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));
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);
- 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);
+ this->gc_to_4();
+ double bx;
+ double by;
+ double cx;
+ double cy;
+ if (this->ps().right()) {
+ bx = this->gc().lfx();
+ by = this->gc().lfy();
+ cx = this->gc().ccr().x();
+ cy = this->gc().ccr().y();
+ } else {
+ bx = this->gc().rfx();
+ by = this->gc().rfy();
+ cx = this->gc().ccl().x();
+ cy = this->gc().ccl().y();
+ }
+ double radi_angl = atan2(by - cy, bx - cx);
+ radi_angl += dts;
+ double angl_delta = this->gc().h() - radi_angl;
+ this->gc().rotate(bx, by, angl_delta);
+ // TODO there is a bug somewhere :/
+ //
+ // cli returns not exact intersection, therefore the
+ // distance to x1, y1 of border is shorter. Then, when
+ // moving, the distance `dist_o` is not sufficient and
+ // car still collide with parking slot. It shouldn't be
+ // problem until it collides with obstacle.
+ //
+ if (this->ps().right()) {
+ cx = this->gc().ccr().x();
+ cy = this->gc().ccr().y();
+ } else {
+ cx = this->gc().ccl().x();
+ cy = this->gc().ccl().y();
+ }
+ auto cli = circle_line_intersection(
+ cx, cy, this->gc().iradi(),
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x2(), this->ps().y2()
+ );
+ double d1 = edist(
+ this->ps().x1(), this->ps().y1(),
+ std::get<0>(cli), std::get<1>(cli)
+ );
+ double d2 = edist(
+ this->ps().x1(), this->ps().y1(),
+ std::get<2>(cli), std::get<3>(cli)
+ );
+ double dist_o = std::min<double>(d1, d2);
+ double angl_o = atan2(
+ this->ps().y4() - this->ps().y3(),
+ this->ps().x4() - this->ps().x3()
+ );
+ // projection
+ double angl_d = atan2(
+ this->ps().y1() - this->ps().y2(),
+ this->ps().x1() - this->ps().x2()
+ );
+ angl_d -= angl_o;
+ dist_o *= cos(angl_d);
+ this->gc().x(this->gc().x() + dist_o * cos(angl_o));
+ this->gc().y(this->gc().y() + dist_o * sin(angl_o));
+ // --- ENDTODO ---
+ this->gc().sp(-0.01);
+ this->gc().st(dts);
+ return;
} else {
dts = atan2(
this->ps().y2() - this->ps().y1(),
&& 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;
+ if (this->cc().sp() > 0)
+ this->cc().sp(1);
+ else
+ this->cc().sp(-1);
this->cc().sp(this->cc().sp() * dist);
this->cc().st(this->cc().st() * 1);
BicycleCar orig_cc(this->cc());
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,
+ 0.01
+ );
}
// 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 (
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()
this->cc().sp(-0.01);
else
this->cc().sp(0.01);
- this->cc().st(this->cc().wb() / this->cc().mtr());
+ this->cc().set_max_steer();
if (this->ps().right())
this->cc().st(this->cc().st() * -1);
while (!this->left()) {
projects / hubacji1 / psp.git / blobdiff