ps().right())
 309                 this->cc().st(this->cc().st() * -1);
 310         this->cc().h(this->ps().heading());
 311         double angl_in_slot = this->ps().heading() - M_PI / 4;
 312         if (!this->ps().right())
 313                 angl_in_slot += M_PI / 2;
 314         this->cc().x(
 315                 this->ps().x4()
 316                 + this->cc().w()/2 * cos(
 317                         this->ps().heading()
 318                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 319                 )
 320                 + (this->cc().df() + 0.01) * cos(
 321                         this->ps().heading() + M_PI
 322                 )
 323         );
 324         this->cc().y(
 325                 this->ps().y4()
 326                 + this->cc().w()/2 * sin(
 327                         this->ps().heading()
 328                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 329                 )
 330                 + (this->cc().df() + 0.01) * sin(
 331                         this->ps().heading() + M_PI
 332                 )
 333         );
 334
 335         std::queue<BicycleCar, std::list<BicycleCar>> q;
 336         while (!this->collide()) {
 337                 q.push(this->cc());
 338                 this->cc().rotate(
 339                         this->ps().x4(),
 340                         this->ps().y4() - 0.01,
 341                         ((this->ps().right()) ? 0.001 : -0.001)
 342                 );
 343         }
 344         // BFS - find entry current car `cc` and corresponding goal car `gc`
 345         unsigned int iter_cntr = 0;
 346         while (!q.empty() && iter_cntr < 30) {
 347                 this->cc() = BicycleCar(q.front());
 348                 q.pop();
 349                 if (this->ps().right() && this->cc().sp() < 0) {
 350                         double cclx = this->cc().ccl().x();
 351                         double ccly = this->cc().ccl().y();
 352
 353                         double r1 = sqrt(
 354                             pow(this->cc().lry() - ccly, 2)
 355                             + pow(this->cc().lrx() - cclx, 2)
 356                         );
 357                         auto cli1 = ::intersect(
 358                             cclx, ccly, r1,
 359                             this->ps().x1(), this->ps().y1(),
 360                             this->ps().x2(), this->ps().y2()
 361                         );
 362                         double a11 = ::angle_between_three_points(
 363                             this->cc().lrx(), this->cc().lry(),
 364                             cclx, ccly,
 365                             std::get<1>(cli1), std::get<2>(cli1)
 366                         );
 367                         double a12 = ::angle_between_three_points(
 368                             this->cc().lrx(), this->cc().lry(),
 369                             cclx, ccly,
 370                             std::get<3>(cli1), std::get<4>(cli1)
 371                         );
 372                         double a1 = std::min(a11, a12);
 373 {
 374         double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
 375         if (
 376                 edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
 377                 && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
 378         ) {
 379                 auto clif = ::intersect(
 380                         cclx, ccly, rf,
 381                         this->cc().lrx(), this->cc().lry(),
 382                         this->cc().rrx(), this->cc().rry()
 383                 );
 384                 double xf = std::get<1>(clif);
 385                 double yf = std::get<2>(clif);
 386                 if (
 387                         edist(
 388                                 std::get<3>(clif), std::get<4>(clif),
 389                                 this->cc().x(), this->cc().y()
 390
 391                         )
 392                         < edist(xf, yf, this->cc().x(), this->cc().y())
 393                 ) {
 394                         xf = std::get<3>(clif);
 395                         yf = std::get<4>(clif);
 396                 }
 397                 double af = ::angle_between_three_points(
 398                         xf, yf,
 399                         cclx, ccly,
 400                         this->ps().x1(), this->ps().y1()
 401                 );
 402                 a1 = af;
 403         }
 404 }
 405
 406                         double r2 = sqrt(
 407                             pow(this->cc().rry() - ccly, 2)
 408                             + pow(this->cc().rrx() - cclx, 2)
 409                         );
