Merge branch 'backward-perpendicular-parking'

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

diff --git a/src/psp.cc b/src/psp.cc
index 12d2d113eee9e1105ed58f47ab1c51699a91ca0a..cc11af7388cb052e0c7205afc826cdc8ef4ffcb1 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -21,20 +21,11 @@ bool PSPlanner::collide()
 
 bool PSPlanner::forward()
 {
-        if (this->ps().parallel())
-                return false;
-        else
-                return true;
-        double heading = atan2(
-                this->ps().y2() - this->ps().y1(),
-                this->ps().x2() - this->ps().x1()
-        );
-        while (heading < 0) heading += 2 * M_PI;
-        double h = this->gc().h();
-        while (h < 0) h += 2 * M_PI;
-        if (std::abs(heading - h) < M_PI / 4)
-                return true;
+#if FORWARD_PARKING > 0
+        return true;
+#else
         return false;
+#endif
 }
 
 void PSPlanner::gc_to_4()
@@ -103,6 +94,7 @@ void PSPlanner::guess_gc()
                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
                 y += (this->gc().dr() + 0.01) * sin(h);
         } else {
+#if FORWARD_PARKING > 0
                 // Forward parking
                 double entry_width = edist(
                         this->ps().x1(), this->ps().y1(),
@@ -115,33 +107,24 @@ 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);
+#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);
+#endif
         }
         while (h > M_PI)
                 h -= 2 * M_PI;