bool PSPlanner::forward()
{
- double heading = this->ps().heading();
- 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)
- return true;
- else
- return false;
+#if FORWARD_PARKING > 0
+ return true;
+#else
+ return false;
+#endif
+}
+
+void PSPlanner::gc_to_4()
+{
+ double angl_slot = atan2(
+ this->ps().y3() - this->ps().y4(),
+ this->ps().x3() - this->ps().x4()
+ );
+ double angl_delta = M_PI / 2;
+ if (this->ps().right())
+ angl_delta = -M_PI / 2;
+ double x = this->ps().x4();
+ double y = this->ps().y4();
+ x += (this->gc().dr() + 0.01) * cos(angl_slot);
+ y += (this->gc().dr() + 0.01) * sin(angl_slot);
+ x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
+ y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
+ this->gc().x(x);
+ this->gc().y(y);
+ this->gc().h(angl_slot);
+}
+
+std::tuple<double, double, double, double> circle_line_intersection(
+ double cx, double cy, double r,
+ double x1, double y1,
+ double x2, double y2
+)
+{
+ double t = (y2 - y1) / (x2 - x1);
+ //double a = 1 + pow(t, 2);
+ //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
+ //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
+ // + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
+ // - pow(r, 2);
+ double a = 1 + pow(t, 2);
+ double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
+ double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
+ c += pow(-t * x1 + y1, 2);
+ c += 2 * cy * t * x1 - 2 * cy * y1;
+ double D = pow(b, 2) - 4 * a * c;
+ if (D < 0)
+ return std::make_tuple(cx, cy, cx, cy);
+ double res_x1 = (-b + sqrt(D)) / (2 * a);
+ double res_y1 = t * (res_x1 - x1) + y1;
+ double res_x2 = (-b - sqrt(D)) / (2 * a);
+ double res_y2 = t * (res_x2 - x1) + y1;
+ return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
+}
+
+double edist(double x1, double y1, double x2, double y2)
+{
+ return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
}
void PSPlanner::guess_gc()
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;
+#if FORWARD_PARKING > 0
+ // Forward 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().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ );
+ while (h < 0) h += 2 * M_PI;
+ 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;
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();
&& inside(this->gc().rfx(), this->gc().rfy(), slot);
}
-std::vector<BicycleCar> PSPlanner::possible_inits(
+std::vector<BicycleCar> PSPlanner::possible_goals(
unsigned int cnt,
double dist
)
{
std::vector<BicycleCar> pi;
- this->cc().sp(this->cc().sp() * -dist);
- this->cc().st(this->cc().st() * -1);
+ if (this->ps().parallel())
+ this->cc().sp(1);
+ else
+ this->cc().sp(-1);
+ this->cc().sp(this->cc().sp() * dist);
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;
}
// find entry
void PSPlanner::fe()
{
- if (this->ps().parallel())
+ this->c_ = 0;
+ if (this->ps().parallel()) {
return this->fe_parallel();
+ } 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(-0.2);
+ }
+}
+
+double angle_between_closer_point(
+ double sx, double sy, // common start point
+ double cx, double cy, // common middle point
+ double x1, double y1, // first ending point
+ double x2, double y2 // second ending point
+) {
+ if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
+ return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
else
- return this->fe_perpendicular();
+ return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
}
void PSPlanner::fe_parallel()
{
- // angle for distance from "entry" corner
- double dist_angl = this->ps().heading() + M_PI;
- dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
- // set bicycle car `bci` basic dimensions and heading
- BicycleCar bci = BicycleCar(this->gc());
BicycleCar bco = BicycleCar(this->gc());
- bci.h(this->ps().heading());
- // move 0.01 from the "entry" corner
- bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
- bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
- // align with parking "top" of slot (move backward)
- dist_angl = bci.h() + M_PI;
- bci.x(bci.x() + bci.df() * cos(dist_angl));
- bci.y(bci.y() + bci.df() * sin(dist_angl));
- // align with "entry" to pakring slot (move outside)
- dist_angl = this->ps().heading();
- dist_angl += (this->ps().right()) ? + M_PI / 2 : - M_PI / 2;
- bci.x(bci.x() + bci.w() / 2 * cos(dist_angl));
- bci.y(bci.y() + bci.w() / 2 * sin(dist_angl));
- // set default speed, steer
- bci.st(bci.wb() / bci.mtr());
+ this->cc() = BicycleCar();
+ this->cc().sp(-0.01);
+ this->cc().set_max_steer();
if (!this->ps().right())
- bci.st(bci.st() * -1);
- bci.sp(-0.01);
- // BFS - init all starts
- // see https://courses.cs.washington.edu/courses/cse326/03su/homework/hw3/bfs.html
- double dist_diag = sqrt(pow(bci.w() / 2, 2) + pow(bci.df(), 2));
- if (this->ps().right())
- dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
