{
if (this->ps().parallel())
return false;
+ else
+ return true;
double heading = atan2(
this->ps().y2() - this->ps().y1(),
this->ps().x2() - this->ps().x1()
y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
y += (this->gc().dr() + 0.01) * sin(h);
} else {
- if (std::abs(
- atan2(
- this->ps().y2() - this->ps().y1(),
- this->ps().x2() - this->ps().x1()
- )
- - this->ps().heading()
- ) < M_PI / 2) {
- // forward parking
- this->gc_to_4();
- double bx;
- double by;
- double cx;
- double cy;
- if (this->ps().right()) {
- bx = this->gc().lfx();
- by = this->gc().lfy();
- cx = this->gc().ccr().x();
- cy = this->gc().ccr().y();
- } else {
- bx = this->gc().rfx();
- by = this->gc().rfy();
- cx = this->gc().ccl().x();
- cy = this->gc().ccl().y();
- }
- double radi_angl = atan2(by - cy, bx - cx);
- radi_angl += dts;
- double angl_delta = this->gc().h() - radi_angl;
- this->gc().rotate(bx, by, angl_delta);
- // TODO there is a bug somewhere :/
- //
- // cli returns not exact intersection, therefore the
- // distance to x1, y1 of border is shorter. Then, when
- // moving, the distance `dist_o` is not sufficient and
- // car still collide with parking slot. It shouldn't be
- // problem until it collides with obstacle.
- //
- if (this->ps().right()) {
- cx = this->gc().ccr().x();
- cy = this->gc().ccr().y();
- } else {
- cx = this->gc().ccl().x();
- cy = this->gc().ccl().y();
- }
- auto cli = circle_line_intersection(
- cx, cy, this->gc().iradi(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- );
- double d1 = edist(
- this->ps().x1(), this->ps().y1(),
- std::get<0>(cli), std::get<1>(cli)
- );
- double d2 = edist(
- this->ps().x1(), this->ps().y1(),
- std::get<2>(cli), std::get<3>(cli)
- );
- double dist_o = std::min<double>(d1, d2);
- double angl_o = atan2(
- this->ps().y4() - this->ps().y3(),
- this->ps().x4() - this->ps().x3()
- );
- // projection
- double angl_d = atan2(
- this->ps().y1() - this->ps().y2(),
- this->ps().x1() - this->ps().x2()
- );
- angl_d -= angl_o;
- dist_o *= cos(angl_d);
- this->gc().x(this->gc().x() + dist_o * cos(angl_o));
- this->gc().y(this->gc().y() + dist_o * sin(angl_o));
- // --- ENDTODO ---
- this->gc().sp(-0.01);
- this->gc().st(dts);
- return;
- } else {
- dts = atan2(
- this->ps().y2() - this->ps().y1(),
- this->ps().x2() - this->ps().x1()
- );
- dts *= 1.01; // precision workaround
- // backward parking
- h = dts + M_PI;
- x += -(this->gc().df() + 0.01) * cos(h);
- y += -(this->gc().df() + 0.01) * sin(h);
- if (this->ps().right())
- dts += M_PI / 2;
- else
- dts -= M_PI / 2;
- x += (this->gc().w() / 2 + 0.01) * cos(dts);
- y += (this->gc().w() / 2 + 0.01) * sin(dts);
- }
+ // Forward parking
+ double entry_width = edist(
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ );
+ x += entry_width / 2 * cos(h);
+ y += entry_width / 2 * sin(h);
+ h = atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ );
+ while (h < 0) h += 2 * M_PI;
+
+ //// This is for backward parking only.
+ //double entry_width = edist(
+ // this->ps().x1(), this->ps().y1(),
+ // this->ps().x4(), this->ps().y4()
+ //);
+ //double dist_l =
+ // this->gc().orradi()
+ // - (this->gc().mtr() + this->gc().w() / 2)
+ //;
+ //double move1 = dist_l + this->gc().w() / 2;
+ //double dist_r = entry_width - this->gc().w() - dist_l;
+ //double move2 = sqrt(
+ // pow(this->gc().iradi(), 2)
+ // - pow(this->gc().iradi() - dist_r, 2)
+ //);
+ //move2 -= this->gc().dr() / 2; // workaround
+ //x += move1 * cos(h);
+ //y += move1 * sin(h);
+ //dts = atan2(
+ // this->ps().y2() - this->ps().y1(),
+ // this->ps().x2() - this->ps().x1()
+ //);
+ //while (dts < 0) dts += 2 * M_PI;
+ //x += move2 * cos(h + dts);
+ //y += move2 * sin(h + dts);
+ //h += dts - M_PI / 2;
}
while (h > M_PI)
h -= 2 * M_PI;
this->gc().h(h);
}
+std::vector<BicycleCar> PSPlanner::last_maneuver()
+{
+ std::vector<BicycleCar> lm;
+ if (this->ps().parallel()) {
+ // zig-zag out from the slot
+ this->cc() = BicycleCar(this->gc());
+ this->cc().sp(0.1);
+ while (!this->left()) {
+ while (!this->collide() && !this->left()) {
+ this->cc().next();
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ if (this->left() && !this->collide()) {
+ break;
+ } else {
+ lm.pop_back();
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->cc().st(this->cc().st() * -1);
+ this->c_++;
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ }
