Use backward perpendicular parking

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

diff --git a/src/psp.cc b/src/psp.cc
index 740630fe750e2a2234e0bf123e6e8db56edff1e6..35e92ac38ea3a26c73a8e1472f52c82d62cead45 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -102,6 +102,7 @@ void PSPlanner::guess_gc()
                 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);
+#if 0
         } else {
                 // Forward parking
                 double entry_width = edist(
@@ -142,6 +143,20 @@ void PSPlanner::guess_gc()
                 //x += move2 * cos(h + dts);
                 //y += move2 * sin(h + dts);
                 //h += dts - M_PI / 2;
+#endif
+        } 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;
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -299,15 +314,16 @@ void PSPlanner::fe()
         }
 }
 
-double smaller_angle_of_two(
+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
 ) {
-        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);
+        if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
+                return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
+        else
+                return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 }
 
 void PSPlanner::fe_parallel()
@@ -382,7 +398,7 @@ void PSPlanner::fe_parallel()
                                         this->cc().lrx(), this->cc().lry(),
                                         this->cc().rrx(), this->cc().rry()
                                 );
-                                double a1 = ::smaller_angle_of_two(
+                                double a1 = ::angle_between_closer_point(
                                         this->ps().x1(), this->ps().y1(),
                                         cclx, ccly,
                                         std::get<1>(cli1), std::get<2>(cli1),
@@ -393,7 +409,7 @@ void PSPlanner::fe_parallel()
                                         this->ps().x2(), this->ps().y2(),
                                         this->ps().x3(), this->ps().y3()
                                 );
-                                double a2 = smaller_angle_of_two(
+                                double a2 = angle_between_closer_point(
                                         this->cc().rrx(), this->cc().rry(),
                                         cclx, ccly,
                                         std::get<1>(cli2), std::get<2>(cli2),
@@ -434,7 +450,7 @@ void PSPlanner::fe_parallel()
                                         this->ps().x1(), this->ps().y1(),
                                         this->ps().x2(), this->ps().y2()
                                 );
-                                double a1 = smaller_angle_of_two(
+                                double a1 = angle_between_closer_point(
                                         this->cc().lrx(), this->cc().lry(),
                                         cclx, ccly,
                                         std::get<1>(cli1), std::get<2>(cli1),
@@ -445,7 +461,7 @@ void PSPlanner::fe_parallel()
                                         this->ps().x2(), this->ps().y2(),
                                         this->ps().x3(), this->ps().y3()
                                 );
-                                double a2 = smaller_angle_of_two(
+                                double a2 = angle_between_closer_point(
                                         this->cc().rrx(), this->cc().rry(),
                                         cclx, ccly,
                                         std::get<1>(cli2), std::get<2>(cli2),
@@ -492,60 +508,16 @@ void PSPlanner::fe_parallel()
                                 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);
+                                this->gc() = BicycleCar(this->cc());
                                 if (
                                         !this->collide()
                                         && this->parked()
-                                        && (
-                                                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());
@@ -559,7 +531,7 @@ void PSPlanner::fe_parallel()
                                 this->ps().x3(), this->ps().y3(),
                                 this->ps().x4(), this->ps().y4()
                         );
-                        double a1 = smaller_angle_of_two(
+                        double a1 = angle_between_closer_point(
                                 this->cc().rfx(), this->cc().rfy(),
                                 ccrx, ccry,
                                 std::get<1>(cli1), std::get<2>(cli1),
@@ -570,7 +542,7 @@ void PSPlanner::fe_parallel()
                                 this->ps().x2(), this->ps().y2(),
                                 this->ps().x3(), this->ps().y3()
                         );
-                        double a2 = smaller_angle_of_two(
+                        double a2 = angle_between_closer_point(
                                 this->cc().rfx(), this->cc().rfy(),
                                 ccrx, ccry,
                                 std::get<1>(cli2), std::get<2>(cli2),
@@ -581,7 +553,7 @@ void PSPlanner::fe_parallel()
                                 this->ps().x3(), this->ps().y3(),
                                 this->ps().x4(), this->ps().y4()
                         );
-                        double a3 = smaller_angle_of_two(
+                        double a3 = angle_between_closer_point(
                                 this->cc().lfx(), this->cc().lfy(),
                                 ccrx, ccry,
                                 std::get<1>(cli3), std::get<2>(cli3),