}
}
+double smaller_angle_of_two(
+ 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);
+}
+
void PSPlanner::fe_parallel()
{
BicycleCar bco = BicycleCar(this->gc());
if (this->ps().right() && this->cc().sp() < 0) {
double cclx = this->cc().ccl().x();
double ccly = this->cc().ccl().y();
-
- double r1 = sqrt(
- pow(this->cc().lry() - ccly, 2)
- + pow(this->cc().lrx() - cclx, 2)
- );
- auto cli1 = ::intersect(
- cclx, ccly, r1,
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- );
- double a11 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- cclx, ccly,
- std::get<1>(cli1), std::get<2>(cli1)
- );
- double a12 = ::angle_between_three_points(
- this->cc().lrx(), this->cc().lry(),
- cclx, ccly,
- std::get<3>(cli1), std::get<4>(cli1)
- );
- double a1 = std::min(a11, a12);
-{
- double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
- if (
- edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
- && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
- ) {
- auto clif = ::intersect(
- cclx, ccly, rf,
- this->cc().lrx(), this->cc().lry(),
- this->cc().rrx(), this->cc().rry()
- );
- double xf = std::get<1>(clif);
- double yf = std::get<2>(clif);
- if (
- edist(
- std::get<3>(clif), std::get<4>(clif),
- this->cc().x(), this->cc().y()
-
- )
- < edist(xf, yf, this->cc().x(), this->cc().y())
- ) {
- xf = std::get<3>(clif);
- yf = std::get<4>(clif);
- }
- double af = ::angle_between_three_points(
- xf, yf,
- cclx, ccly,
- this->ps().x1(), this->ps().y1()
- );
- a1 = af;
- }
-}
-
- double r2 = sqrt(
- pow(this->cc().rry() - ccly, 2)
- + pow(this->cc().rrx() - cclx, 2)
- );
- auto cli2 = ::intersect(
- cclx, ccly, r2,
- this->ps().x1(), this->ps().y1(),
- this->ps().x2(), this->ps().y2()
- );
- double a21 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- cclx, ccly,
- std::get<1>(cli2), std::get<2>(cli2)
- );
- double a22 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- cclx, ccly,
- std::get<3>(cli2), std::get<4>(cli2)
+ double ccl_lr = edist(
+ cclx, ccly,
+ this->cc().lrx(), this->cc().lry()
);
- double a2 = std::min(a21, a22);
-
- double r3 = sqrt(
- pow(this->cc().rry() - ccly, 2)
- + pow(this->cc().rrx() - cclx, 2)
- );
- auto cli3 = ::intersect(
- cclx, ccly, r3,
- this->ps().x2(), this->ps().y2(),
- this->ps().x3(), this->ps().y3()
+ double ccl_rr = edist(
+ cclx, ccly,
+ this->cc().rrx(), this->cc().rry()
);
- double a31 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- cclx, ccly,
- std::get<1>(cli3), std::get<2>(cli3)
+ double ccl_p1 = edist(
+ cclx, ccly,
+ this->ps().x1(), this->ps().y1()
);
- double a32 = ::angle_between_three_points(
- this->cc().rrx(), this->cc().rry(),
- cclx, ccly,
- std::get<3>(cli3), std::get<4>(cli3)
- );
- double a3 = std::min(a31, a32);
-
+ 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 = ::smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ this->cc().rrx(), this->cc().rry(),
+ cclx, ccly,
+ std::get<1>(cli2), std::get<2>(cli2),
+ std::get<3>(cli2), std::get<4>(cli2)
+ );
+ } 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 = smaller_angle_of_two(
+ 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 = smaller_angle_of_two(
+ 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) && !std::get<0>(cli3))
|| (a1 < a2 && !std::get<0>(cli3))
this->cc() = BicycleCar(tmp_cc);
}
} else {
- // should be parked and found in
- // previous iteration
+ // should be parked and found in previous iteration or continue
+ // with the parking process
}
}
double r1 = sqrt(
projects / hubacji1 / psp.git / blobdiff