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;
-
- //// 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 += this->gc().dr() * cos(h + M_PI);
+ y += this->gc().dr() * sin(h + M_PI);
+#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;
}
}
-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),
this->ps().x3(), this->ps().y3(),
this->ps().x4(), this->ps().y4()
);
- double a3 = smaller_angle_of_two(
+ double a3 = angle_between_closer_point(
this->cc().lfx(), this->cc().lfy(),
ccrx, ccry,
std::get<1>(cli3), std::get<2>(cli3),
projects / hubacji1 / psp.git / blobdiff