Add decision options for backward

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

diff --git a/src/psp.cc b/src/psp.cc
index aabe5ec1867f424b6584e86a6b9151fff109194d..1dac5b6e7eba1b7a46607fbc51b5181e9296ebc5 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -349,6 +349,30 @@ void PSPlanner::fe_parallel()
                 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
+                                // TODO (p1, p2) x (lr, rr)
+                                // TODO (ccl, rr) x (p2, p3)
+                        } else if (ccl_lr >= ccl_p1) {
+                                // in parking slot
+                                // TODO (ccl, lr) x (p1, p2)
+                                // TODO (ccl, rr) x (p2, p3)
+                        }
 
                         double r1 = sqrt(
                             pow(this->cc().lry() - ccly, 2)
@@ -370,6 +394,38 @@ void PSPlanner::fe_parallel()
                             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)
@@ -448,8 +504,65 @@ void PSPlanner::fe_parallel()
                 } else if (this->ps().right() && this->cc().sp() > 0) {
                         double ccrx = this->cc().ccr().x();
                         double ccry = this->cc().ccr().y();
-
-                        // TODO can I park by moving forward?
+{
+        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()
+                        && (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)