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 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);
104 // This is for backward parking only.
105 double entry_width = edist(
106 this->ps().x1(), this->ps().y1(),
107 this->ps().x4(), this->ps().y4()
111 - (this->gc().mtr() + this->gc().w() / 2)
113 double move1 = dist_l + this->gc().w() / 2;
114 double dist_r = entry_width - this->gc().w() - dist_l;
116 pow(this->gc().iradi(), 2)
117 - pow(this->gc().iradi() - dist_r, 2)
119 move2 -= this->gc().dr() / 2; // workaround
122 x += move2 * cos(h + dts);
123 y += move2 * sin(h + dts);
135 bool PSPlanner::left()
137 double lfx = this->cc().lfx();
138 double lfy = this->cc().lfy();
139 double lrx = this->cc().lrx();
140 double lry = this->cc().lry();
141 double rrx = this->cc().rrx();
142 double rry = this->cc().rry();
143 double rfx = this->cc().rfx();
144 double rfy = this->cc().rfy();
146 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
147 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
150 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
151 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
154 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
155 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
158 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
159 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
161 if (this->ps().parallel())
162 return lfs == rfs && (lfs != lrs || lfs != rrs);
163 else if (!this->forward())
164 return lfs == rfs && (lfs != lrs || lfs != rrs);
166 return lrs == rrs && (lrs != lfs || lrs != rfs);
169 bool PSPlanner::parked()
171 std::vector<std::tuple<double, double>> slot;
172 slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
173 slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
174 slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
175 slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
176 return inside(this->gc().lfx(), this->gc().lfy(), slot)
177 && inside(this->gc().lrx(), this->gc().lry(), slot)
178 && inside(this->gc().rrx(), this->gc().rry(), slot)
179 && inside(this->gc().rfx(), this->gc().rfy(), slot);
182 std::vector<BicycleCar> PSPlanner::possible_goals(
187 std::vector<BicycleCar> pi;
188 if (this->cc().sp() > 0)
192 this->cc().sp(this->cc().sp() * dist);
193 this->cc().st(this->cc().st() * 1);
194 BicycleCar orig_cc(this->cc());
195 for (unsigned int i = 0; i < cnt; i++) {
197 pi.push_back(BicycleCar(this->cc()));
199 this->cc() = BicycleCar(orig_cc);
207 if (this->ps().parallel()) {
208 return this->fe_parallel();
211 this->cc() = BicycleCar(this->gc());
212 this->cc().set_max_steer();
213 if (this->ps().right())
214 this->cc().st(this->cc().st() * -1);
219 void PSPlanner::fe_parallel()
221 BicycleCar bco = BicycleCar(this->gc());
222 this->cc() = BicycleCar();
223 this->cc().sp(-0.01);
224 this->cc().set_max_steer();
225 if (!this->ps().right())
226 this->cc().st(this->cc().st() * -1);
227 this->cc().h(this->ps().heading());
228 double angl_in_slot = this->ps().heading() - M_PI / 4;
229 if (!this->ps().right())
230 angl_in_slot += M_PI / 2;
233 + this->cc().w()/2 * cos(
235 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
237 + (this->cc().df() + 0.01) * cos(
238 this->ps().heading() + M_PI
243 + this->cc().w()/2 * sin(
245 + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
247 + (this->cc().df() + 0.01) * sin(
248 this->ps().heading() + M_PI
252 std::queue<BicycleCar, std::list<BicycleCar>> q;
253 while (!this->collide()) {
257 this->ps().y4() - 0.01,
258 ((this->ps().right()) ? 0.01 : -0.01)
261 // BFS - find entry current car `cc` and corresponding goal car `gc`
262 unsigned int iter_cntr = 0;
263 while (!q.empty() && iter_cntr < 30) {
264 this->cc() = BicycleCar(q.front());
269 this->cc().h() - this->ps().heading()
272 this->cc().h() - this->ps().heading()
276 this->cc().sp(this->cc().sp() * -1);
278 this->gc() = BicycleCar(this->cc());
281 this->cc().st(this->cc().st() * -1);
282 q.push(BicycleCar(this->cc()));
283 if (sgn(this->cc().st()) == sgn(q.front().st()))
287 this->gc() = BicycleCar(bco);
289 return this->fer_parallel();
292 void PSPlanner::fe_perpendicular()
294 // TODO Try multiple angles when going from parking slot.
296 // Do not use just the maximum steer angle. Test angles
297 // until the whole current car `cc` is out of the parking
300 // Another approach could be testing angles from the
301 // beginning of the escape parkig slot maneuver.
303 this->cc().sp(-0.01);
306 while (!this->left())
311 void PSPlanner::fer()
314 if (this->ps().parallel()) {
316 this->cc() = BicycleCar(this->gc());
317 this->cc().set_max_steer();
318 if (!this->ps().right())
319 this->cc().st(this->cc().st() * -1);
321 return this->fer_parallel();
323 return this->fer_perpendicular();
327 void PSPlanner::fer_parallel()
329 this->cusps_.clear();
330 while (!this->left()) {
331 while (!this->collide() && !this->left())
333 if (this->left() && !this->collide()) {
336 this->cc().sp(this->cc().sp() * -1);
338 this->cc().st(this->cc().st() * -1);
340 this->cusps_.push_back(this->cc());
343 if (this->cc().st() < 0) {
345 this->cusps_.push_back(this->cc());
349 void PSPlanner::fer_perpendicular()
351 bool delta_use[] = {true, true, true};
352 double cc_h = this->cc().h();
355 // check inner radius
356 if (this->forward()) {
365 if (this->ps().right()) {
366 x1 = this->cc().ccr().x();
367 y1 = this->cc().ccr().y();
369 x1 = this->cc().ccl().x();
370 y1 = this->cc().ccl().y();
372 double IR = this->cc().iradi();
376 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
378 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
379 double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
380 double D = pow(b, 2) - 4 * a * c;
382 delta = -b - sqrt(D);
384 double delta_1 = delta;
386 delta_use[0] = false;
387 // check outer radius
388 if (this->forward()) {
395 IR = this->cc().ofradi();
398 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
400 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
401 c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
402 D = pow(b, 2) - 4 * a * c;
403 if (this->forward()) {
404 delta = -b + sqrt(D);
407 double delta_2 = delta;
409 delta_use[1] = false;
410 delta = -b - sqrt(D);
412 double delta_3 = delta;
414 delta_use[2] = false;
415 if (delta_use[0] && delta_use[1] && delta_use[2])
416 delta = std::max(delta_1, std::max(delta_2, delta_3));
417 else if (delta_use[0] && delta_use[1])
418 delta = std::max(delta_1, delta_2);
419 else if (delta_use[0] && delta_use[2])
420 delta = std::max(delta_1, delta_3);
421 else if (delta_use[1] && delta_use[2])
422 delta = std::max(delta_2, delta_3);
423 else if (delta_use[0])
425 else if (delta_use[1])
427 else if (delta_use[2])
431 // current car `cc` can get out of slot with max steer
432 this->cc().x(this->cc().x() + delta * cos(cc_h));
433 this->cc().y(this->cc().y() + delta * sin(cc_h));
435 // get current car `cc` out of slot
437 this->cc().sp(-0.01);
440 this->cc().set_max_steer();
441 if (this->ps().right())
442 this->cc().st(this->cc().st() * -1);
443 while (!this->left()) {
444 while (!this->collide() && !this->left())
446 if (this->left() && !this->collide()) {
449 this->cc().sp(this->cc().sp() * -1);
451 this->cc().st(this->cc().st() * -1);
456 PSPlanner::PSPlanner()