- else
- dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
- double DIST_ANGL = dist_angl;
- std::queue<BicycleCar, std::list<BicycleCar>> q;
- while (
- (
- this->ps().right()
- && dist_angl < DIST_ANGL + 3 * M_PI / 4
+ this->cc().st(this->cc().st() * -1);
+ this->cc().h(this->ps().heading());
+ double angl_in_slot = this->ps().heading() - M_PI / 4;
+ if (!this->ps().right())
+ angl_in_slot += M_PI / 2;
+ this->cc().x(
+ this->ps().x4()
+ + this->cc().w()/2 * cos(
+ this->ps().heading()
+ + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
)
- || (
- !this->ps().right()
- && dist_angl > DIST_ANGL - 3 * M_PI / 4
+ + (this->cc().df() + 0.01) * cos(
+ this->ps().heading() + M_PI
)
- ) {
- this->cc() = BicycleCar(bci);
- if (this->ps().right()) {
- this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
- this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
- } else {
- this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
- this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
- }
- this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
- if (!this->collide()) {
- q.push(BicycleCar(this->cc()));
- }
- dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
+ );
+ this->cc().y(
+ this->ps().y4()
+ + this->cc().w()/2 * sin(
+ this->ps().heading()
+ + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
+ )
+ + (this->cc().df() + 0.01) * sin(
+ this->ps().heading() + M_PI
+ )
+ );
+
+ std::queue<BicycleCar, std::list<BicycleCar>> q;
+ while (!this->collide()) {
+ q.push(this->cc());
+ this->cc().rotate(
+ this->ps().x4(),
+ this->ps().y4() - 0.01,
+ ((this->ps().right()) ? 0.001 : -0.001)
+ );
}
// BFS - find entry current car `cc` and corresponding goal car `gc`
unsigned int iter_cntr = 0;
- while (!q.empty() && iter_cntr < 9) {
+ 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 ccl_lr = edist(
+ cclx, ccly,
+ this->cc().lrx(), this->cc().lry()
+ );
+ double ccl_rr = edist(
+ cclx, ccly,
+ this->cc().rrx(), this->cc().rry()
+ );
+ double ccl_p1 = edist(
+ cclx, ccly,
+ this->ps().x1(), this->ps().y1()
+ );
+ if (ccl_rr < ccl_p1) {
+ // pass parking slot
+ continue;
+ } else if (ccl_rr >= ccl_p1 && ccl_lr < ccl_p1) {
+ // partially out of parking slot
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_p1,
+ this->cc().lrx(), this->cc().lry(),
+ this->cc().rrx(), this->cc().rry()
+ );
+ double a1 = ::angle_between_closer_point(
+ this->ps().x1(), this->ps().y1(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ if (::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
+ } else if (ccl_lr >= ccl_p1) {
+ // in parking slot
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_lr,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a1 = angle_between_closer_point(
+ this->cc().lrx(), this->cc().lry(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_rr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(cclx, ccly, -a1);
+ if (::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(cclx, ccly, -a2);
+ } else {
+ continue;
+ }
+ }
+ } else if (this->ps().right() && this->cc().sp() > 0) {
+ double ccrx = this->cc().ccr().x();
+ double ccry = this->cc().ccr().y();
+ double ccr_lf = edist(
+ ccrx, ccry,
+ this->cc().lfx(), this->cc().lfy()
+ );
+ double ccr_rf = edist(
+ ccrx, ccry,
+ this->cc().rfx(), this->cc().rfy()
+ );
+ {
+ double af = std::abs(
+ this->ps().heading()
+ - this->cc().h()
+ );
+ auto tmp_cc = BicycleCar(this->cc());
+ this->cc().rotate(ccrx, ccry, -af);
+ this->gc() = BicycleCar(this->cc());
+ if (
+ !this->collide()
+ && this->parked()
+ ) {
+ this->cc().sp(this->cc().sp() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ }
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a1 = angle_between_closer_point(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ ccrx, ccry, ccr_rf,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().rfx(), this->cc().rfy(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ auto cli3 = ::intersect(
+ ccrx, ccry, ccr_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a3 = angle_between_closer_point(
+ this->cc().lfx(), this->cc().lfy(),
+ ccrx, ccry,
+ std::get<1>(cli3), std::get<2>(cli3),
+ std::get<3>(cli3), std::get<4>(cli3)
+ );
+ 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(ccrx, ccry, -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(ccrx, ccry, -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(ccrx, ccry, -a3);
+ } else {
+ continue;
+ }
+ } else if (!this->ps().right() && this->cc().sp() < 0) {
+ double ccrx = this->cc().ccr().x();
+ double ccry = this->cc().ccr().y();
+ double ccr_rr = edist(
+ ccrx, ccry,
+ this->cc().rrx(), this->cc().rry()
+ );
+ double ccr_lr = edist(
+ ccrx, ccry,
+ this->cc().lrx(), this->cc().lry()
+ );
+ double ccr_p1 = edist(
+ ccrx, ccry,
