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                 if (std::abs(
 105                         atan2(
 106                                 this->ps().y2() - this->ps().y1(),
 107                                 this->ps().x2() - this->ps().x1()
 108                         )
 109                         - this->ps().heading()
 110                 ) < M_PI / 2) {
 111                         // forward parking
 112                         this->gc_to_4();
 113                         double bx;
 114                         double by;
 115                         double cx;
 116                         double cy;
 117                         if (this->ps().right()) {
 118                                 bx = this->gc().lfx();
 119                                 by = this->gc().lfy();
 120                                 cx = this->gc().ccr().x();
 121                                 cy = this->gc().ccr().y();
 122                         } else {
 123                                 bx = this->gc().rfx();
 124                                 by = this->gc().rfy();
 125                                 cx = this->gc().ccl().x();
 126                                 cy = this->gc().ccl().y();
 127                         }
 128                         double radi_angl = atan2(by - cy, bx - cx);
 129                         radi_angl += dts;
 130                         double angl_delta = this->gc().h() - radi_angl;
 131                         this->gc().rotate(bx, by, angl_delta);
 132                         // TODO there is a bug somewhere :/
 133                         //
 134                         // cli returns not exact intersection, therefore the
 135                         // distance to x1, y1 of border is shorter. Then, when
 136                         // moving, the distance `dist_o` is not sufficient and
 137                         // car still collide with parking slot. It shouldn't be
 138                         // problem until it collides with obstacle.
 139                         //
 140                         if (this->ps().right()) {
 141                                 cx = this->gc().ccr().x();
 142                                 cy = this->gc().ccr().y();
 143                         } else {
 144                                 cx = this->gc().ccl().x();
 145                                 cy = this->gc().ccl().y();
 146                         }
 147                         auto cli = circle_line_intersection(
 148                                 cx, cy, this->gc().iradi(),
 149                                 this->ps().x1(), this->ps().y1(),
 150                                 this->ps().x2(), this->ps().y2()
 151                         );
 152                         double d1 = edist(
 153                                 this->ps().x1(), this->ps().y1(),
 154                                 std::get<0>(cli), std::get<1>(cli)
 155                         );
 156                         double d2 = edist(
 157                                 this->ps().x1(), this->ps().y1(),
 158                                 std::get<2>(cli), std::get<3>(cli)
 159                         );
 160                         double dist_o = std::min<double>(d1, d2);
 161                         double angl_o = atan2(
 162                                 this->ps().y4() - this->ps().y3(),
 163                                 this->ps().x4() - this->ps().x3()
 164                         );
 165                         // projection
 166                         double angl_d = atan2(
 167                                 this->ps().y1() - this->ps().y2(),
 168                                 this->ps().x1() - this->ps().x2()
 169                         );
 170                         angl_d -= angl_o;
 171                         dist_o *= cos(angl_d);
 172                         this->gc().x(this->gc().x() + dist_o * cos(angl_o));
 173                         this->gc().y(this->gc().y() + dist_o * sin(angl_o));
 174                         // --- ENDTODO ---
 175                         this->gc().sp(-0.01);
 176                         this->gc().st(dts);
 177                         return;
 178                 } else {
 179                         dts = atan2(
 180                                 this->ps().y2() - this->ps().y1(),
 181                                 this->ps().x2() - this->ps().x1()
 182                         );
 183                         dts *= 1.01; // precision workaround
 184                         // backward parking
 185                         h = dts + M_PI;
 186                         x += -(this->gc().df() + 0.01) * cos(h);
 187                         y += -(this->gc().df() + 0.01) * sin(h);
 188                         if (this->ps().right())
 189                                 dts += M_PI / 2;
 190                         else
 191                                 dts -= M_PI / 2;
 192                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 193                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 194                 }
 195         }
 196         while (h > M_PI)
 197                 h -= 2 * M_PI;
 198         while (h <= -M_PI)
 199                 h += 2 * M_PI;
 200         this->gc().x(x);
 201         this->gc().y(y);
 202         this->gc().h(h);
 203 }
 204
 205 bool PSPlanner::left()
 206 {
 207         double lfx = this->cc().lfx();
 208         double lfy = this->cc().lfy();
 209         double lrx = this->cc().lrx();
 210         double lry = this->cc().lry();
 211         double rrx = this->cc().rrx();
 212         double rry = this->cc().rry();
 213         double rfx = this->cc().rfx();
 214         double rfy = this->cc().rfy();
 215         double lfs = sgn(
 216                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 217                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 218         );
 219         double lrs = sgn(
 220                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 221                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 222         );
 223         double rrs = sgn(
 224                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 225                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 226         );
 227         double rfs = sgn(
 228                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 229                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 230         );
 231         if (this->ps().parallel())
