Remove duplicated code

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

diff --git a/src/psp.cc b/src/psp.cc
index d6ce9238c21d4d980a2fcb5b079f292e42180e2b..39fd3280b73cad4a9ede1a1f186aad6928f4f037 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -377,7 +377,17 @@ void PSPlanner::fe_parallel()
                                 continue;
                         } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
                                 // partially out of parking slot
-                                // TODO (p1, p2) x (lr, rr)
+                                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(),
@@ -414,102 +424,6 @@ void PSPlanner::fe_parallel()
                                         std::get<3>(cli2), std::get<4>(cli2)
                                 );
                         }
-
-                        double r1 = sqrt(
-                            pow(this->cc().lry() - ccly, 2)
-                            + pow(this->cc().lrx() - cclx, 2)
-                        );
-                        auto cli1 = ::intersect(
-                            cclx, ccly, r1,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
-                        );
-                        double a11 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            cclx, ccly,
-                            std::get<1>(cli1), std::get<2>(cli1)
-                        );
-                        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)
-                        );
-                        auto cli2 = ::intersect(
-                            cclx, ccly, r2,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
-                        );
-                        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)
-                        );
-                        auto cli3 = ::intersect(
-                            cclx, ccly, r3,
-                            this->ps().x2(), this->ps().y2(),
-                            this->ps().x3(), this->ps().y3()
-                        );
-                        double a31 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<1>(cli3), std::get<2>(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))