{
if (this->ps().parallel())
return false;
+ else
+ return true;
double heading = atan2(
this->ps().y2() - this->ps().y1(),
this->ps().x2() - this->ps().x1()
y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
y += (this->gc().dr() + 0.01) * sin(h);
} else {
- // This is for backward parking only.
+ // Forward parking
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)
+ x += entry_width / 2 * cos(h);
+ y += entry_width / 2 * sin(h);
+ h = atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
);
- move2 -= this->gc().dr() / 2; // workaround
- x += move1 * cos(h);
- y += move1 * sin(h);
- x += move2 * cos(h + dts);
- y += move2 * sin(h + dts);
- h += dts + M_PI;
+ 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;
}
while (h > M_PI)
h -= 2 * M_PI;
this->gc().h(h);
}
+std::vector<BicycleCar> PSPlanner::last_maneuver()
+{
+ std::vector<BicycleCar> lm;
+ if (this->ps().parallel()) {
+ // zig-zag out from the slot
+ this->cc() = BicycleCar(this->gc());
+ this->cc().sp(0.1);
+ while (!this->left()) {
+ while (!this->collide() && !this->left()) {
+ this->cc().next();
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ if (this->left() && !this->collide()) {
+ break;
+ } else {
+ lm.pop_back();
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->cc().st(this->cc().st() * -1);
+ this->c_++;
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ }
+ if (this->cc().st() < 0) {
+ this->c_++;
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ } else {
+ // go 1 m forward
+ this->cc().sp(0.1);
+ BicycleCar orig_cc(this->cc());
+ for (unsigned int i = 0; i < 10; i++) {
+ this->cc().next();
+ lm.push_back(BicycleCar(this->cc()));
+ }
+ this->cc() = BicycleCar(orig_cc);
+ }
+ return lm;
+}
+
bool PSPlanner::left()
{
double lfx = this->cc().lfx();
)
{
std::vector<BicycleCar> pi;
- if (this->cc().sp() > 0)
+ if (this->ps().parallel())
this->cc().sp(1);
else
this->cc().sp(-1);
this->cc().sp(this->cc().sp() * dist);
- this->cc().st(this->cc().st() * 1);
BicycleCar orig_cc(this->cc());
for (unsigned int i = 0; i < cnt; i++) {
this->cc().next();
pi.push_back(BicycleCar(this->cc()));
}
this->cc() = BicycleCar(orig_cc);
+ if (this->ps().parallel()) {
+ this->cc().st(0);
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ this->cc() = BicycleCar(orig_cc);
+ } else {
+ if (!this->ps().right()) {
+ this->cc().set_max_steer();
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ } else {
+ this->cc().set_max_steer();
+ this->cc().st(this->cc().st() * -1);
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ pi.push_back(BicycleCar(this->cc()));
+ }
+ }
+ this->cc() = BicycleCar(orig_cc);
+ }
return pi;
}
} else {
this->guess_gc();
this->cc() = BicycleCar(this->gc());
- this->cc().set_max_steer();
- if (this->ps().right())
- this->cc().st(this->cc().st() * -1);
- this->cc().sp(1);
+ //this->cc().set_max_steer();
+ //if (this->ps().right())
+ // this->cc().st(this->cc().st() * -1);
+ this->cc().sp(-0.2);
}
}
this->cc().rotate(
this->ps().x4(),
this->ps().y4() - 0.01,
- ((this->ps().right()) ? 0.01 : -0.01)
+ ((this->ps().right()) ? 0.001 : -0.001)
);
}
// BFS - find entry current car `cc` and corresponding goal car `gc`
while (!q.empty() && iter_cntr < 30) {
this->cc() = BicycleCar(q.front());
q.pop();
- while (
- !this->collide()
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) > M_PI / 32)
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) < M_PI / 2)
- )
- this->cc().next();
+ if (this->ps().right() && this->cc().sp() < 0) {
+ double cclx = this->cc().ccl().x();
+ double ccly = this->cc().ccl().y();
+
+ 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 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))
+ || (a1 < a3 && !std::get<0>(cli2))
+ || (a1 < a2 && a1 < a3)
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ } else if (std::get<0>(cli2) && (
+ (!std::get<0>(cli1) && !std::get<0>(cli3))
+ || (a2 < a1 && !std::get<0>(cli3))
+ || (a2 < a3 && !std::get<0>(cli1))
+ || (a2 < a1 && a2 < a3)
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else if (std::get<0>(cli3) && (
+ (!std::get<0>(cli1) && !std::get<0>(cli2))
+ || (a3 < a1 && !std::get<0>(cli2))
+ || (a3 < a2 && !std::get<0>(cli1))
+ || (a3 < a1 && a3 < a2)
+ )) {
+ this->cc().rotate(cclx, ccly, -a3);
+ } else {
+ continue;
+ }
+ } else if (this->ps().right() && this->cc().sp() > 0) {
+ // TODO right parking slot (forward)
+ } else {
+ // TODO left parking slot (both forward, backward)
+ }
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->gc() = BicycleCar(this->cc());
projects / hubacji1 / psp.git / blobdiff