Add set goal car position method

[hubacji1/psp.git] / src / psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 8a5ae343ba0e0dbfa941b644e8dc38226d7f8425..5992e3ec54a55599abd5232ac7d803bf5c82eafc 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -21,16 +21,38 @@ bool PSPlanner::collide()
 
 bool PSPlanner::forward()
 {
-        double heading = this->ps().heading();
+        if (this->ps().parallel())
+                return false;
+        double heading = atan2(
+                this->ps().y2() - this->ps().y1(),
+                this->ps().x2() - this->ps().x1()
+        );
         while (heading < 0) heading += 2 * M_PI;
-        if (!this->ps().parallel())
-                heading -= M_PI / 2;
         double h = this->gc().h();
         while (h < 0) h += 2 * M_PI;
-        if (-0.00001 < heading - h && heading - h < 0.00001)
+        if (std::abs(heading - h) < M_PI / 4)
                 return true;
-        else
-                return false;
+        return false;
+}
+
+void PSPlanner::gc_to_4()
+{
+        double angl_slot = atan2(
+                this->ps().y3() - this->ps().y4(),
+                this->ps().x3() - this->ps().x4()
+        );
+        double angl_delta = M_PI / 2;
+        if (this->ps().right())
+                angl_delta = -M_PI / 2;
+        double x = this->ps().x4();
+        double y = this->ps().y4();
+        x += (this->gc().dr() + 0.01) * cos(angl_slot);
+        y += (this->gc().dr() + 0.01) * sin(angl_slot);
+        x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
+        y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
+        this->gc().x(x);
+        this->gc().y(y);
+        this->gc().h(angl_slot);
 }
 
 void PSPlanner::guess_gc()
@@ -41,20 +63,41 @@ void PSPlanner::guess_gc()
         double dts = + M_PI / 2; // direction to slot
         if (this->ps().right())
                 dts = - M_PI / 2;
+        dts *= 0.99; // precision workaround
         if (this->ps().parallel()) {
                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
                 x += (this->gc().dr() + 0.01) * cos(h);
                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
                 y += (this->gc().dr() + 0.01) * sin(h);
         } else {
-                x += (this->ps().x4() - this->ps().x1()) / 2;
-                x += (this->gc().df() + 0.01) * cos(h + dts);
-                y += (this->ps().y4() - this->ps().y1()) / 2;
-                y += (this->gc().df() + 0.01) * sin(h + dts);
-                if (this->ps().right())
-                        h += M_PI / 2;
-                else
-                        h -= M_PI / 2;
+                dts = atan2(
+                        this->ps().y2() - this->ps().y1(),
+                        this->ps().x2() - this->ps().x1()
+                );
+                dts *= 1.01; // precision workaround
+                if (std::abs(dts - this->ps().heading()) < M_PI / 2) {
+                        x = this->ps().x4();
+                        y = this->ps().y4();
+                        h = dts;
+                        x += (this->gc().dr() + 0.01) * cos(h);
+                        y += (this->gc().dr() + 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);
+                } else {
+                        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);
+                }
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -118,8 +161,8 @@ std::vector<BicycleCar> PSPlanner::possible_inits(
 )
 {
         std::vector<BicycleCar> pi;
-        this->cc().sp(this->cc().sp() * -dist);
-        this->cc().st(this->cc().st() * -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();
@@ -159,6 +202,11 @@ void PSPlanner::fe_parallel()
         dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
         bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
         bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
+        // set default speed, steer
+        bci.st(bci.wb() / bci.mtr());
+        if (!this->ps().right())
+                bci.st(bci.st() * -1);
+        bci.sp(-0.01);
         // BFS - init all starts
         // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
         double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
@@ -188,21 +236,20 @@ void PSPlanner::fe_parallel()
                 }
                 this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
                 if (!this->collide()) {
-                        this->cc().st(this->cc().wb() / this->cc().mtr());
-                        if (!this->ps().right())
-                                this->cc().st(this->cc().st() * -1);
-                        this->cc().sp(-0.01);
                         q.push(BicycleCar(this->cc()));
                 }
                 dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
         }
         // BFS - find entry current car `cc` and corresponding goal car `gc`
-        unsigned int iter_cntr;
+        unsigned int iter_cntr = 0;
         while (!q.empty() && iter_cntr < 9) {
                 this->cc() = BicycleCar(q.front());
                 q.pop();
                 while (
                         !this->collide()
+                        && (std::abs(
+                                this->cc().h() - this->ps().heading()
+                        ) > M_PI / 32)
                         && (std::abs(
                                 this->cc().h() - this->ps().heading()
                         ) < M_PI / 2)
@@ -234,7 +281,13 @@ void PSPlanner::fe_perpendicular()
         //
         //      Another approach could be testing angles from the
         //      beginning of the escape parkig slot maneuver.
-        return fer_perpendicular();
+        if (this->forward())
+                this->cc().sp(-0.01);
+        else
+                this->cc().sp(0.01);
+        while (!this->left())
+                this->cc().next();
+        return;
 }
 
 void PSPlanner::fer()
@@ -352,9 +405,9 @@ void PSPlanner::fer_perpendicular()
         this->cc().h(cc_h);
         // get current car `cc` out of slot
         if (this->forward())
-                this->cc().sp(-0.1);
+                this->cc().sp(-0.01);
         else
-                this->cc().sp(0.1);
+                this->cc().sp(0.01);
         this->cc().st(this->cc().wb() / this->cc().mtr());
         if (this->ps().right())
                 this->cc().st(this->cc().st() * -1);