+ if (this->cc().st() < 0) {
+ this->c_++;
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ } else {
+ // go 1 m forward
+ this->cc().sp(0.1);
+ BicycleCar orig_cc(this->cc());
+ for (unsigned int i = 0; i < 10; i++) {
+ this->cc().next();
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ this->cc() = BicycleCar(orig_cc);
+ }
+ return lm;
+}
+
bool PSPlanner::left()
{
double lfx = this->cc().lfx();
)
{
std::vector<BicycleCar> pi;
- if (this->cc().sp() > 0)
+ if (this->ps().parallel())
this->cc().sp(1);
else
this->cc().sp(-1);
this->cc().sp(this->cc().sp() * dist);
- this->cc().st(this->cc().st() * 1);
BicycleCar orig_cc(this->cc());
for (unsigned int i = 0; i < cnt; i++) {
this->cc().next();
pi.push_back(BicycleCar(this->cc()));
}
this->cc() = BicycleCar(orig_cc);
+ if (this->ps().parallel()) {
+ this->cc().st(0);
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ this->cc() = BicycleCar(orig_cc);
+ } else {
+ if (!this->ps().right()) {
+ this->cc().set_max_steer();
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ } else {
+ this->cc().set_max_steer();
+ this->cc().st(this->cc().st() * -1);
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ }
+ this->cc() = BicycleCar(orig_cc);
+ }
return pi;
}
} else {
this->guess_gc();
this->cc() = BicycleCar(this->gc());
- return this->fer_perpendicular();
+ //this->cc().set_max_steer();
+ //if (this->ps().right())
+ // this->cc().st(this->cc().st() * -1);
+ this->cc().sp(-0.2);
}
}
+double smaller_angle_of_two(
+ double sx, double sy, // common start point
+ double cx, double cy, // common middle point
+ double x1, double y1, // first ending point
+ double x2, double y2 // second ending point
+) {
+ double a1 = ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
+ double a2 = ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
+ return std::min(a1, a2);
+}
+
void PSPlanner::fe_parallel()
{
BicycleCar bco = BicycleCar(this->gc());
this->cc().rotate(
this->ps().x4(),
this->ps().y4() - 0.01,
- ((this->ps().right()) ? 0.01 : -0.01)
+ ((this->ps().right()) ? 0.001 : -0.001)
);
}
// BFS - find entry current car `cc` and corresponding goal car `gc`
while (!q.empty() && iter_cntr < 30) {
this->cc() = BicycleCar(q.front());
q.pop();
- while (
+ if (this->ps().right() && this->cc().sp() < 0) {
+ double cclx = this->cc().ccl().x();
+ double ccly = this->cc().ccl().y();
+ double ccl_lr = edist(
+ cclx, ccly,
+ this->cc().lrx(), this->cc().lry()
+ );
+ double ccl_rr = edist(
+ cclx, ccly,
+ this->cc().rrx(), this->cc().rry()
+ );
+ double ccl_p1 = edist(
+ cclx, ccly,
+ this->ps().x1(), this->ps().y1()
+ );
+ if (ccl_rr < ccl_p1) {
+ // pass parking slot
+ continue;
+ } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
+ // partially out of parking slot
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_p1,
+ this->cc().lrx(), this->cc().lry(),
+ this->cc().rrx(), this->cc().rry()
+ );
+ double a1 = ::smaller_angle_of_two(
+ this->ps().x1(), this->ps().y1(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = smaller_angle_of_two(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
+ } else if (ccl_lr >= ccl_p1) {
+ // in parking slot
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_lr,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a1 = smaller_angle_of_two(
+ this->cc().lrx(), this->cc().lry(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = smaller_angle_of_two(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
+ }
+ } else if (this->ps().right() && this->cc().sp() > 0) {
+ double ccrx = this->cc().ccr().x();
+ double ccry = this->cc().ccr().y();
+ double ccr_lf = edist(
+ ccrx, ccry,
+ this->cc().lfx(), this->cc().lfy()
+ );
+ double ccr_rf = edist(
+ ccrx, ccry,
+ this->cc().rfx(), this->cc().rfy()
+ );
+ {
+ auto clif = ::intersect(
+ ccrx, ccry, ccr_lf,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double af = std::abs(
+ this->ps().heading()
+ - this->cc().h()
+ );
+ double xf = this->ps().x4();
+ double yf = this->ps().y4();
+ if (std::get<0>(clif)) {
+ xf = std::get<1>(clif);
+ yf = std::get<2>(clif);
+ if (
+ edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ std::get<3>(clif),
+ std::get<4>(clif)
+ ) < edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ xf, yf
+ )
+ ) {
+ xf = std::get<3>(clif);
+ yf = std::get<4>(clif);
+ }
+ af = ::angle_between_three_points(
+ this->cc().lfx(),