 410                         auto cli2 = ::intersect(
 411                             cclx, ccly, r2,
 412                             this->ps().x1(), this->ps().y1(),
 413                             this->ps().x2(), this->ps().y2()
 414                         );
 415                         double a21 = ::angle_between_three_points(
 416                             this->cc().rrx(), this->cc().rry(),
 417                             cclx, ccly,
 418                             std::get<1>(cli2), std::get<2>(cli2)
 419                         );
 420                         double a22 = ::angle_between_three_points(
 421                             this->cc().rrx(), this->cc().rry(),
 422                             cclx, ccly,
 423                             std::get<3>(cli2), std::get<4>(cli2)
 424                         );
 425                         double a2 = std::min(a21, a22);
 426
 427                         double r3 = sqrt(
 428                             pow(this->cc().rry() - ccly, 2)
 429                             + pow(this->cc().rrx() - cclx, 2)
 430                         );
 431                         auto cli3 = ::intersect(
 432                             cclx, ccly, r3,
 433                             this->ps().x2(), this->ps().y2(),
 434                             this->ps().x3(), this->ps().y3()
 435                         );
 436                         double a31 = ::angle_between_three_points(
 437                             this->cc().rrx(), this->cc().rry(),
 438                             cclx, ccly,
 439                             std::get<1>(cli3), std::get<2>(cli3)
 440                         );
 441                         double a32 = ::angle_between_three_points(
 442                             this->cc().rrx(), this->cc().rry(),
 443                             cclx, ccly,
 444                             std::get<3>(cli3), std::get<4>(cli3)
 445                         );
 446                         double a3 = std::min(a31, a32);
 447
 448                         if (std::get<0>(cli1) && (
 449                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 450                             || (a1 < a2 && !std::get<0>(cli3))
 451                             || (a1 < a3 && !std::get<0>(cli2))
 452                             || (a1 < a2 && a1 < a3)
 453                         )) {
 454                             this->cc().rotate(cclx, ccly, -a1);
 455                         } else if (std::get<0>(cli2) && (
 456                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 457                             || (a2 < a1 && !std::get<0>(cli3))
 458                             || (a2 < a3 && !std::get<0>(cli1))
 459                             || (a2 < a1 && a2 < a3)
 460                         )) {
 461                             this->cc().rotate(cclx, ccly, -a2);
 462                         } else if (std::get<0>(cli3) && (
 463                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 464                             || (a3 < a1 && !std::get<0>(cli2))
 465                             || (a3 < a2 && !std::get<0>(cli1))
 466                             || (a3 < a1 && a3 < a2)
 467                         )) {
 468                             this->cc().rotate(cclx, ccly, -a3);
 469                         } else {
 470                             continue;
 471                         }
 472                         if (::right_side_of_line(
 473                             this->cc().x(), this->cc().y(),
 474                             this->cc().x() + cos(this->ps().heading()),
 475                             this->cc().y() + sin(this->ps().heading()),
 476                             this->cc().x() + cos(this->cc().h()),
 477                             this->cc().y() + sin(this->cc().h())
 478                         ))
 479                             continue;
 480                 } else if (this->ps().right() && this->cc().sp() > 0) {
 481                         double ccrx = this->cc().ccr().x();
 482                         double ccry = this->cc().ccr().y();
 483 {
 484         double rf = sqrt(
 485                 pow(this->cc().lfy() - ccry, 2)
 486                 + pow(this->cc().lfx() - ccrx, 2)
 487         );
 488         auto clif = ::intersect(
 489                 ccrx, ccry, rf,
 490                 this->ps().x1(), this->ps().y1(),
 491                 this->ps().x4(), this->ps().y4()
 492         );
 493         if (std::get<0>(clif)) {
 494                 double xf = std::get<1>(clif);
 495                 double yf = std::get<2>(clif);
