6 bool PSPlanner::collide()
8 std::vector<std::tuple<double, double>> bc;
9 bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
10 bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
11 bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
12 bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
13 bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
14 std::vector<std::tuple<double, double>> ps;
15 ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
16 ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
17 ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
18 ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
19 return std::get<0>(::collide(bc, ps));
22 bool PSPlanner::forward()
24 if (this->ps().parallel())
26 double heading = atan2(
27 this->ps().y2() - this->ps().y1(),
28 this->ps().x2() - this->ps().x1()
30 while (heading < 0) heading += 2 * M_PI;
31 double h = this->gc().h();
32 while (h < 0) h += 2 * M_PI;
33 if (std::abs(heading - h) < M_PI / 4)
38 void PSPlanner::gc_to_4()
40 double angl_slot = atan2(
41 this->ps().y3() - this->ps().y4(),
42 this->ps().x3() - this->ps().x4()
44 double angl_delta = M_PI / 2;
45 if (this->ps().right())
46 angl_delta = -M_PI / 2;
47 double x = this->ps().x4();
48 double y = this->ps().y4();
49 x += (this->gc().dr() + 0.01) * cos(angl_slot);
50 y += (this->gc().dr() + 0.01) * sin(angl_slot);
51 x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
52 y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
55 this->gc().h(angl_slot);
58 std::tuple<double, double, double, double> circle_line_intersection(
59 double cx, double cy, double r,
64 double t = (y2 - y1) / (x2 - x1);
65 //double a = 1 + pow(t, 2);
66 //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
67 //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
68 // + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
70 double a = 1 + pow(t, 2);
71 double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
72 double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
73 c += pow(-t * x1 + y1, 2);
74 c += 2 * cy * t * x1 - 2 * cy * y1;
75 double D = pow(b, 2) - 4 * a * c;
77 return std::make_tuple(cx, cy, cx, cy);
78 double res_x1 = (-b + sqrt(D)) / (2 * a);
79 double res_y1 = t * (res_x1 - x1) + y1;
80 double res_x2 = (-b - sqrt(D)) / (2 * a);
81 double res_y2 = t * (res_x2 - x1) + y1;
82 return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
85 double edist(double x1, double y1, double x2, double y2)
87 return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
90 void PSPlanner::guess_gc()
92 double x = this->ps().x1();
93 double y = this->ps().y1();
94 double h = this->ps().heading();
95 double dts = + M_PI / 2; // direction to slot
96 if (this->ps().right())
98 if (this->ps().parallel()) {
99 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);
107 this->ps().y2() - this->ps().y1(),
108 this->ps().x2() - this->ps().x1()
110 - this->ps().heading()
116 x += (this->gc().dr() + 0.01) * cos(h);
117 y += (this->gc().dr() + 0.01) * sin(h);
118 if (this->ps().right())
122 x += (this->gc().w() / 2 + 0.01) * cos(dts);
123 y += (this->gc().w() / 2 + 0.01) * sin(dts);
126 this->ps().y2() - this->ps().y1(),
127 this->ps().x2() - this->ps().x1()
129 dts *= 1.01; // precision workaround
132 x += -(this->gc().df() + 0.01) * cos(h);
133 y += -(this->gc().df() + 0.01) * sin(h);
134 if (this->ps().right())
138 x += (this->gc().w() / 2 + 0.01) * cos(dts);
139 y += (this->gc().w() / 2 + 0.01) * sin(dts);
151 bool PSPlanner::left()
153 double lfx = this->cc().lfx();
154 double lfy = this->cc().lfy();
155 double lrx = this->cc().lrx();
156 double lry = this->cc().lry();
157 double rrx = this->cc().rrx();
158 double rry = this->cc().rry();
159 double rfx = this->cc().rfx();
160 double rfy = this->cc().rfy();
162 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
163 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
166 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
167 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
170 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
171 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
174 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
175 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
177 if (this->ps().parallel())
178 return lfs == rfs && (lfs != lrs || lfs != rrs);
179 else if (!this->forward())
180 return lfs == rfs && (lfs != lrs || lfs != rrs);
182 return lrs == rrs && (lrs != lfs || lrs != rfs);
185 bool PSPlanner::parked()
187 std::vector<std::tuple<double, double>> slot;
188 slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
189 slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
190 slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
191 slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
192 return inside(this->gc().lfx(), this->gc().lfy(), slot)
193 && inside(this->gc().lrx(), this->gc().lry(), slot)
194 && inside(this->gc().rrx(), this->gc().rry(), slot)
195 && inside(this->gc().rfx(), this->gc().rfy(), slot);
198 std::vector<BicycleCar> PSPlanner::possible_inits(
203 std::vector<BicycleCar> pi;
204 this->cc().sp(this->cc().sp() * dist);
205 this->cc().st(this->cc().st() * 1);
206 BicycleCar orig_cc(this->cc());
207 for (unsigned int i = 0; i < cnt; i++) {
209 pi.push_back(BicycleCar(this->cc()));
211 this->cc() = BicycleCar(orig_cc);
218 if (this->ps().parallel())
219 return this->fe_parallel();
221 return this->fe_perpendicular();
224 void PSPlanner::fe_parallel()
226 // angle for distance from "entry" corner