 232                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 233         else if (!this->forward())
 234                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 235         else
 236                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 237 }
 238
 239 bool PSPlanner::parked()
 240 {
 241         std::vector<std::tuple<double, double>> slot;
 242         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 243         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 244         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 245         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 246         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 247                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 248                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 249                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 250 }
 251
 252 std::vector<BicycleCar> PSPlanner::possible_goals(
 253         unsigned int cnt,
 254         double dist
 255 )
 256 {
 257         std::vector<BicycleCar> pi;
 258         if (this->cc().sp() > 0)
 259                 this->cc().sp(1);
 260         else
 261                 this->cc().sp(-1);
 262         this->cc().sp(this->cc().sp() * dist);
 263         this->cc().st(this->cc().st() * 1);
 264         BicycleCar orig_cc(this->cc());
 265         for (unsigned int i = 0; i < cnt; i++) {
 266                 this->cc().next();
 267                 pi.push_back(BicycleCar(this->cc()));
 268         }
 269         this->cc() = BicycleCar(orig_cc);
 270         return pi;
 271 }
 272
 273 // find entry
 274 void PSPlanner::fe()
 275 {
 276         if (this->ps().parallel())
 277                 return this->fe_parallel();
 278         else
 279                 return this->fe_perpendicular();
 280 }
 281
 282 void PSPlanner::fe_parallel()
 283 {
 284         // angle for distance from "entry" corner
 285         double dist_angl = this->ps().heading() + M_PI;
 286         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 287         // set bicycle car `bci` basic dimensions and heading
 288         BicycleCar bci = BicycleCar(this->gc());
 289         BicycleCar bco = BicycleCar(this->gc());
 290         bci.h(this->ps().heading());
 291         // move 0.01 from the "entry" corner
 292         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 293         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 294         // align with parking "top" of slot (move backward)
 295         dist_angl = bci.h() + M_PI;
 296         bci.x(bci.x() + bci.df() * cos(dist_angl));
 297         bci.y(bci.y() + bci.df() * sin(dist_angl));
 298         // align with "entry" to pakring slot (move outside)
 299         dist_angl = this->ps().heading();
 300         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 301         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 302         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 303         // set default speed, steer
 304         bci.st(bci.wb() / bci.mtr());
 305         if (!this->ps().right())
 306                 bci.st(bci.st() * -1);
 307         bci.sp(-0.01);
 308         // BFS - init all starts
 309         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 310         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 311         if (this->ps().right())
 312                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 313         else
 314                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 315         double DIST_ANGL = dist_angl;
 316         std::queue<BicycleCar, std::list<BicycleCar>> q;
 317         while (
 318                 (
 319                         this->ps().right()
 320                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 321                 )
 322                 || (
 323                         !this->ps().right()
 324                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 325                 )
 326         ) {
 327                 this->cc() = BicycleCar(bci);
 328                 if (this->ps().right()) {
 329                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 330                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 331                 } else {
 332                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 333                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 334                 }
 335                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 336                 if (!this->collide()) {
 337                         q.push(BicycleCar(this->cc()));
 338                 }
 339                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 340         }
 341         // BFS - find entry current car `cc` and corresponding goal car `gc`
 342         unsigned int iter_cntr = 0;
 343         while (!q.empty() && iter_cntr < 100) {
 344                 this->cc() = BicycleCar(q.front());
 345                 q.pop();
 346                 while (
 347                         !this->collide()
 348                         && (std::abs(
 349                                 this->cc().h() - this->ps().heading()
 350                         ) > M_PI / 32)
 351                         && (std::abs(
 352                                 this->cc().h() - this->ps().heading()
 353                         ) < M_PI / 2)
 354                 )
 355                         this->cc().next();
 356                 this->cc().sp(this->cc().sp() * -1);
 357                 this->cc().next();
 358                 this->gc() = BicycleCar(this->cc());
 359                 if (this->parked())
 360                         goto successfinish;
 361                 this->cc().st(this->cc().st() * -1);
 362                 q.push(BicycleCar(this->cc()));
 363                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 364                         iter_cntr++;
 365         }
 366         // fallback to fer
 367         this->gc() = BicycleCar(bco);
 368 successfinish:
 369         return this->fer_parallel();
 370 }
 371
 372 void PSPlanner::fe_perpendicular()
 373 {
 374         // TODO Try multiple angles when going from parking slot.
 375         //
 376         //      Do not use just the maximum steer angle. Test angles
 377         //      until the whole current car `cc` is out of the parking
 378         //      slot `ps`.
 379         //
 380         //      Another approach could be testing angles from the
 381         //      beginning of the escape parkig slot maneuver.
