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 double edist(double x1, double y1, double x2, double y2)
  59 {
  60         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  61 }
  62
  63 void PSPlanner::guess_gc()
  64 {
  65         double x = this->ps().x1();
  66         double y = this->ps().y1();
  67         double h = this->ps().heading();
  68         double dts = + M_PI / 2; // direction to slot
  69         if (this->ps().right())
  70                 dts = - M_PI / 2;
  71         if (this->ps().parallel()) {
  72                 dts *= 0.99; // precision workaround
  73                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
  74                 x += (this->gc().dr() + 0.01) * cos(h);
  75                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
  76                 y += (this->gc().dr() + 0.01) * sin(h);
  77         } else {
  78                 if (std::abs(
  79                         atan2(
  80                                 this->ps().y2() - this->ps().y1(),
  81                                 this->ps().x2() - this->ps().x1()
  82                         )
  83                         - this->ps().heading()
  84                 ) < M_PI / 2) {
  85                         // forward parking
  86                         x = this->ps().x4();
  87                         y = this->ps().y4();
  88                         h = dts;
  89                         x += (this->gc().dr() + 0.01) * cos(h);
  90                         y += (this->gc().dr() + 0.01) * sin(h);
  91                         if (this->ps().right())
  92                                 dts -= M_PI / 2;
  93                         else
  94                                 dts += M_PI / 2;
  95                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
  96                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
  97                 } else {
  98                         dts = atan2(
  99                                 this->ps().y2() - this->ps().y1(),
 100                                 this->ps().x2() - this->ps().x1()
 101                         );
 102                         dts *= 1.01; // precision workaround
 103                         // backward parking
 104                         h = dts + M_PI;
 105                         x += -(this->gc().df() + 0.01) * cos(h);
 106                         y += -(this->gc().df() + 0.01) * sin(h);
 107                         if (this->ps().right())
 108                                 dts += M_PI / 2;
 109                         else
 110                                 dts -= M_PI / 2;
 111                         x += (this->gc().w() / 2 + 0.01) * cos(dts);
 112                         y += (this->gc().w() / 2 + 0.01) * sin(dts);
 113                 }
 114         }
 115         while (h > M_PI)
 116                 h -= 2 * M_PI;
 117         while (h <= -M_PI)
 118                 h += 2 * M_PI;
 119         this->gc().x(x);
 120         this->gc().y(y);
 121         this->gc().h(h);
 122 }
 123
 124 bool PSPlanner::left()
 125 {
 126         double lfx = this->cc().lfx();
 127         double lfy = this->cc().lfy();
 128         double lrx = this->cc().lrx();
 129         double lry = this->cc().lry();
 130         double rrx = this->cc().rrx();
 131         double rry = this->cc().rry();
 132         double rfx = this->cc().rfx();
 133         double rfy = this->cc().rfy();
 134         double lfs = sgn(
 135                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 136                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 137         );
 138         double lrs = sgn(
 139                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 140                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 141         );
 142         double rrs = sgn(
 143                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 144                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 145         );
 146         double rfs = sgn(
 147                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 148                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 149         );
 150         if (this->ps().parallel())
 151                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 152         else if (!this->forward())
 153                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 154         else
 155                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 156 }
 157
 158 bool PSPlanner::parked()
 159 {
 160         std::vector<std::tuple<double, double>> slot;
 161         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 162         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 163         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 164         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 165         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 166                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 167                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 168                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 169 }
 170
 171 std::vector<BicycleCar> PSPlanner::possible_inits(
 172         unsigned int cnt,
 173         double dist
 174 )
 175 {
 176         std::vector<BicycleCar> pi;
 177         this->cc().sp(this->cc().sp() * dist);