227 double dist_angl = this->ps().heading() + M_PI;
228 dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
229 // set bicycle car `bci` basic dimensions and heading
230 BicycleCar bci = BicycleCar(this->gc());
231 BicycleCar bco = BicycleCar(this->gc());
232 bci.h(this->ps().heading());
233 // move 0.01 from the "entry" corner
234 bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
235 bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
236 // align with parking "top" of slot (move backward)
237 dist_angl = bci.h() + M_PI;
238 bci.x(bci.x() + bci.df() * cos(dist_angl));
239 bci.y(bci.y() + bci.df() * sin(dist_angl));
240 // align with "entry" to pakring slot (move outside)
241 dist_angl = this->ps().heading();
242 dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
243 bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
244 bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
245 // set default speed, steer
246 bci.st(bci.wb() / bci.mtr());
247 if (!this->ps().right())
248 bci.st(bci.st() * -1);
250 // BFS - init all starts
251 // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
252 double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
253 if (this->ps().right())
254 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
256 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
257 double DIST_ANGL = dist_angl;
258 std::queue<BicycleCar, std::list<BicycleCar>> q;
262 && dist_angl < DIST_ANGL + 3 * M_PI / 4
266 && dist_angl > DIST_ANGL - 3 * M_PI / 4
269 this->cc() = BicycleCar(bci);
270 if (this->ps().right()) {
271 this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
272 this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
274 this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
275 this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
277 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
278 if (!this->collide()) {
279 q.push(BicycleCar(this->cc()));
281 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
283 // BFS - find entry current car `cc` and corresponding goal car `gc`
284 unsigned int iter_cntr = 0;
285 while (!q.empty() && iter_cntr < 9) {
286 this->cc() = BicycleCar(q.front());
291 this->cc().h() - this->ps().heading()
294 this->cc().h() - this->ps().heading()
298 this->cc().sp(this->cc().sp() * -1);
300 this->gc() = BicycleCar(this->cc());
303 this->cc().st(this->cc().st() * -1);
304 q.push(BicycleCar(this->cc()));
305 if (sgn(this->cc().st()) == sgn(q.front().st()))
309 this->gc() = BicycleCar(bco);
311 return this->fer_parallel();
314 void PSPlanner::fe_perpendicular()
316 // TODO Try multiple angles when going from parking slot.
318 // Do not use just the maximum steer angle. Test angles
319 // until the whole current car `cc` is out of the parking
322 // Another approach could be testing angles from the
323 // beginning of the escape parkig slot maneuver.
325 this->cc().sp(-0.01);
328 while (!this->left())
333 void PSPlanner::fer()
335 if (this->ps().parallel())
336 return this->fer_parallel();
338 return this->fer_perpendicular();
341 void PSPlanner::fer_parallel()
343 this->cc().st(this->cc().wb() / this->cc().mtr());
344 if (!this->ps().right())
345 this->cc().st(this->cc().st() * -1);
347 while (!this->left()) {
348 while (!this->collide() && !this->left())
350 if (this->left() && !this->collide()) {
353 this->cc().sp(this->cc().sp() * -1);
355 this->cc().st(this->cc().st() * -1);
360 void PSPlanner::fer_perpendicular()
362 bool delta_use[] = {true, true, true};
363 double cc_h = this->cc().h();
366 // check inner radius
367 if (this->forward()) {
376 if (this->ps().right()) {
377 x1 = this->cc().ccr().x();
378 y1 = this->cc().ccr().y();
380 x1 = this->cc().ccl().x();
381 y1 = this->cc().ccl().y();
383 double IR = this->cc().iradi();
387 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
389 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
390 double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
391 double D = pow(b, 2) - 4 * a * c;
393 delta = -b - sqrt(D);
395 double delta_1 = delta;
397 delta_use[0] = false;
398 // check outer radius
399 if (this->forward()) {
406 IR = this->cc().ofradi();
409 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
411 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
412 c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
413 D = pow(b, 2) - 4 * a * c;
414 if (this->forward()) {
415 delta = -b + sqrt(D);
418 double delta_2 = delta;
420 delta_use[1] = false;
421 delta = -b - sqrt(D);
423 double delta_3 = delta;
425 delta_use[2] = false;
426 if (delta_use[0] && delta_use[1] && delta_use[22])
427 delta = std::max(delta_1, std::max(delta_2, delta_3));
428 else if (delta_use[0] && delta_use[1])
429 delta = std::max(delta_1, delta_2);
430 else if (delta_use[0] && delta_use[2])
431 delta = std::max(delta_1, delta_3);
432 else if (delta_use[1] && delta_use[2])
433 delta = std::max(delta_2, delta_3);
434 else if (delta_use[0])
436 else if (delta_use[1])
438 else if (delta_use[2])
442 // current car `cc` can get out of slot with max steer
443 this->cc().x(this->cc().x() + delta * cos(cc_h));
444 this->cc().y(this->cc().y() + delta * sin(cc_h));
446 // get current car `cc` out of slot
448 this->cc().sp(-0.01);
451 this->cc().st(this->cc().wb() / this->cc().mtr());
452 if (this->ps().right())
453 this->cc().st(this->cc().st() * -1);
454 while (!this->left()) {
455 while (!this->collide() && !this->left())
457 if (this->left() && !this->collide()) {
460 this->cc().sp(this->cc().sp() * -1);
462 this->cc().st(this->cc().st() * -1);
467 PSPlanner::PSPlanner()