 382         if (this->forward())
 383                 this->cc().sp(-0.01);
 384         else
 385                 this->cc().sp(0.01);
 386         while (!this->left())
 387                 this->cc().next();
 388         return;
 389 }
 390
 391 void PSPlanner::fer()
 392 {
 393         if (this->ps().parallel())
 394                 return this->fer_parallel();
 395         else
 396                 return this->fer_perpendicular();
 397 }
 398
 399 void PSPlanner::fer_parallel()
 400 {
 401         this->cc().st(this->cc().wb() / this->cc().mtr());
 402         if (!this->ps().right())
 403                 this->cc().st(this->cc().st() * -1);
 404         this->cc().sp(0.01);
 405         this->cusps_.clear();
 406         while (!this->left()) {
 407                 while (!this->collide() && !this->left())
 408                         this->cc().next();
 409                 if (this->left() && !this->collide()) {
 410                         break;
 411                 } else {
 412                         this->cc().sp(this->cc().sp() * -1);
 413                         this->cc().next();
 414                         this->cc().st(this->cc().st() * -1);
 415                         this->c_++;
 416                         this->cusps_.push_back(this->cc());
 417                 }
 418         }
 419         if (this->cc().st() < 0) {
 420                 this->c_++;
 421                 this->cusps_.push_back(this->cc());
 422         }
 423 }
 424
 425 void PSPlanner::fer_perpendicular()
 426 {
 427         bool delta_use[] = {true, true, true};
 428         double cc_h = this->cc().h();
 429         double x;
 430         double y;
 431         // check inner radius
 432         if (this->forward()) {
 433                 x = this->ps().x1();
 434                 y = this->ps().y1();
 435         } else {
 436                 x = this->ps().x4();
 437                 y = this->ps().y4();
 438         }
 439         double x1;
 440         double y1;
 441         if (this->ps().right()) {
 442                 x1 = this->cc().ccr().x();
 443                 y1 = this->cc().ccr().y();
 444         } else {
 445                 x1 = this->cc().ccl().x();
 446                 y1 = this->cc().ccl().y();
 447         }
 448         double IR = this->cc().iradi();
 449         double a = 1;
 450         double b;
 451         if (this->forward())
 452                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 453         else
 454                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 455         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 456         double D = pow(b, 2) - 4 * a * c;
 457         double delta;
 458         delta = -b - sqrt(D);
 459         delta /= 2 * a;
 460         double delta_1 = delta;
 461         if (D < 0)
 462                 delta_use[0] = false;
 463         // check outer radius
 464         if (this->forward()) {
 465                 x = this->ps().x4();
 466                 y = this->ps().y4();
 467         } else {
 468                 x = this->ps().x1();
 469                 y = this->ps().y1();
 470         }
 471         IR = this->cc().ofradi();
 472         a = 1;
 473         if (this->forward())
 474                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 475         else
 476                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 477         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 478         D = pow(b, 2) - 4 * a * c;
 479         if (this->forward()) {
 480                 delta = -b + sqrt(D);
 481                 delta /= 2 * a;
 482         }
 483         double delta_2 = delta;
 484         if (D < 0)
 485                 delta_use[1] = false;
 486         delta = -b - sqrt(D);
 487         delta /= 2 * a;
 488         double delta_3 = delta;
 489         if (D < 0)
 490                 delta_use[2] = false;
 491         if (delta_use[0] && delta_use[1] && delta_use[22])
 492                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 493         else if (delta_use[0] && delta_use[1])
 494                 delta = std::max(delta_1, delta_2);
 495         else if (delta_use[0] && delta_use[2])
 496                 delta = std::max(delta_1, delta_3);
 497         else if (delta_use[1] && delta_use[2])
 498                 delta = std::max(delta_2, delta_3);
 499         else if (delta_use[0])
 500                 delta = delta_1;
 501         else if (delta_use[1])
 502                 delta = delta_2;
 503         else if (delta_use[2])
 504                 delta = delta_3;
 505         else
 506                 return;
 507         // current car `cc` can get out of slot with max steer
 508         this->cc().x(this->cc().x() + delta * cos(cc_h));
 509         this->cc().y(this->cc().y() + delta * sin(cc_h));
 510         this->cc().h(cc_h);
 511         // get current car `cc` out of slot
 512         if (this->forward())
 513                 this->cc().sp(-0.01);
 514         else
 515                 this->cc().sp(0.01);
 516         this->cc().st(this->cc().wb() / this->cc().mtr());
 517         if (this->ps().right())
 518                 this->cc().st(this->cc().st() * -1);
 519         while (!this->left()) {
 520                 while (!this->collide() && !this->left())
 521                         this->cc().next();
 522                 if (this->left() && !this->collide()) {
 523                         break;
 524                 } else {
 525                         this->cc().sp(this->cc().sp() * -1);
 526                         this->cc().next();
 527                         this->cc().st(this->cc().st() * -1);
 528                 }
 529         }
 530 }
 531
 532 PSPlanner::PSPlanner()
 533 {
 534 }