 178         this->cc().st(this->cc().st() * 1);
 179         BicycleCar orig_cc(this->cc());
 180         for (unsigned int i = 0; i < cnt; i++) {
 181                 this->cc().next();
 182                 pi.push_back(BicycleCar(this->cc()));
 183         }
 184         this->cc() = BicycleCar(orig_cc);
 185         return pi;
 186 }
 187
 188 // find entry
 189 void PSPlanner::fe()
 190 {
 191         if (this->ps().parallel())
 192                 return this->fe_parallel();
 193         else
 194                 return this->fe_perpendicular();
 195 }
 196
 197 void PSPlanner::fe_parallel()
 198 {
 199         // angle for distance from "entry" corner
 200         double dist_angl = this->ps().heading() + M_PI;
 201         dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
 202         // set bicycle car `bci` basic dimensions and heading
 203         BicycleCar bci = BicycleCar(this->gc());
 204         BicycleCar bco = BicycleCar(this->gc());
 205         bci.h(this->ps().heading());
 206         // move 0.01 from the "entry" corner
 207         bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
 208         bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
 209         // align with parking "top" of slot (move backward)
 210         dist_angl = bci.h() + M_PI;
 211         bci.x(bci.x() + bci.df() * cos(dist_angl));
 212         bci.y(bci.y() + bci.df() * sin(dist_angl));
 213         // align with "entry" to pakring slot (move outside)
 214         dist_angl = this->ps().heading();
 215         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
 216         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
 217         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
 218         // set default speed, steer
 219         bci.st(bci.wb() / bci.mtr());
 220         if (!this->ps().right())
 221                 bci.st(bci.st() * -1);
 222         bci.sp(-0.01);
 223         // BFS - init all starts
 224         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
 225         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
 226         if (this->ps().right())
 227                 dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
 228         else
 229                 dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
 230         double DIST_ANGL = dist_angl;
 231         std::queue<BicycleCar, std::list<BicycleCar>> q;
 232         while (
 233                 (
 234                         this->ps().right()
 235                         && dist_angl < DIST_ANGL + 3 * M_PI / 4
 236                 )
 237                 || (
 238                         !this->ps().right()
 239                         && dist_angl > DIST_ANGL - 3 * M_PI / 4
 240                 )
 241         ) {
 242                 this->cc() = BicycleCar(bci);
 243                 if (this->ps().right()) {
 244                         this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
 245                         this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
 246                 } else {
 247                         this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
 248                         this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
 249                 }
 250                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
 251                 if (!this->collide()) {
 252                         q.push(BicycleCar(this->cc()));
 253                 }
 254                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
 255         }
 256         // BFS - find entry current car `cc` and corresponding goal car `gc`
 257         unsigned int iter_cntr = 0;
 258         while (!q.empty() && iter_cntr < 9) {
 259                 this->cc() = BicycleCar(q.front());
 260                 q.pop();
 261                 while (
 262                         !this->collide()
 263                         && (std::abs(
 264                                 this->cc().h() - this->ps().heading()
 265                         ) > M_PI / 32)
 266                         && (std::abs(
 267                                 this->cc().h() - this->ps().heading()
 268                         ) < M_PI / 2)
 269                 )
 270                         this->cc().next();
 271                 this->cc().sp(this->cc().sp() * -1);
 272                 this->cc().next();
 273                 this->gc() = BicycleCar(this->cc());
 274                 if (this->parked())
 275                         goto successfinish;
 276                 this->cc().st(this->cc().st() * -1);
 277                 q.push(BicycleCar(this->cc()));
 278                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 279                         iter_cntr++;
 280         }
 281         // fallback to fer
 282         this->gc() = BicycleCar(bco);
 283 successfinish:
 284         return this->fer_parallel();
 285 }
 286
 287 void PSPlanner::fe_perpendicular()
 288 {
 289         // TODO Try multiple angles when going from parking slot.
 290         //
 291         //      Do not use just the maximum steer angle. Test angles
 292         //      until the whole current car `cc` is out of the parking
 293         //      slot `ps`.
 294         //
 295         //      Another approach could be testing angles from the
 296         //      beginning of the escape parkig slot maneuver.
