Implement naive fe_perpendicular

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

diff --git a/src/psp.cc b/src/psp.cc
index 894893704085e552ea67bb32e868be3603110645..6cc5701a4356effacef6d2c233b5e14362fc799c 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -21,16 +21,18 @@ bool PSPlanner::collide()
 
 bool PSPlanner::forward()
 {
-        double heading = this->ps().heading();
+        if (this->ps().parallel())
+                return false;
+        double heading = atan2(
+                this->ps().y2() - this->ps().y1(),
+                this->ps().x2() - this->ps().x1()
+        );
         while (heading < 0) heading += 2 * M_PI;
-        if (!this->ps().parallel())
-                heading -= M_PI / 2;
         double h = this->gc().h();
         while (h < 0) h += 2 * M_PI;
-        if (-0.00001 < heading - h && heading - h < 0.00001)
+        if (std::abs(heading - h) < M_PI / 4)
                 return true;
-        else
-                return false;
+        return false;
 }
 
 void PSPlanner::guess_gc()
@@ -41,20 +43,41 @@ void PSPlanner::guess_gc()
         double dts = + M_PI / 2; // direction to slot
         if (this->ps().right())
                 dts = - M_PI / 2;
+        dts *= 0.99; // precision workaround
         if (this->ps().parallel()) {
                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
                 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);
         } else {
-                x += (this->ps().x4() - this->ps().x1()) / 2;
-                x += (this->gc().df() + 0.01) * cos(h + dts);
-                y += (this->ps().y4() - this->ps().y1()) / 2;
-                y += (this->gc().df() + 0.01) * sin(h + dts);
-                if (this->ps().right())
-                        h += M_PI / 2;
-                else
-                        h -= M_PI / 2;
+                dts = atan2(
+                        this->ps().y2() - this->ps().y1(),
+                        this->ps().x2() - this->ps().x1()
+                );
+                dts *= 1.01; // precision workaround
+                if (std::abs(dts - this->ps().heading()) < M_PI / 2) {
+                        x = this->ps().x4();
+                        y = this->ps().y4();
+                        h = dts;
+                        x += (this->gc().dr() + 0.01) * cos(h);
+                        y += (this->gc().dr() + 0.01) * sin(h);
+                        if (this->ps().right())
+                                dts -= M_PI / 2;
+                        else
+                                dts += M_PI / 2;
+                        x += (this->gc().w() / 2 + 0.01) * cos(dts);
+                        y += (this->gc().w() / 2 + 0.01) * sin(dts);
+                } else {
+                        h = dts + M_PI;
+                        x += -(this->gc().df() + 0.01) * cos(h);
+                        y += -(this->gc().df() + 0.01) * sin(h);
+                        if (this->ps().right())
+                                dts += M_PI / 2;
+                        else
+                                dts -= M_PI / 2;
+                        x += (this->gc().w() / 2 + 0.01) * cos(dts);
+                        y += (this->gc().w() / 2 + 0.01) * sin(dts);
+                }
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -243,7 +266,13 @@ void PSPlanner::fe_perpendicular()
         //
         //      Another approach could be testing angles from the
         //      beginning of the escape parkig slot maneuver.
-        return fer_perpendicular();
+        if (this->forward())
+                this->cc().sp(-0.01);
+        else
+                this->cc().sp(0.01);
+        while (!this->left())
+                this->cc().next();
+        return;
 }
 
 void PSPlanner::fer()
@@ -361,9 +390,9 @@ void PSPlanner::fer_perpendicular()
         this->cc().h(cc_h);
         // get current car `cc` out of slot
         if (this->forward())
-                this->cc().sp(-0.1);
+                this->cc().sp(-0.01);
         else
-                this->cc().sp(0.1);
+                this->cc().sp(0.01);
         this->cc().st(this->cc().wb() / this->cc().mtr());
         if (this->ps().right())
                 this->cc().st(this->cc().st() * -1);