std::get<1>(cli3), std::get<2>(cli3),
std::get<3>(cli3), std::get<4>(cli3)
);
-{
- double rf = sqrt(
- pow(this->cc().lfy() - ccry, 2)
- + pow(this->cc().lfx() - ccrx, 2)
- );
- auto clif = ::intersect(
- ccrx, ccry, rf,
- this->ps().x1(), this->ps().y1(),
- this->ps().x4(), this->ps().y4()
- );
- if (std::get<0>(clif)) {
- double xf = std::get<1>(clif);
- double 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);
- }
- auto 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);
- if (
- !this->collide()
- && (edist(
- this->ps().x1(), this->ps().y1(),
- xf, yf
- ) < edist(
- this->ps().x1(), this->ps().y1(),
- this->ps().x4(), this->ps().y4()
- ))
- ) {
- this->cc().sp(-0.01);
- this->cc().set_max_steer();
- this->cc().st(this->cc().st() * -1);
- this->gc() = BicycleCar(this->cc());
- goto successfinish;
- } else {
- this->cc() = BicycleCar(tmp_cc);
- }
- } else {
- // should be parked and found in previous iteration or continue
- // with the parking process
- }
-}
- double r1 = sqrt(
- pow(this->cc().rfy() - ccry, 2)
- + pow(this->cc().rfx() - ccrx, 2)
- );
- auto cli1 = ::intersect(
- ccrx, ccry, r1,
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- );
- double a11 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- ccrx, ccry,
- std::get<1>(cli1), std::get<2>(cli1)
- );
- double a12 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- ccrx, ccry,
- std::get<3>(cli1), std::get<4>(cli1)
- );
- double a1 = std::min(a11, a12);
-
- double r2 = sqrt(
- pow(this->cc().lfy() - ccry, 2)
- + pow(this->cc().lfx() - ccrx, 2)
- );
- auto cli2 = ::intersect(
- ccrx, ccry, r2,
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- );
- double a21 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<1>(cli2), std::get<2>(cli2)
- );
- double a22 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<3>(cli2), std::get<4>(cli2)
- );
- double a2 = std::min(a21, a22);
-
- double r3 = sqrt(
- pow(this->cc().rfy() - ccry, 2)
- + pow(this->cc().rfx() - ccrx, 2)
- );
- auto cli3 = ::intersect(
- ccrx, ccry, r3,
- this->ps().x3(), this->ps().y3(),
- this->ps().x2(), this->ps().y2()
- );
- double a31 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<1>(cli3), std::get<2>(cli3)
- );
- double a32 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- 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))