#include <cmath>
+#include <list>
+#include <queue>
#include "psp.h"
bool PSPlanner::collide()
{
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
+ std::vector<std::tuple<double, double>> bc;
+ bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
+ bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
+ bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
+ bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
+ bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
+ std::vector<std::tuple<double, double>> ps;
+ ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
+ ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
+ ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
+ ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
+ return std::get<0>(::collide(bc, ps));
+}
+
+bool PSPlanner::forward()
+{
+ 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;
+ double h = this->gc().h();
+ while (h < 0) h += 2 * M_PI;
+ if (std::abs(heading - h) < M_PI / 4)
return true;
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);
+}
+
+std::tuple<double, double, double, double> circle_line_intersection(
+ double cx, double cy, double r,
+ double x1, double y1,
+ double x2, double y2
+)
+{
+ double t = (y2 - y1) / (x2 - x1);
+ //double a = 1 + pow(t, 2);
+ //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
+ //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
+ // + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
+ // - pow(r, 2);
+ double a = 1 + pow(t, 2);
+ double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
+ double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
+ c += pow(-t * x1 + y1, 2);
+ c += 2 * cy * t * x1 - 2 * cy * y1;
+ double D = pow(b, 2) - 4 * a * c;
+ if (D < 0)
+ return std::make_tuple(cx, cy, cx, cy);
+ double res_x1 = (-b + sqrt(D)) / (2 * a);
+ double res_y1 = t * (res_x1 - x1) + y1;
+ double res_x2 = (-b - sqrt(D)) / (2 * a);
+ double res_y2 = t * (res_x2 - x1) + y1;
+ return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
+}
+
+double edist(double x1, double y1, double x2, double y2)
+{
+ return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
+}
+
+void PSPlanner::guess_gc()
+{
+ double x = this->ps().x1();
+ double y = this->ps().y1();
+ double h = this->ps().heading();
+ double dts = + M_PI / 2; // direction to slot
+ if (this->ps().right())
+ dts = - M_PI / 2;
+ 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 {
+ 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);
+ }
+ }
+ while (h > M_PI)
+ h -= 2 * M_PI;
+ while (h <= -M_PI)
+ h += 2 * M_PI;
+ this->gc().x(x);
+ this->gc().y(y);
+ this->gc().h(h);
+}
+
bool PSPlanner::left()
{
double lfx = this->cc().lfx();
return lrs == rrs && (lrs != lfs || lrs != rfs);
}
+bool PSPlanner::parked()
+{
+ std::vector<std::tuple<double, double>> slot;
+ slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
+ slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
+ slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
+ slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
+ return inside(this->gc().lfx(), this->gc().lfy(), slot)
+ && inside(this->gc().lrx(), this->gc().lry(), slot)
+ && inside(this->gc().rrx(), this->gc().rry(), slot)
+ && inside(this->gc().rfx(), this->gc().rfy(), slot);
+}
+
+std::vector<BicycleCar> PSPlanner::possible_goals(
+ unsigned int cnt,
+ double dist
+)
+{
+ std::vector<BicycleCar> pi;
+ if (this->cc().sp() > 0)
+ 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);
+ return pi;
+}
+
// find entry
void PSPlanner::fe()
{
+ if (this->ps().parallel())
+ return this->fe_parallel();
+ else
+ return this->fe_perpendicular();
+}
+
+void PSPlanner::fe_parallel()
+{
+ BicycleCar bco = BicycleCar(this->gc());
+ this->cc() = BicycleCar();
+ this->cc().sp(-0.01);
+ this->cc().set_max_steer();
+ if (!this->ps().right())
+ this->cc().st(this->cc().st() * -1);
+ this->cc().h(this->ps().heading());
+ double angl_in_slot = this->ps().heading() - M_PI / 4;
+ if (!this->ps().right())
+ angl_in_slot += M_PI / 2;
+ this->cc().x(
+ this->ps().x4()
+ + this->cc().w()/2 * cos(
+ this->ps().heading()
+ + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
+ )
+ + (this->cc().df() + 0.01) * cos(
+ this->ps().heading() + M_PI
+ )
+ );
+ this->cc().y(
+ this->ps().y4()
+ + this->cc().w()/2 * sin(
+ this->ps().heading()
+ + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
+ )
+ + (this->cc().df() + 0.01) * sin(
+ this->ps().heading() + M_PI
+ )
+ );
+
+ std::queue<BicycleCar, std::list<BicycleCar>> q;
+ while (!this->collide()) {
+ q.push(this->cc());
+ this->cc().rotate(
+ this->ps().x4(),
+ this->ps().y4() - 0.01,
+ 0.01
+ );
+ }
+ // BFS - find entry current car `cc` and corresponding goal car `gc`
+ unsigned int iter_cntr = 0;
+ while (!q.empty() && iter_cntr < 30) {
+ 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)
+ )
+ this->cc().next();
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->gc() = BicycleCar(this->cc());
+ if (this->parked())
+ goto successfinish;
+ this->cc().st(this->cc().st() * -1);
+ q.push(BicycleCar(this->cc()));
+ if (sgn(this->cc().st()) == sgn(q.front().st()))
+ iter_cntr++;
+ }
+ // fallback to fer
+ this->gc() = BicycleCar(bco);
+successfinish:
+ return this->fer_parallel();
+}
+
+void PSPlanner::fe_perpendicular()
+{
+ // TODO Try multiple angles when going from parking slot.