 496                 if (
 497                         edist(
 498                                 this->ps().x4(),
 499                                 this->ps().y4(),
 500                                 std::get<3>(clif),
 501                                 std::get<4>(clif)
 502                         ) < edist(
 503                                 this->ps().x4(),
 504                                 this->ps().y4(),
 505                                 xf, yf
 506                         )
 507                 ) {
 508                         xf = std::get<3>(clif);
 509                         yf = std::get<4>(clif);
 510                 }
 511                 auto af = ::angle_between_three_points(
 512                         this->cc().lfx(),
 513                         this->cc().lfy(),
 514                         ccrx, ccry,
 515                         xf, yf
 516                 );
 517                 auto tmp_cc = BicycleCar(this->cc());
 518                 this->cc().rotate(ccrx, ccry, -af);
 519                 if (
 520                         !this->collide()
 521                         && (edist(
 522                                 this->ps().x1(), this->ps().y1(),
 523                                 xf, yf
 524                         ) < edist(
 525                                 this->ps().x1(), this->ps().y1(),
 526                                 this->ps().x4(), this->ps().y4()
 527                         ))
 528                 ) {
 529                         this->cc().sp(-0.01);
 530                         this->cc().set_max_steer();
 531                         this->cc().st(this->cc().st() * -1);
 532                         this->gc() = BicycleCar(this->cc());
 533                         goto successfinish;
 534                 } else {
 535                         this->cc() = BicycleCar(tmp_cc);
 536                 }
 537         } else {
 538                 // should be parked and found in
 539                 // previous iteration
 540         }
 541 }
 542                         double r1 = sqrt(
 543                             pow(this->cc().rfy() - ccry, 2)
 544                             + pow(this->cc().rfx() - ccrx, 2)
 545                         );
 546                         auto cli1 = ::intersect(
 547                             ccrx, ccry, r1,
 548                             this->ps().x3(), this->ps().y3(),
 549                             this->ps().x4(), this->ps().y4()
 550                         );
 551                         double a11 = ::angle_between_three_points(
 552                             this->cc().lrx(), this->cc().lry(),
 553                             ccrx, ccry,
 554                             std::get<1>(cli1), std::get<2>(cli1)
 555                         );
 556                         double a12 = ::angle_between_three_points(
 557                             this->cc().lrx(), this->cc().lry(),
 558                             ccrx, ccry,
 559                             std::get<3>(cli1), std::get<4>(cli1)
 560                         );
 561                         double a1 = std::min(a11, a12);
 562
 563                         double r2 = sqrt(
 564                             pow(this->cc().lfy() - ccry, 2)
 565                             + pow(this->cc().lfx() - ccrx, 2)
 566                         );
 567                         auto cli2 = ::intersect(
 568                             ccrx, ccry, r2,
 569                             this->ps().x3(), this->ps().y3(),
 570                             this->ps().x4(), this->ps().y4()
 571                         );
 572                         double a21 = ::angle_between_three_points(
 573                             this->cc().rrx(), this->cc().rry(),
 574                             ccrx, ccry,
 575                             std::get<1>(cli2), std::get<2>(cli2)
 576                         );
 577                         double a22 = ::angle_between_three_points(
 578                             this->cc().rrx(), this->cc().rry(),
 579                             ccrx, ccry,
 580                             std::get<3>(cli2), std::get<4>(cli2)
 581                         );
 582                         double a2 = std::min(a21, a22);
 583
 584                         double r3 = sqrt(
 585                             pow(this->cc().rfy() - ccry, 2)
 586                             + pow(this->cc().rfx() - ccrx, 2)
 587                         );
 588                         auto cli3 = ::intersect(
 589                             ccrx, ccry, r3,
 590                             this->ps().x3(), this->ps().y3(),
