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(
//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;
}
}
-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()
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),
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),
|| 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->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),
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),
|| 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().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()
- && (
- 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->parked()
) {
this->cc().sp(this->cc().sp() * -1);
this->gc() = BicycleCar(this->cc());
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),
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),
std::get<3>(cli2), std::get<4>(cli2)
);
- // TODO (ccr, lf) x (p3, p4)
-{
- 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)
+ ccrx, ccry, ccr_lf,
+ this->ps().x3(), this->ps().y3(),
+ this->ps().x4(), this->ps().y4()
);
- double a32 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- ccrx, ccry,
- std::get<3>(cli3), std::get<4>(cli3)
+ 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)
);
- 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))
projects / hubacji1 / psp.git / blobdiff