#include <cmath>
+#include <list>
+#include <queue>
#include "psp.h"
bool PSPlanner::collide()
{
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().lrx(), this->cc().lry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().rfx(), this->cc().rfy(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
- return true;
- if(std::get<0>(intersect(
- this->cc().lfx(), this->cc().lfy(),
- this->cc().rfx(), this->cc().rfy(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
+ std::vector<std::tuple<double, double>> bc;
+ bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
+ bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
+ bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
+ bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
+ bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
+ std::vector<std::tuple<double, double>> ps;
+ ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
+ ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
+ ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
+ ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
+ return std::get<0>(::collide(bc, ps));
+}
+
+bool PSPlanner::forward()
+{
+ if (this->ps().parallel())
+ return false;
+ else
return true;
- if(std::get<0>(intersect(
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry(),
- this->ps().x3(), this->ps().y3(),
- this->ps().x4(), this->ps().y4()
- )))
+ 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;
return false;
}
+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()
+{
+ double x = this->ps().x1();
+ double y = this->ps().y1();
+ double h = this->ps().heading();
+ double dts = + M_PI / 2; // direction to slot
+ if (this->ps().right())
+ dts = - M_PI / 2;
+ if (this->ps().parallel()) {
+ x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
+ 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);
+ } else {
+ // 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;
+
+ //// 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;
+ while (h <= -M_PI)
+ h += 2 * M_PI;
+ this->gc().x(x);
+ this->gc().y(y);
+ 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();
);
if (this->ps().parallel())
return lfs == rfs && (lfs != lrs || lfs != rrs);
- else if (
- this->ps().heading() + M_PI > this->gc().h()
- && this->ps().heading() < this->gc().h()
- )
+ else if (!this->forward())
return lfs == rfs && (lfs != lrs || lfs != rrs);
else
return lrs == rrs && (lrs != lfs || lrs != rfs);
}
+bool PSPlanner::parked()
+{
+ std::vector<std::tuple<double, double>> slot;
+ slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
+ slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
+ slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
+ slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
+ return inside(this->gc().lfx(), this->gc().lfy(), slot)
+ && inside(this->gc().lrx(), this->gc().lry(), slot)
+ && inside(this->gc().rrx(), this->gc().rry(), slot)
+ && inside(this->gc().rfx(), this->gc().rfy(), slot);
+}
+
+std::vector<BicycleCar> PSPlanner::possible_goals(
+ unsigned int cnt,
+ double dist
+)
+{
+ std::vector<BicycleCar> pi;
+ 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()
{
+ 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 smaller_angle_of_two(
+ 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
+) {
+ double a1 = ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
+ double a2 = ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
+ return std::min(a1, a2);
+}
+
+void PSPlanner::fe_parallel()
+{
+ BicycleCar bco = BicycleCar(this->gc());
+ this->cc() = BicycleCar();
+ this->cc().sp(-0.01);
+ this->cc().set_max_steer();
+ if (!this->ps().right())
+ 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->cc().df() + 0.01) * cos(
+ this->ps().heading() + M_PI
+ )
+ );
+ 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 < 30) {
+ this->cc() = BicycleCar(q.front());
+ q.pop();
+ 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 = ::smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ 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);
+ } 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 = smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ 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);
+ } 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()
+ );
+ {
+ 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);
+ 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()
+ )
+ || !std::get<0>(clif)
+ )
+ ) {
+ 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 = smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ this->cc().lfx(), this->cc().lfy(),
+ ccrx, ccry,
+ 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))
+ || (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 {
+ // TODO left parking slot (both forward, backward)
+ }
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->gc() = BicycleCar(this->cc());
+ if (this->parked())
+ goto successfinish;
+ this->cc().st(this->cc().st() * -1);
+ q.push(BicycleCar(this->cc()));
+ if (sgn(this->cc().st()) == sgn(q.front().st()))
+ iter_cntr++;
+ }
+ // fallback to fer
+ this->gc() = BicycleCar(bco);
+successfinish:
+ return this->fer_parallel();
+}
+
+void PSPlanner::fe_perpendicular()
+{
+ // TODO Try multiple angles when going from parking slot.
