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                 dts *= 0.99; // precision workaround
 100                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 101                 x += (this->gc().dr() + 0.01) * cos(h);
 102                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 103                 y += (this->gc().dr() + 0.01) * sin(h);
 104         } else {
 105                 if (std::abs(
 106                         atan2(
 107                                 this->ps().y2() - this->ps().y1(),
 108                                 this->ps().x2() - this->ps().x1()
 109                         )
 110                         - this->ps().heading()
 111                 ) < M_PI / 2) {
 112                         // forward parking
 113                         this->gc_to_4();
 114                         double bx;
 115                         double by;
 116                         double cx;
 117                         double cy;
 118                         if (this->ps().right()) {
 119                                 bx = this->gc().lfx();
 120                                 by = this->gc().lfy();
 121                                 cx = this->gc().ccr().x();
 122                                 cy = this->gc().ccr().y();
 123                         } else {
 124                                 bx = this->gc().rfx();
 125                                 by = this->gc().rfy();
 126                                 cx = this->gc().ccl().x();
 127                                 cy = this->gc().ccl().y();
 128                         }
 129                         double radi_angl = atan2(by - cy, bx - cx);
 130                         radi_angl += dts;
 131                         double angl_delta = this->gc().h() - radi_angl;
 132                         this->gc().rotate(bx, by, angl_delta);
 133                         // TODO there is a bug somewhere :/
 134                         //
 135                         // cli returns not exact intersection, therefore the
 136                         // distance to x1, y1 of border is shorter. Then, when
 137                         // moving, the distance `dist_o` is not sufficient and
 138                         // car still collide with parking slot. It shouldn't be
 139                         // problem until it collides with obstacle.
 140                         //
 141                         if (this->ps().right()) {
 142                                 cx = this->gc().ccr().x();
 143                                 cy = this->gc().ccr().y();
 144                         } else {
 145                                 cx = this->gc().ccl().x();
 146                                 cy = this->gc().ccl().y();
 147                         }
 148                         auto cli = circle_line_intersection(
 149                                 cx, cy, this->gc().iradi(),
 150                                 this->ps().x1(), this->ps().y1(),
 151                                 this->ps().x2(), this->ps().y2()
 152                         );
 153                         double d1 = edist(
 154                                 this->ps().x1(), this->ps().y1(),
 155                                 std::get<0>(cli), std::get<1>(cli)
 156                         );
 157                         double d2 = edist(
 158                                 this->ps().x1(), this->ps().y1(),
 159                                 std::get<2>(cli), std::get<3>(cli)
 160                         );
 161                         double dist_o = std::min<double>(d1, d2);
 162                         double angl_o = atan2(
 163                                 this->ps().y4() - this->ps().y3(),
 164                                 this->ps().x4() - this->ps().x3()
 165                         );
 166                         // projection
 167                         double angl_d = atan2(
 168                                 this->ps().y1() - this->ps().y2(),
 169                                 this->ps().x1() - this->ps().x2()
 170                         );
 171                         angl_d -= angl_o;
 172                         dist_o *= cos(angl_d);
 173                         this->gc().x(this->gc().x() + dist_o * cos(angl_o));
 174                         this->gc().y(this->gc().y() + dist_o * sin(angl_o));
 175                         // --- ENDTODO ---
 176                         this->gc().sp(-0.01);
 177                         this->gc().st(dts);
 178                         return;
 179                 } else {
 180                         dts = atan2(
 181                                 this->ps().y2() - this->ps().y1(),
 182                                 this->ps().x2() - this->ps().x1()
 183                         );
 184                         dts *= 1.01; // precision workaround
 185                         // backward parking
 186                         h = dts + M_PI;
 187                         x += -(this->gc().df() + 0.01) * cos(h);
 188                         y += -(this->gc().df() + 0.01) * sin(h);
 189                         if (this->ps().right())
 190                                 dts += M_PI / 2;
 191                         else
 192                                 dts -= M_PI / 2;
 193                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 194                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 195                 }
 196         }
 197         while (h > M_PI)
 198                 h -= 2 * M_PI;
 199         while (h <= -M_PI)
 200                 h += 2 * M_PI;
 201         this->gc().x(x);
 202         this->gc().y(y);
 203         this->gc().h(h);
 204 }
 205
 206 bool PSPlanner::left()
 207 {
 208         double lfx = this->cc().lfx();
 209         double lfy = this->cc().lfy();
 210         double lrx = this->cc().lrx();
 211         double lry = this->cc().lry();
 212         double rrx = this->cc().rrx();
 213         double rry = this->cc().rry();
 214         double rfx = this->cc().rfx();
 215         double rfy = this->cc().rfy();
 216         double lfs = sgn(
 217                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 218                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 219         );
 220         double lrs = sgn(
 221                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 222                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 223         );
 224         double rrs = sgn(
 225                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 226                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 227         );
 228         double rfs = sgn(
