bool PSPlanner::forward()
{
- double heading = this->ps().heading();
+ if (this->ps().parallel())
+ return false;
+ double heading = atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ );
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)
+ if (std::abs(heading - h) < M_PI / 4)
return true;
- else
- return false;
+ 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()
if (this->ps().right())
dts = - M_PI / 2;
if (this->ps().parallel()) {
+ dts *= 0.99; // precision workaround
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 {
- 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 (std::abs(
+ atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ )
+ - this->ps().heading()
+ ) < M_PI / 2) {
+ // forward parking
+ x = this->ps().x4();
+ y = this->ps().y4();
+ h = dts;
+ x += (this->gc().dr() + 0.01) * cos(h);
+ y += (this->gc().dr() + 0.01) * sin(h);
+ if (this->ps().right())
+ dts -= M_PI / 2;
+ else
+ dts += M_PI / 2;
+ x += (this->gc().w() / 2 + 0.01) * cos(dts);
+ y += (this->gc().w() / 2 + 0.01) * sin(dts);
+ } else {
+ dts = atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ );
+ dts *= 1.01; // precision workaround
+ // backward parking
+ h = dts + M_PI;
+ x += -(this->gc().df() + 0.01) * cos(h);
+ y += -(this->gc().df() + 0.01) * sin(h);
+ if (this->ps().right())
+ dts += M_PI / 2;
+ else
+ dts -= M_PI / 2;
+ x += (this->gc().w() / 2 + 0.01) * cos(dts);
+ y += (this->gc().w() / 2 + 0.01) * sin(dts);
+ }
}
while (h > M_PI)
h -= 2 * M_PI;
)
{
std::vector<BicycleCar> pi;
- this->cc().sp(this->cc().sp() * -dist);
- this->cc().st(this->cc().st() * -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();
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)
//
// 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()
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().sp(0.01);
this->cc().st(this->cc().wb() / this->cc().mtr());
if (this->ps().right())
this->cc().st(this->cc().st() * -1);
projects / hubacji1 / psp.git / blobdiff