+ //
+ // Do not use just the maximum steer angle. Test angles
+ // until the whole current car `cc` is out of the parking
+ // slot `ps`.
+ //
+ // Another approach could be testing angles from the
+ // beginning of the escape parkig slot maneuver.
+ if (this->forward())
+ this->cc().sp(-0.01);
+ else
+ this->cc().sp(0.01);
+ while (!this->left())
+ this->cc().next();
+ return;
}
void PSPlanner::fer()
this->cc().st(this->cc().wb() / this->cc().mtr());
if (!this->ps().right())
this->cc().st(this->cc().st() * -1);
- this->cc().sp(0.1);
+ this->cc().sp(0.01);
+ this->cusps_.clear();
while (!this->left()) {
- while (!this->collide() && !this->left()) {
+ while (!this->collide() && !this->left())
this->cc().next();
- }
if (this->left() && !this->collide()) {
break;
} else {
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->cc().st(this->cc().st() * -1);
+ this->c_++;
+ this->cusps_.push_back(this->cc());
}
}
+ if (this->cc().st() < 0) {
+ this->c_++;
+ this->cusps_.push_back(this->cc());
+ }
}
void PSPlanner::fer_perpendicular()
{
-}
-
-bool PSPlanner::forward()
-{
- double heading = this->ps().heading();
- 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)
- return true;
+ bool delta_use[] = {true, true, true};
+ double cc_h = this->cc().h();
+ double x;
+ double y;
+ // check inner radius
+ if (this->forward()) {
+ x = this->ps().x1();
+ y = this->ps().y1();
+ } else {
+ x = this->ps().x4();
+ y = this->ps().y4();
+ }
+ double x1;
+ double y1;
+ if (this->ps().right()) {
+ x1 = this->cc().ccr().x();
+ y1 = this->cc().ccr().y();
+ } else {
+ x1 = this->cc().ccl().x();
+ y1 = this->cc().ccl().y();
+ }
+ double IR = this->cc().iradi();
+ double a = 1;
+ double b;
+ if (this->forward())
+ b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
else
- return false;
+ b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
+ double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ double D = pow(b, 2) - 4 * a * c;
+ double delta;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ double delta_1 = delta;
+ if (D < 0)
+ delta_use[0] = false;
+ // check outer radius
+ if (this->forward()) {
+ x = this->ps().x4();
+ y = this->ps().y4();
+ } else {
+ x = this->ps().x1();
+ y = this->ps().y1();
+ }
+ IR = this->cc().ofradi();
+ a = 1;
+ if (this->forward())
+ b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
+ else
+ b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
+ c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ D = pow(b, 2) - 4 * a * c;
+ if (this->forward()) {
+ delta = -b + sqrt(D);
+ delta /= 2 * a;
+ }
+ double delta_2 = delta;
+ if (D < 0)
+ delta_use[1] = false;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ double delta_3 = delta;
+ if (D < 0)
+ delta_use[2] = false;
+ if (delta_use[0] && delta_use[1] && delta_use[22])
+ delta = std::max(delta_1, std::max(delta_2, delta_3));
+ else if (delta_use[0] && delta_use[1])
+ delta = std::max(delta_1, delta_2);
+ else if (delta_use[0] && delta_use[2])
+ delta = std::max(delta_1, delta_3);
+ else if (delta_use[1] && delta_use[2])
+ delta = std::max(delta_2, delta_3);
+ else if (delta_use[0])
+ delta = delta_1;
+ else if (delta_use[1])
+ delta = delta_2;
+ else if (delta_use[2])
+ delta = delta_3;
+ else
+ return;
+ // current car `cc` can get out of slot with max steer
+ this->cc().x(this->cc().x() + delta * cos(cc_h));
+ this->cc().y(this->cc().y() + delta * sin(cc_h));
+ this->cc().h(cc_h);
+ // get current car `cc` out of slot
+ if (this->forward())
+ this->cc().sp(-0.01);
+ else
+ this->cc().sp(0.01);
+ this->cc().set_max_steer();
+ if (this->ps().right())
+ this->cc().st(this->cc().st() * -1);
+ while (!this->left()) {
+ while (!this->collide() && !this->left())
+ this->cc().next();
+ if (this->left() && !this->collide()) {
+ break;
+ } else {
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->cc().st(this->cc().st() * -1);
+ }
+ }
}
PSPlanner::PSPlanner()
{
}
-
-std::tuple<bool, double, double> intersect(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3,
- double x4, double y4
-)
-{
- double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
- if (deno == 0)
- return std::make_tuple(false, 0, 0);
- double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
- t /= deno;
- double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
- u *= -1;
- u /= deno;
- if (t < 0 || t > 1 || u < 0 || u > 1)
- return std::make_tuple(false, 0, 0);
- return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
-}
projects / hubacji1 / psp.git / blobdiff