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 r1 = sqrt(
+ pow(this->cc().lry() - ccly, 2)
+ + pow(this->cc().lrx() - cclx, 2)
+ );
+ auto cli1 = ::intersect(
+ cclx, ccly, r1,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a11 = ::angle_between_three_points(
+ this->cc().lrx(), this->cc().lry(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1)
+ );
+ double a12 = ::angle_between_three_points(
+ this->cc().lrx(), this->cc().lry(),
+ cclx, ccly,
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ double a1 = std::min(a11, a12);
+{
+ double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
+ if (
+ edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
+ && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
+ ) {
+ auto clif = ::intersect(
+ cclx, ccly, rf,
+ this->cc().lrx(), this->cc().lry(),
+ this->cc().rrx(), this->cc().rry()
+ );
+ double xf = std::get<1>(clif);
+ double yf = std::get<2>(clif);
+ if (
+ edist(
+ std::get<3>(clif), std::get<4>(clif),
+ this->cc().x(), this->cc().y()
+
+ )
+ < edist(xf, yf, this->cc().x(), this->cc().y())
+ ) {
+ xf = std::get<3>(clif);
+ yf = std::get<4>(clif);
+ }
+ double af = ::angle_between_three_points(
+ xf, yf,
+ cclx, ccly,
+ this->ps().x1(), this->ps().y1()
+ );
+ a1 = af;
+ }
+}
+
+ double r2 = sqrt(
+ pow(this->cc().rry() - ccly, 2)
+ + pow(this->cc().rrx() - cclx, 2)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, r2,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a21 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2)
+ );
+ double a22 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ double a2 = std::min(a21, a22);
+
+ double r3 = sqrt(
+ pow(this->cc().rry() - ccly, 2)
+ + pow(this->cc().rrx() - cclx, 2)
+ );
+ auto cli3 = ::intersect(
+ cclx, ccly, r3,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a31 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli3), std::get<2>(cli3)
+ );
+ double a32 = ::angle_between_three_points(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ 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(cclx, ccly, -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(cclx, ccly, -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(cclx, ccly, -a3);
+ } else {
+ continue;
+ }
+ if (::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+ this->cc().x() + cos(this->ps().heading()),
+ this->cc().y() + sin(this->ps().heading()),
+ this->cc().x() + cos(this->cc().h()),
+ this->cc().y() + sin(this->cc().h())
+ ))
+ continue;
+ } else if (this->ps().right() && this->cc().sp() > 0) {
+ double ccrx = this->cc().ccr().x();
+ double ccry = this->cc().ccr().y();
+{
+ 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
+ }
+}
+ 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