bool PSPlanner::forward()
{
- if (this->ps().parallel())
- return false;
- else
- return true;
- 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;
+#if FORWARD_PARKING > 0
+ return true;
+#else
return false;
+#endif
}
void PSPlanner::gc_to_4()
y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
y += (this->gc().dr() + 0.01) * sin(h);
} else {
+#if FORWARD_PARKING > 0
// Forward parking
double entry_width = edist(
this->ps().x1(), this->ps().y1(),
this->ps().x2() - this->ps().x1()
);
while (h < 0) h += 2 * M_PI;
- x += 2 * cos(h);
- y += 2 * sin(h);
-
- //// 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;
+ x += 2 * this->gc().dr() * cos(h);
+ y += 2 * this->gc().dr() * sin(h);
+#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);
+ lm.push_back(BicycleCar(this->cc()));
+ 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 0.1 m forward/backward
+#if FORWARD_PARKING > 0
+ this->cc().sp(-0.1);
+#else
+ this->cc().sp(0.1);
+#endif
+ 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();
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;
}
+void PSPlanner::shrink_to_perfect_len()
+{
+ if (!this->ps().parallel())
+ return;
+ double perfect_len = this->gc().perfect_parking_slot_len();
+ if (edist(
+ this->ps().x1(), this->ps().y1(),
+ this->ps().x4(), this->ps().y4()
+ ) < perfect_len)
+ return;
+ double h = this->ps().heading();
+ h -= M_PI;
+ while (h < 0) h += 2 * M_PI;
+ double ch = perfect_len * cos(h);
+ double sh = perfect_len * sin(h);
+ this->ps().border(
+ this->ps().x4() + ch, this->ps().y4() + sh,
+ this->ps().x3() + ch, this->ps().y3() + sh,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
+ );
+}
+
// find entry
void PSPlanner::fe()
{
//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 ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
+}
+
void PSPlanner::fe_parallel()
{
+ this->shrink_to_perfect_len();
BicycleCar bco = BicycleCar(this->gc());
this->cc() = BicycleCar();
this->cc().sp(-0.01);
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());
projects / hubacji1 / psp.git / blobdiff