bool PSPlanner::forward()
{
- if (this->ps().parallel())
- return false;
- else
- return true;
- 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;
+#if FORWARD_PARKING > 0
+ return true;
+#else
return false;
+#endif
}
void PSPlanner::gc_to_4()
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);
-#if 0
} else {
+#if FORWARD_PARKING > 0
// Forward parking
double entry_width = edist(
this->ps().x1(), this->ps().y1(),
while (h < 0) h += 2 * M_PI;
x += this->gc().dr() * cos(h + M_PI);
y += this->gc().dr() * sin(h + M_PI);
-#endif
- } else {
+#else
// Backward parking
double entry_width = edist(
this->ps().x1(), this->ps().y1(),
while (h < 0) h += 2 * M_PI;
x += this->gc().df() * cos(h + M_PI);
y += this->gc().df() * sin(h + M_PI);
+#endif
}
while (h > M_PI)
h -= 2 * M_PI;