 591                             this->ps().x2(), this->ps().y2()
 592                         );
 593                         double a31 = ::angle_between_three_points(
 594                             this->cc().rrx(), this->cc().rry(),
 595                             ccrx, ccry,
 596                             std::get<1>(cli3), std::get<2>(cli3)
 597                         );
 598                         double a32 = ::angle_between_three_points(
 599                             this->cc().rrx(), this->cc().rry(),
 600                             ccrx, ccry,
 601                             std::get<3>(cli3), std::get<4>(cli3)
 602                         );
 603                         double a3 = std::min(a31, a32);
 604
 605                         if (std::get<0>(cli1) && (
 606                             (!std::get<0>(cli2) && !std::get<0>(cli3))
 607                             || (a1 < a2 && !std::get<0>(cli3))
 608                             || (a1 < a3 && !std::get<0>(cli2))
 609                             || (a1 < a2 && a1 < a3)
 610                         )) {
 611                             this->cc().rotate(ccrx, ccry, -a1);
 612                         } else if (std::get<0>(cli2) && (
 613                             (!std::get<0>(cli1) && !std::get<0>(cli3))
 614                             || (a2 < a1 && !std::get<0>(cli3))
 615                             || (a2 < a3 && !std::get<0>(cli1))
 616                             || (a2 < a1 && a2 < a3)
 617                         )) {
 618                             this->cc().rotate(ccrx, ccry, -a2);
 619                         } else if (std::get<0>(cli3) && (
 620                             (!std::get<0>(cli1) && !std::get<0>(cli2))
 621                             || (a3 < a1 && !std::get<0>(cli2))
 622                             || (a3 < a2 && !std::get<0>(cli1))
 623                             || (a3 < a1 && a3 < a2)
 624                         )) {
 625                             this->cc().rotate(ccrx, ccry, -a3);
 626                         } else {
 627                             continue;
 628                         }
 629                 } else {
 630                         // TODO left parking slot (both forward, backward)
 631                 }
 632                 this->cc().sp(this->cc().sp() * -1);
 633                 this->cc().next();
 634                 this->gc() = BicycleCar(this->cc());
 635                 if (this->parked())
 636                         goto successfinish;
 637                 this->cc().st(this->cc().st() * -1);
 638                 q.push(BicycleCar(this->cc()));
 639                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 640                         iter_cntr++;
 641         }
 642         // fallback to fer
 643         this->gc() = BicycleCar(bco);
 644 successfinish:
 645         return this->fer_parallel();
 646 }
 647
 648 void PSPlanner::fe_perpendicular()
 649 {
 650         // TODO Try multiple angles when going from parking slot.
 651         //
 652         //      Do not use just the maximum steer angle. Test angles
 653         //      until the whole current car `cc` is out of the parking
 654         //      slot `ps`.
 655         //
 656         //      Another approach could be testing angles from the
 657         //      beginning of the escape parkig slot maneuver.
 658         if (this->forward())
 659                 this->cc().sp(-0.01);
 660         else
 661                 this->cc().sp(0.01);
 662         while (!this->left())
 663                 this->cc().next();
 664         return;
 665 }
 666
 667 void PSPlanner::fer()
 668 {
 669         this->c_ = 0;
 670         if (this->ps().parallel()) {
 671                 this->guess_gc();
 672                 this->cc() = BicycleCar(this->gc());
 673                 this->cc().set_max_steer();
 674                 if (!this->ps().right())
 675                         this->cc().st(this->cc().st() * -1);
 676                 this->cc().sp(0.01);
 677                 return this->fer_parallel();
 678         } else {
 679                 return this->fer_perpendicular();
 680         }
 681 }
 682
 683 void PSPlanner::fer_parallel()
 684 {
 685         this->cusps_.clear();
 686         while (!this->left()) {
 687                 while (!this->collide() && !this->left())
 688                         this->cc().next();
 689                 if (this->left() && !this->collide()) {
 690                         break;
 691                 } else {
 692                         this->cc().sp(this->cc().sp() * -1);
