Add decision options for backward

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

diff --git a/src/psp.cc b/src/psp.cc
index c120b056dcc0e9c2e9db39486e4a0734612b9dfc..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)
@@ -376,9 +400,30 @@ void PSPlanner::fe_parallel()
                 edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
                 && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
         ) {
-                // TODO find intersection lrx, lry -> rf -> rrx, rry
-                // TODO find angle: intersection, ccl, p1
-                // TODO rotate by such angle
+                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;
         }
 }
 
@@ -514,8 +559,8 @@ void PSPlanner::fe_parallel()
                         this->cc() = BicycleCar(tmp_cc);
                 }
         } else {
-                // should be parked and found in
-                // previous iteration
+                // should be parked and found in previous iteration or continue
+                // with the parking process
         }
 }
                         double r1 = sqrt(