}
}
+double smaller_angle_of_two(
+ double sx, double sy, // common start point
+ double cx, double cy, // common middle point
+ double x1, double y1, // first ending point
+ double x2, double y2 // second ending point
+) {
+ double a1 = ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
+ double a2 = ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
+ return std::min(a1, a2);
+}
+
void PSPlanner::fe_parallel()
{
BicycleCar bco = BicycleCar(this->gc());
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)
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_p1,
+ this->cc().lrx(), this->cc().lry(),
+ this->cc().rrx(), this->cc().rry()
+ );
+ double a1 = ::smaller_angle_of_two(
+ this->ps().x1(), this->ps().y1(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = smaller_angle_of_two(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
} else if (ccl_lr >= ccl_p1) {
// in parking slot
- // TODO (ccl, lr) x (p1, p2)
- // TODO (ccl, rr) x (p2, p3)
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_lr,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a1 = smaller_angle_of_two(
+ this->cc().lrx(), this->cc().lry(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = smaller_angle_of_two(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
}
-
- double r1 = sqrt(
- pow(this->cc().lry() - ccly, 2)
- + pow(this->cc().lrx() - cclx, 2)
+ } else if (this->ps().right() && this->cc().sp() > 0) {
+ double ccrx = this->cc().ccr().x();
+ double ccry = this->cc().ccr().y();
+ double ccr_lf = edist(
+ ccrx, ccry,
+ this->cc().lfx(), this->cc().lfy()
);
- auto cli1 = ::intersect(
- cclx, ccly, r1,
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
+ double ccr_rf = edist(
+ ccrx, ccry,
+ this->cc().rfx(), this->cc().rfy()
);
- double a11 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- cclx, ccly,
- std::get<1>(cli1), std::get<2>(cli1)
+ {
+ auto clif = ::intersect(
+ ccrx, ccry, ccr_lf,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double af = std::abs(
+ this->ps().heading()
+ - this->cc().h()
+ );
+ double xf = this->ps().x4();
+ double yf = this->ps().y4();
+ if (std::get<0>(clif)) {
+ xf = std::get<1>(clif);
+ 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);
+ }
+ 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()
+ )
+ || !std::get<0>(clif)
+ )
+ ) {
+ this->cc().sp(this->cc().sp() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ }
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
);
- 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)
+ double a1 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
);
auto cli2 = ::intersect(
- cclx, ccly, r2,
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
+ ccrx, ccry, ccr_rf,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
);
- 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)
+ double a2 = smaller_angle_of_two(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
);
auto cli3 = ::intersect(
- cclx, ccly, r3,
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
+ ccrx, ccry, ccr_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
);
- double a31 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- cclx, ccly,
- std::get<1>(cli3), std::get<2>(cli3)
+ double a3 = smaller_angle_of_two(
+ this->cc().lfx(), this->cc().lfy(),
+ ccrx, ccry,
+ std::get<1>(cli3), std::get<2>(cli3),
+ std::get<3>(cli3), std::get<4>(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)
projects / hubacji1 / psp.git / blobdiff