 693                         this->cc().next();
 694                         this->cc().st(this->cc().st() * -1);
 695                         this->c_++;
 696                         this->cusps_.push_back(this->cc());
 697                 }
 698         }
 699         if (this->cc().st() < 0) {
 700                 this->c_++;
 701                 this->cusps_.push_back(this->cc());
 702         }
 703 }
 704
 705 void PSPlanner::fer_perpendicular()
 706 {
 707         bool delta_use[] = {true, true, true};
 708         double cc_h = this->cc().h();
 709         double x;
 710         double y;
 711         // check inner radius
 712         if (this->forward()) {
 713                 x = this->ps().x1();
 714                 y = this->ps().y1();
 715         } else {
 716                 x = this->ps().x4();
 717                 y = this->ps().y4();
 718         }
 719         double x1;
 720         double y1;
 721         if (this->ps().right()) {
 722                 x1 = this->cc().ccr().x();
 723                 y1 = this->cc().ccr().y();
 724         } else {
 725                 x1 = this->cc().ccl().x();
 726                 y1 = this->cc().ccl().y();
 727         }
 728         double IR = this->cc().iradi();
 729         double a = 1;
 730         double b;
 731         if (this->forward())
 732                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 733         else
 734                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 735         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 736         double D = pow(b, 2) - 4 * a * c;
 737         double delta;
 738         delta = -b - sqrt(D);
 739         delta /= 2 * a;
 740         double delta_1 = delta;
 741         if (D < 0)
 742                 delta_use[0] = false;
 743         // check outer radius
 744         if (this->forward()) {
 745                 x = this->ps().x4();
 746                 y = this->ps().y4();
 747         } else {
 748                 x = this->ps().x1();
 749                 y = this->ps().y1();
 750         }
 751         IR = this->cc().ofradi();
 752         a = 1;
 753         if (this->forward())
 754                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 755         else
 756                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 757         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 758         D = pow(b, 2) - 4 * a * c;
 759         if (this->forward()) {
 760                 delta = -b + sqrt(D);
 761                 delta /= 2 * a;
 762         }
 763         double delta_2 = delta;
 764         if (D < 0)
 765                 delta_use[1] = false;
 766         delta = -b - sqrt(D);
 767         delta /= 2 * a;
 768         double delta_3 = delta;
 769         if (D < 0)
 770                 delta_use[2] = false;
 771         if (delta_use[0] && delta_use[1] && delta_use[2])
 772                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 773         else if (delta_use[0] && delta_use[1])
 774                 delta = std::max(delta_1, delta_2);
 775         else if (delta_use[0] && delta_use[2])
 776                 delta = std::max(delta_1, delta_3);
 777         else if (delta_use[1] && delta_use[2])
 778                 delta = std::max(delta_2, delta_3);
 779         else if (delta_use[0])
 780                 delta = delta_1;
 781         else if (delta_use[1])
 782                 delta = delta_2;
 783         else if (delta_use[2])
 784                 delta = delta_3;
 785         else
 786                 return;
 787         // current car `cc` can get out of slot with max steer
 788         this->cc().x(this->cc().x() + delta * cos(cc_h));
 789         this->cc().y(this->cc().y() + delta * sin(cc_h));
 790         this->cc().h(cc_h);
 791         // get current car `cc` out of slot
 792         if (this->forward())
 793                 this->cc().sp(-0.01);
 794         else
 795                 this->cc().sp(0.01);
 796         this->cc().set_max_steer();
 797         if (this->ps().right())
 798                 this->cc().st(this->cc().st() * -1);
 799         while (!this->left()) {
 800                 while (!this->collide() && !this->left())
 801                         this->cc().next();
 802                 if (this->left() && !this->collide()) {
 803                         break;
 804                 } else {
 805                         this->cc().sp(this->cc().sp() * -1);
 806                         this->cc().next();
 807                         this->cc().st(this->cc().st() * -1);
 808                 }
 809         }
 810 }
 811
 812 PSPlanner::PSPlanner()
 813 {
 814 }