Update forward parking goal guess

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

diff --git a/src/psp.cc b/src/psp.cc
index 23217588faf20cf10226122c3edf05484f876fc6..f69e1f2da348f60c099741f4b95a8ceefab21ce5 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -102,6 +102,7 @@ void PSPlanner::guess_gc()
                 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 {
                 // Forward parking
                 double entry_width = edist(
@@ -115,33 +116,24 @@ void PSPlanner::guess_gc()
                         this->ps().x2() - this->ps().x1()
                 );
                 while (h < 0) h += 2 * M_PI;
-
-                //// This is for backward parking only.
-                //double entry_width = edist(
-                //        this->ps().x1(), this->ps().y1(),
-                //        this->ps().x4(), this->ps().y4()
-                //);
-                //double dist_l =
-                //        this->gc().orradi()
-                //        - (this->gc().mtr() + this->gc().w() / 2)
-                //;
-                //double move1 = dist_l + this->gc().w() / 2;
-                //double dist_r = entry_width - this->gc().w() - dist_l;
-                //double move2 = sqrt(
-                //        pow(this->gc().iradi(), 2)
-                //        - pow(this->gc().iradi() - dist_r, 2)
-                //);
-                //move2 -= this->gc().dr() / 2; // workaround
-                //x += move1 * cos(h);
-                //y += move1 * sin(h);
-                //dts = atan2(
-                //        this->ps().y2() - this->ps().y1(),
-                //        this->ps().x2() - this->ps().x1()
-                //);
-                //while (dts < 0) dts += 2 * M_PI;
-                //x += move2 * cos(h + dts);
-                //y += move2 * sin(h + dts);
-                //h += dts - M_PI / 2;
+                x += this->gc().dr() * cos(h + M_PI);
+                y += this->gc().dr() * sin(h + M_PI);
+#endif
+        } else {
+                // Backward parking
+                double entry_width = edist(
+                        this->ps().x1(), this->ps().y1(),
+                        this->ps().x4(), this->ps().y4()
+                );
+                x += entry_width / 2 * cos(h);
+                y += entry_width / 2 * sin(h);
+                h = atan2(
+                        this->ps().y1() - this->ps().y2(),
+                        this->ps().x1() - this->ps().x2()
+                );
+                while (h < 0) h += 2 * M_PI;
+                x += this->gc().df() * cos(h + M_PI);
+                y += this->gc().df() * sin(h + M_PI);
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -493,60 +485,16 @@ void PSPlanner::fe_parallel()
                                 this->cc().rfx(), this->cc().rfy()
                         );
                         {
-                                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);
+                                this->gc() = BicycleCar(this->cc());
                                 if (
                                         !this->collide()
                                         && this->parked()
-                                        && (
-                                                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());