 229                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 230                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 231         );
 232         if (this->ps().parallel())
 233                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 234         else if (!this->forward())
 235                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 236         else
 237                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 238 }
 239
 240 bool PSPlanner::parked()
 241 {
 242         std::vector<std::tuple<double, double>> slot;
 243         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 244         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 245         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 246         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 247         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 248                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 249                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 250                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 251 }
 252
 253 std::vector<BicycleCar> PSPlanner::possible_goals(
 254         unsigned int cnt,
 255         double dist
 256 )
 257 {
 258         std::vector<BicycleCar> pi;
 259         this->cc().sp(this->cc().sp() * dist);
 260         this->cc().st(this->cc().st() * 1);
 261         BicycleCar orig_cc(this->cc());
 262         for (unsigned int i = 0; i < cnt; i++) {
 263                 this->cc().next();
 264                 pi.push_back(BicycleCar(this->cc()));
 265         }
 266         this->cc() = BicycleCar(orig_cc);
 267         return pi;
 268 }
 269
 270 // find entry
 271 void PSPlanner::fe()
 272 {
 273         if (this->ps().parallel())
 274                 return this->fe_parallel();
 275         else
 276                 return this->fe_perpendicular();
 277 }
 278
 279 void PSPlanner::fe_parallel()
 280 {
 281         // angle for distance from "entry" corner
 282         double dist_angl = this->ps().heading() + M_PI;
 283         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 284         // set bicycle car `bci` basic dimensions and heading
 285         BicycleCar bci = BicycleCar(this->gc());
 286         BicycleCar bco = BicycleCar(this->gc());
 287         bci.h(this->ps().heading());
 288         // move 0.01 from the "entry" corner
 289         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 290         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 291         // align with parking "top" of slot (move backward)
 292         dist_angl = bci.h() + M_PI;
 293         bci.x(bci.x() + bci.df() * cos(dist_angl));
 294         bci.y(bci.y() + bci.df() * sin(dist_angl));
 295         // align with "entry" to pakring slot (move outside)
 296         dist_angl = this->ps().heading();
 297         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 298         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 299         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 300         // set default speed, steer
 301         bci.st(bci.wb() / bci.mtr());
 302         if (!this->ps().right())
 303                 bci.st(bci.st() * -1);
 304         bci.sp(-0.01);
 305         // BFS - init all starts
 306         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 307         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 308         if (this->ps().right())
 309                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 310         else
 311                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 312         double DIST_ANGL = dist_angl;
 313         std::queue<BicycleCar, std::list<BicycleCar>> q;
 314         while (
 315                 (
 316                         this->ps().right()
 317                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 318                 )
 319                 || (
 320                         !this->ps().right()
 321                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 322                 )
 323         ) {
 324                 this->cc() = BicycleCar(bci);
 325                 if (this->ps().right()) {
 326                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 327                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 328                 } else {
 329                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 330                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 331                 }
 332                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 333                 if (!this->collide()) {
 334                         q.push(BicycleCar(this->cc()));
 335                 }
 336                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 337         }
 338         // BFS - find entry current car `cc` and corresponding goal car `gc`
 339         unsigned int iter_cntr = 0;
 340         while (!q.empty() && iter_cntr < 9) {
 341                 this->cc() = BicycleCar(q.front());
 342                 q.pop();
 343                 while (
 344                         !this->collide()
 345                         && (std::abs(
 346                                 this->cc().h() - this->ps().heading()
 347                         ) > M_PI / 32)
 348                         && (std::abs(
 349                                 this->cc().h() - this->ps().heading()
 350                         ) < M_PI / 2)
 351                 )
 352                         this->cc().next();
 353                 this->cc().sp(this->cc().sp() * -1);
 354                 this->cc().next();
 355                 this->gc() = BicycleCar(this->cc());
 356                 if (this->parked())
 357                         goto successfinish;
 358                 this->cc().st(this->cc().st() * -1);
 359                 q.push(BicycleCar(this->cc()));
 360                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 361                         iter_cntr++;
 362         }
 363         // fallback to fer
 364         this->gc() = BicycleCar(bco);
 365 successfinish:
 366         return this->fer_parallel();
 367 }
 368
 369 void PSPlanner::fe_perpendicular()
 370 {
 371         // TODO Try multiple angles when going from parking slot.
 372         //
 373         //      Do not use just the maximum steer angle. Test angles
 374         //      until the whole current car `cc` is out of the parking
 375         //      slot `ps`.
 376         //
 377         //      Another approach could be testing angles from the
 378         //      beginning of the escape parkig slot maneuver.