+ //
+ // Do not use just the maximum steer angle. Test angles
+ // until the whole current car `cc` is out of the parking
+ // slot `ps`.
+ //
+ // Another approach could be testing angles from the
+ // beginning of the escape parkig slot maneuver.
+ 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(0.1);
+ this->cusps_.clear();
while (!this->left()) {
- while (!this->collide() && !this->left()) {
+ while (!this->collide() && !this->left())
this->cc().next();
- }
if (this->left() && !this->collide()) {
break;
} else {
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()
{
-}
-
-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;
+ bool delta_use[] = {true, true, true};
+ double cc_h = this->cc().h();
+ double x;
+ double y;
+ // check inner radius
+ if (this->forward()) {
+ x = this->ps().x1();
+ y = this->ps().y1();
+ } else {
+ x = this->ps().x4();
+ y = this->ps().y4();
+ }
+ double x1;
+ double y1;
+ if (this->ps().right()) {
+ x1 = this->cc().ccr().x();
+ y1 = this->cc().ccr().y();
+ } else {
+ x1 = this->cc().ccl().x();
+ y1 = this->cc().ccl().y();
+ }
+ double IR = this->cc().iradi();
+ double a = 1;
+ double b;
+ if (this->forward())
+ b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
else
- return false;
+ b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
+ double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ double D = pow(b, 2) - 4 * a * c;
+ double delta;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ double delta_1 = delta;
+ if (D < 0)
+ delta_use[0] = false;
+ // check outer radius
+ if (this->forward()) {
+ x = this->ps().x4();
+ y = this->ps().y4();
+ } else {
+ x = this->ps().x1();
+ y = this->ps().y1();
+ }
+ IR = this->cc().ofradi();
+ a = 1;
+ if (this->forward())
+ b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
+ else
+ b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
+ c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
+ D = pow(b, 2) - 4 * a * c;
+ if (this->forward()) {
+ delta = -b + sqrt(D);
+ delta /= 2 * a;
+ }
+ double delta_2 = delta;
+ if (D < 0)
+ delta_use[1] = false;
+ delta = -b - sqrt(D);
+ delta /= 2 * a;
+ double delta_3 = delta;
+ if (D < 0)
+ delta_use[2] = false;
+ 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);
+ else if (delta_use[0] && delta_use[2])
+ delta = std::max(delta_1, delta_3);
+ else if (delta_use[1] && delta_use[2])
+ delta = std::max(delta_2, delta_3);
+ else if (delta_use[0])
+ delta = delta_1;
+ else if (delta_use[1])
+ delta = delta_2;
+ else if (delta_use[2])
+ delta = delta_3;
+ else
+ return;
+ // current car `cc` can get out of slot with max steer
+ this->cc().x(this->cc().x() + delta * cos(cc_h));
+ this->cc().y(this->cc().y() + delta * sin(cc_h));
+ this->cc().h(cc_h);
+ // get current car `cc` out of slot
+ if (this->forward())
+ this->cc().sp(-0.01);
+ else
+ this->cc().sp(0.01);
+ this->cc().set_max_steer();
+ if (this->ps().right())
+ this->cc().st(this->cc().st() * -1);
+ while (!this->left()) {
+ while (!this->collide() && !this->left())
+ this->cc().next();
+ if (this->left() && !this->collide()) {
+ break;
+ } else {
+ this->cc().sp(this->cc().sp() * -1);
+ this->cc().next();
+ this->cc().st(this->cc().st() * -1);
+ }
+ }
}
PSPlanner::PSPlanner()
{
}
-
-std::tuple<bool, double, double> intersect(
- double x1, double y1,
- double x2, double y2,
- double x3, double y3,
- double x4, double y4
-)
-{
- double deno = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);
- if (deno == 0)
- return std::make_tuple(false, 0, 0);
- double t = (x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4);
- t /= deno;
- double u = (x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3);
- u *= -1;
- u /= deno;
- if (t < 0 || t > 1 || u < 0 || u > 1)
- return std::make_tuple(false, 0, 0);
- return std::make_tuple(true, x1 + t * (x2 - x1), y1 + t * (y2 - y1));
-}
projects / hubacji1 / psp.git / blobdiff