+ this->ps().x1(), this->ps().y1()
+ );
+ if (ccr_lr < ccr_p1) {
+ // pass parking slot
+ continue;
+ } else if (ccr_lr >= ccr_p1 && ccr_rr < ccr_p1) {
+ // partially out of parking slot
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_p1,
+ this->cc().lrx(), this->cc().lry(),
+ this->cc().rrx(), this->cc().rry()
+ );
+ double a1 = ::angle_between_closer_point(
+ this->ps().x1(), this->ps().y1(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ ccrx, ccry, ccr_lr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().lrx(), this->cc().lry(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(ccrx, ccry, a1);
+ if (!::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(ccrx, ccry, a2);
+ } else {
+ continue;
+ }
+ } else if (ccr_rr >= ccr_p1) {
+ // in parking slot
+ auto cli1 = ::intersect(
+ ccrx, ccry, ccr_rr,
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double a1 = angle_between_closer_point(
+ this->cc().rrx(), this->cc().rry(),
+ ccrx, ccry,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ ccrx, ccry, ccr_lr,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().lrx(), this->cc().lry(),
+ ccrx, ccry,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ if (std::get<0>(cli1) && (
+ !std::get<0>(cli2)
+ || a1 < a2
+ )) {
+ this->cc().rotate(ccrx, ccry, a1);
+ if (!::right_side_of_line(
+ this->cc().x(), this->cc().y(),
+
+ this->cc().x()
+ + cos(this->ps().heading()),
+ this->cc().y()
+ + sin(this->ps().heading()),
+
+ this->cc().x()
+ + cos(this->cc().h()),
+ this->cc().y()
+ + sin(this->cc().h())
+ )) {
+ continue;
+ }
+ } else if (std::get<0>(cli2) && (
+ !std::get<0>(cli1)
+ || a2 < a1
+ )) {
+ this->cc().rotate(ccrx, ccry, a2);
+ } else {
+ continue;
+ }
+ }
+ } else if (!this->ps().right() && this->cc().sp() > 0) {
+ double cclx = this->cc().ccl().x();
+ double ccly = this->cc().ccl().y();
+ double ccl_rf = edist(
+ cclx, ccly,
+ this->cc().rfx(), this->cc().rfy()
+ );
+ double ccl_lf = edist(
+ cclx, ccly,
+ this->cc().lfx(), this->cc().lfy()
+ );
+ {
+ double af = std::abs(
+ this->ps().heading()
+ - this->cc().h()
+ );
+ auto tmp_cc = BicycleCar(this->cc());
+ this->cc().rotate(cclx, ccly, af);
+ this->gc() = BicycleCar(this->cc());
+ if (
+ !this->collide()
+ && this->parked()
+ ) {
+ this->cc().sp(this->cc().sp() * -1);
+ this->gc() = BicycleCar(this->cc());
+ goto successfinish;
+ } else {
+ this->cc() = BicycleCar(tmp_cc);
+ }
+ }
+ auto cli1 = ::intersect(
+ cclx, ccly, ccl_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a1 = angle_between_closer_point(
+ this->cc().lfx(), this->cc().lfy(),
+ cclx, ccly,
+ std::get<1>(cli1), std::get<2>(cli1),
+ std::get<3>(cli1), std::get<4>(cli1)
+ );
+ auto cli2 = ::intersect(
+ cclx, ccly, ccl_lf,
+ this->ps().x2(), this->ps().y2(),
+ this->ps().x3(), this->ps().y3()
+ );
+ double a2 = angle_between_closer_point(
+ this->cc().lfx(), this->cc().lfy(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ auto cli3 = ::intersect(
+ cclx, ccly, ccl_rf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+ double a3 = angle_between_closer_point(
+ this->cc().rfx(), this->cc().rfy(),
+ cclx, ccly,
+ std::get<1>(cli3), std::get<2>(cli3),
+ std::get<3>(cli3), std::get<4>(cli3)
+ );
+ 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 {
+ // TODO left parking slot (both forward, backward)
+ }
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->gc() = BicycleCar(this->cc());
//
// 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()
{
- if (this->ps().parallel())
+ this->c_ = 0;
+ if (this->ps().parallel()) {
+ 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(0.01);
return this->fer_parallel();
- else
+ } else {
return this->fer_perpendicular();
+ }
}
void PSPlanner::fer_parallel()
{
- this->cc().st(this->cc().wb() / this->cc().mtr());
- if (!this->ps().right())
- this->cc().st(this->cc().st() * -1);
- this->cc().sp(0.01);
+ this->cusps_.clear();
while (!this->left()) {
while (!this->collide() && !this->left())
this->cc().next();
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->cc().st(this->cc().st() * -1);
+ this->c_++;
+ this->cusps_.push_back(this->cc());
}
}
+ if (this->cc().st() < 0) {
+ this->c_++;
+ this->cusps_.push_back(this->cc());
+ }
}
void PSPlanner::fer_perpendicular()
double delta_3 = delta;
if (D < 0)
delta_use[2] = false;
- if (delta_use[0] && delta_use[1] && delta_use[22])
+ if (delta_use[0] && delta_use[1] && delta_use[2])
delta = std::max(delta_1, std::max(delta_2, delta_3));
else if (delta_use[0] && delta_use[1])
delta = std::max(delta_1, delta_2);
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().st(this->cc().wb() / this->cc().mtr());
+ this->cc().sp(0.01);
+ this->cc().set_max_steer();
if (this->ps().right())
this->cc().st(this->cc().st() * -1);
while (!this->left()) {
projects / hubacji1 / psp.git / blobdiff