 379         if (this->forward())
 380                 this->cc().sp(-0.01);
 381         else
 382                 this->cc().sp(0.01);
 383         while (!this->left())
 384                 this->cc().next();
 385         return;
 386 }
 387
 388 void PSPlanner::fer()
 389 {
 390         if (this->ps().parallel())
 391                 return this->fer_parallel();
 392         else
 393                 return this->fer_perpendicular();
 394 }
 395
 396 void PSPlanner::fer_parallel()
 397 {
 398         this->cc().st(this->cc().wb() / this->cc().mtr());
 399         if (!this->ps().right())
 400                 this->cc().st(this->cc().st() * -1);
 401         this->cc().sp(0.01);
 402         this->cusps_.clear();
 403         while (!this->left()) {
 404                 while (!this->collide() && !this->left())
 405                         this->cc().next();
 406                 if (this->left() && !this->collide()) {
 407                         break;
 408                 } else {
 409                         this->cc().sp(this->cc().sp() * -1);
 410                         this->cc().next();
 411                         this->cc().st(this->cc().st() * -1);
 412                         this->c_++;
 413                         this->cusps_.push_back(this->cc());
 414                 }
 415         }
 416 }
 417
 418 void PSPlanner::fer_perpendicular()
 419 {
 420         bool delta_use[] = {true, true, true};
 421         double cc_h = this->cc().h();
 422         double x;
 423         double y;
 424         // check inner radius
 425         if (this->forward()) {
 426                 x = this->ps().x1();
 427                 y = this->ps().y1();
 428         } else {
 429                 x = this->ps().x4();
 430                 y = this->ps().y4();
 431         }
 432         double x1;
 433         double y1;
 434         if (this->ps().right()) {
 435                 x1 = this->cc().ccr().x();
 436                 y1 = this->cc().ccr().y();
 437         } else {
 438                 x1 = this->cc().ccl().x();
 439                 y1 = this->cc().ccl().y();
 440         }
 441         double IR = this->cc().iradi();
 442         double a = 1;
 443         double b;
 444         if (this->forward())
 445                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 446         else
 447                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 448         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 449         double D = pow(b, 2) - 4 * a * c;
 450         double delta;
 451         delta = -b - sqrt(D);
 452         delta /= 2 * a;
 453         double delta_1 = delta;
 454         if (D < 0)
 455                 delta_use[0] = false;
 456         // check outer radius
 457         if (this->forward()) {
 458                 x = this->ps().x4();
 459                 y = this->ps().y4();
 460         } else {
 461                 x = this->ps().x1();
 462                 y = this->ps().y1();
 463         }
 464         IR = this->cc().ofradi();
 465         a = 1;
 466         if (this->forward())
 467                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 468         else
 469                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 470         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 471         D = pow(b, 2) - 4 * a * c;
 472         if (this->forward()) {
 473                 delta = -b + sqrt(D);
 474                 delta /= 2 * a;
 475         }
 476         double delta_2 = delta;
 477         if (D < 0)
 478                 delta_use[1] = false;
 479         delta = -b - sqrt(D);
 480         delta /= 2 * a;
 481         double delta_3 = delta;
 482         if (D < 0)
 483                 delta_use[2] = false;
 484         if (delta_use[0] && delta_use[1] && delta_use[22])
 485                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 486         else if (delta_use[0] && delta_use[1])
 487                 delta = std::max(delta_1, delta_2);
 488         else if (delta_use[0] && delta_use[2])
 489                 delta = std::max(delta_1, delta_3);
 490         else if (delta_use[1] && delta_use[2])
 491                 delta = std::max(delta_2, delta_3);
 492         else if (delta_use[0])
 493                 delta = delta_1;
 494         else if (delta_use[1])
 495                 delta = delta_2;
 496         else if (delta_use[2])
 497                 delta = delta_3;
 498         else
 499                 return;
 500         // current car `cc` can get out of slot with max steer
 501         this->cc().x(this->cc().x() + delta * cos(cc_h));
 502         this->cc().y(this->cc().y() + delta * sin(cc_h));
 503         this->cc().h(cc_h);
 504         // get current car `cc` out of slot
 505         if (this->forward())
 506                 this->cc().sp(-0.01);
 507         else
 508                 this->cc().sp(0.01);
 509         this->cc().st(this->cc().wb() / this->cc().mtr());
 510         if (this->ps().right())
 511                 this->cc().st(this->cc().st() * -1);
 512         while (!this->left()) {
 513                 while (!this->collide() && !this->left())
 514                         this->cc().next();
 515                 if (this->left() && !this->collide()) {
 516                         break;
 517                 } else {
 518                         this->cc().sp(this->cc().sp() * -1);
 519                         this->cc().next();
 520                         this->cc().st(this->cc().st() * -1);
 521                 }
 522         }
 523 }
 524
 525 PSPlanner::PSPlanner()
 526 {
 527 }