+ this->cc().lfy(),
+ ccrx, ccry,
+ xf, yf
+ );
+ }
+ auto tmp_cc = BicycleCar(this->cc());
+ this->cc().rotate(ccrx, ccry, -af);
+ if (
+ !this->collide()
+ && (
+ edist(
+ this->ps().x1(),
+ this->ps().y1(),
+ xf, yf
+ ) < edist(
+ this->ps().x1(),
+ this->ps().y1(),
+ this->ps().x4(),
+ this->ps().y4()
+ )
+ || !std::get<0>(clif)
+ )
+ ) {
+ this->cc().sp(this->cc().sp() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ }
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a1 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ auto cli3 = ::intersect(
+ ccrx, ccry, ccr_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a3 = smaller_angle_of_two(
+ this->cc().lfx(), this->cc().lfy(),
+ ccrx, ccry,
+ std::get<1>(cli3), std::get<2>(cli3),
+ std::get<3>(cli3), std::get<4>(cli3)
+ );
+{
+ double rf = sqrt(
+ pow(this->cc().lfy() - ccry, 2)
+ + pow(this->cc().lfx() - ccrx, 2)
+ );
+ auto clif = ::intersect(
+ ccrx, ccry, rf,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ );
+ if (std::get<0>(clif)) {
+ double xf = std::get<1>(clif);
+ double yf = std::get<2>(clif);
+ if (
+ edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ std::get<3>(clif),
+ std::get<4>(clif)
+ ) < edist(
+ this->ps().x4(),
+ this->ps().y4(),
+ xf, yf
+ )
+ ) {
+ xf = std::get<3>(clif);
+ yf = std::get<4>(clif);
+ }
+ auto af = ::angle_between_three_points(
+ this->cc().lfx(),
+ this->cc().lfy(),
+ ccrx, ccry,
+ xf, yf
+ );
+ auto tmp_cc = BicycleCar(this->cc());
+ this->cc().rotate(ccrx, ccry, -af);
+ if (
!this->collide()
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) > M_PI / 32)
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) < M_PI / 2)
- )
- this->cc().next();
+ && (edist(
+ this->ps().x1(), this->ps().y1(),
+ xf, yf
+ ) < edist(
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ ))
+ ) {
+ this->cc().sp(-0.01);
+ this->cc().set_max_steer();
+ this->cc().st(this->cc().st() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ } else {
+ // should be parked and found in previous iteration or continue
+ // with the parking process
+ }
+}
+ double r1 = sqrt(
+ pow(this->cc().rfy() - ccry, 2)
+ + pow(this->cc().rfx() - ccrx, 2)
+ );
+ auto cli1 = ::intersect(
+ ccrx, ccry, r1,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a11 = ::angle_between_three_points(
+ this->cc().lrx(), this->cc().lry(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1)
+ );
+ double a12 = ::angle_between_three_points(
+ this->cc().lrx(), this->cc().lry(),
+ ccrx, ccry,
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ double a1 = std::min(a11, a12);
+
+ double r2 = sqrt(
+ pow(this->cc().lfy() - ccry, 2)
+ + pow(this->cc().lfx() - ccrx, 2)
+ );
+ auto cli2 = ::intersect(
+ ccrx, ccry, r2,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a21 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2)
+ );
+ double a22 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ ccrx, ccry,
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ double a2 = std::min(a21, a22);
+
+ double r3 = sqrt(
+ pow(this->cc().rfy() - ccry, 2)
+ + pow(this->cc().rfx() - ccrx, 2)
+ );
+ auto cli3 = ::intersect(
+ ccrx, ccry, r3,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a31 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ ccrx, ccry,
+ std::get<1>(cli3), std::get<2>(cli3)
+ );
+ double a32 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ ccrx, ccry,
+ std::get<3>(cli3), std::get<4>(cli3)
+ );
+ double a3 = std::min(a31, a32);
+
+ if (std::get<0>(cli1) && (
+ (!std::get<0>(cli2) && !std::get<0>(cli3))
+ || (a1 < a2 && !std::get<0>(cli3))
+ || (a1 < a3 && !std::get<0>(cli2))
+ || (a1 < a2 && a1 < a3)
+ )) {
+ this->cc().rotate(ccrx, ccry, -a1);
+ } else if (std::get<0>(cli2) && (
+ (!std::get<0>(cli1) && !std::get<0>(cli3))
+ || (a2 < a1 && !std::get<0>(cli3))
+ || (a2 < a3 && !std::get<0>(cli1))
+ || (a2 < a1 && a2 < a3)
+ )) {
+ this->cc().rotate(ccrx, ccry, -a2);
+ } else if (std::get<0>(cli3) && (
+ (!std::get<0>(cli1) && !std::get<0>(cli2))
+ || (a3 < a1 && !std::get<0>(cli2))
+ || (a3 < a2 && !std::get<0>(cli1))
+ || (a3 < a1 && a3 < a2)
+ )) {
+ this->cc().rotate(ccrx, ccry, -a3);
+ } else {
+ continue;
+ }
+ } else {
+ // TODO left parking slot (both forward, backward)
+ }
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->gc() = BicycleCar(this->cc());
projects / hubacji1 / psp.git / blobdiff