 297         if (this->forward())
 298                 this->cc().sp(-0.01);
 299         else
 300                 this->cc().sp(0.01);
 301         while (!this->left())
 302                 this->cc().next();
 303         return;
 304 }
 305
 306 void PSPlanner::fer()
 307 {
 308         if (this->ps().parallel())
 309                 return this->fer_parallel();
 310         else
 311                 return this->fer_perpendicular();
 312 }
 313
 314 void PSPlanner::fer_parallel()
 315 {
 316         this->cc().st(this->cc().wb() / this->cc().mtr());
 317         if (!this->ps().right())
 318                 this->cc().st(this->cc().st() * -1);
 319         this->cc().sp(0.01);
 320         while (!this->left()) {
 321                 while (!this->collide() && !this->left())
 322                         this->cc().next();
 323                 if (this->left() && !this->collide()) {
 324                         break;
 325                 } else {
 326                         this->cc().sp(this->cc().sp() * -1);
 327                         this->cc().next();
 328                         this->cc().st(this->cc().st() * -1);
 329                 }
 330         }
 331 }
 332
 333 void PSPlanner::fer_perpendicular()
 334 {
 335         bool delta_use[] = {true, true, true};
 336         double cc_h = this->cc().h();
 337         double x;
 338         double y;
 339         // check inner radius
 340         if (this->forward()) {
 341                 x = this->ps().x1();
 342                 y = this->ps().y1();
 343         } else {
 344                 x = this->ps().x4();
 345                 y = this->ps().y4();
 346         }
 347         double x1;
 348         double y1;
 349         if (this->ps().right()) {
 350                 x1 = this->cc().ccr().x();
 351                 y1 = this->cc().ccr().y();
 352         } else {
 353                 x1 = this->cc().ccl().x();
 354                 y1 = this->cc().ccl().y();
 355         }
 356         double IR = this->cc().iradi();
 357         double a = 1;
 358         double b;
 359         if (this->forward())
 360                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 361         else
 362                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 363         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 364         double D = pow(b, 2) - 4 * a * c;
 365         double delta;
 366         delta = -b - sqrt(D);
 367         delta /= 2 * a;
 368         double delta_1 = delta;
 369         if (D < 0)
 370                 delta_use[0] = false;
 371         // check outer radius
 372         if (this->forward()) {
 373                 x = this->ps().x4();
 374                 y = this->ps().y4();
 375         } else {
 376                 x = this->ps().x1();
 377                 y = this->ps().y1();
 378         }
 379         IR = this->cc().ofradi();
 380         a = 1;
 381         if (this->forward())
 382                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 383         else
 384                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 385         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 386         D = pow(b, 2) - 4 * a * c;
 387         if (this->forward()) {
 388                 delta = -b + sqrt(D);
 389                 delta /= 2 * a;
 390         }
 391         double delta_2 = delta;
 392         if (D < 0)
 393                 delta_use[1] = false;
 394         delta = -b - sqrt(D);
 395         delta /= 2 * a;
 396         double delta_3 = delta;
 397         if (D < 0)
 398                 delta_use[2] = false;
 399         if (delta_use[0] && delta_use[1] && delta_use[22])
 400                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 401         else if (delta_use[0] && delta_use[1])
 402                 delta = std::max(delta_1, delta_2);
 403         else if (delta_use[0] && delta_use[2])
 404                 delta = std::max(delta_1, delta_3);
 405         else if (delta_use[1] && delta_use[2])
 406                 delta = std::max(delta_2, delta_3);
 407         else if (delta_use[0])
 408                 delta = delta_1;
 409         else if (delta_use[1])
 410                 delta = delta_2;
 411         else if (delta_use[2])
 412                 delta = delta_3;
 413         else
 414                 return;
 415         // current car `cc` can get out of slot with max steer
 416         this->cc().x(this->cc().x() + delta * cos(cc_h));
 417         this->cc().y(this->cc().y() + delta * sin(cc_h));
 418         this->cc().h(cc_h);
 419         // get current car `cc` out of slot
 420         if (this->forward())
 421                 this->cc().sp(-0.01);
 422         else
 423                 this->cc().sp(0.01);
 424         this->cc().st(this->cc().wb() / this->cc().mtr());
 425         if (this->ps().right())
 426                 this->cc().st(this->cc().st() * -1);
 427         while (!this->left()) {
 428                 while (!this->collide() && !this->left())
 429                         this->cc().next();
 430                 if (this->left() && !this->collide()) {
 431                         break;
 432                 } else {
 433                         this->cc().sp(this->cc().sp() * -1);
 434                         this->cc().next();
 435                         this->cc().st(this->cc().st() * -1);
 436                 }
 437         }
 438 }
 439
 440 PSPlanner::PSPlanner()
 441 {
 442 }