bool PSPlanner::forward()
{
- double heading = this->ps().heading();
+ 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;
- if (!this->ps().parallel())
- heading -= M_PI / 2;
double h = this->gc().h();
while (h < 0) h += 2 * M_PI;
- if (-0.00001 < heading - h && heading - h < 0.00001)
+ if (std::abs(heading - h) < M_PI / 4)
return true;
- else
- return false;
+ return false;
+}
+
+void PSPlanner::gc_to_4()
+{
+ double angl_slot = atan2(
+ this->ps().y3() - this->ps().y4(),
+ this->ps().x3() - this->ps().x4()
+ );
+ double angl_delta = M_PI / 2;
+ if (this->ps().right())
+ angl_delta = -M_PI / 2;
+ double x = this->ps().x4();
+ double y = this->ps().y4();
+ x += (this->gc().dr() + 0.01) * cos(angl_slot);
+ y += (this->gc().dr() + 0.01) * sin(angl_slot);
+ x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
+ y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
+ this->gc().x(x);
+ this->gc().y(y);
+ 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));
+}
+
+void PSPlanner::guess_gc()
+{
+ double x = this->ps().x1();
+ double y = this->ps().y1();
+ double h = this->ps().heading();
+ double dts = + M_PI / 2; // direction to slot
+ if (this->ps().right())
+ dts = - M_PI / 2;
+ if (this->ps().parallel()) {
+ 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);
+ y += (this->gc().dr() + 0.01) * sin(h);
+ } else {
+ // Forward 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().y2() - 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;
+ }
+ while (h > M_PI)
+ h -= 2 * M_PI;
+ while (h <= -M_PI)
+ h += 2 * M_PI;
+ this->gc().x(x);
+ this->gc().y(y);
+ 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);
+ 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 1 m forward
+ this->cc().sp(0.1);
+ 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()
&& inside(this->gc().rfx(), this->gc().rfy(), slot);
}
+std::vector<BicycleCar> PSPlanner::possible_goals(
+ unsigned int cnt,
+ double dist
+)
+{
+ std::vector<BicycleCar> pi;
+ if (this->ps().parallel())
+ this->cc().sp(1);
+ else
+ this->cc().sp(-1);
+ this->cc().sp(this->cc().sp() * dist);
+ BicycleCar orig_cc(this->cc());
+ for (unsigned int i = 0; i < cnt; i++) {
+ this->cc().next();
+ 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;
+}
+
// find entry
void PSPlanner::fe()
{
- if (this->ps().parallel())
+ this->c_ = 0;
+ if (this->ps().parallel()) {
return this->fe_parallel();
- else
- return this->fe_perpendicular();
+ } else {
+ this->guess_gc();
+ this->cc() = BicycleCar(this->gc());
+ //this->cc().set_max_steer();
+ //if (this->ps().right())
+ // this->cc().st(this->cc().st() * -1);
+ this->cc().sp(-0.2);
+ }
}
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));
- // 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() = BicycleCar();
+ this->cc().sp(-0.01);
+ this->cc().set_max_steer();
+ if (!this->ps().right())
+ 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()) {
- this->cc().st(this->cc().wb() / this->cc().mtr());
- if (!this->ps().right())
- this->cc().st(this->cc().st() * -1);
- this->cc().sp(-0.01);
- 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,
+ ((this->ps().right()) ? 0.001 : -0.001)
+ );
}
// BFS - find entry current car `cc` and corresponding goal car `gc`
- unsigned int iter_cntr;
- while (!q.empty() && iter_cntr < 9) {
+ unsigned int iter_cntr = 0;
+ 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 / 2)
- )
- this->cc().next();
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->gc() = BicycleCar(this->cc());
//
// Another approach could be testing angles from the
// beginning of the escape parkig slot maneuver.
- return fer_perpendicular();
+ if (this->forward())
+ this->cc().sp(-0.01);
+ else
+ this->cc().sp(0.01);
+ while (!this->left())
+ this->cc().next();
+ return;
}
void PSPlanner::fer()
{
- if (this->ps().parallel())
+ this->c_ = 0;
+ if (this->ps().parallel()) {
+ this->guess_gc();
+ this->cc() = BicycleCar(this->gc());
+ this->cc().set_max_steer();
+ if (!this->ps().right())
+ this->cc().st(this->cc().st() * -1);
+ this->cc().sp(0.01);
return this->fer_parallel();
- else
+ } else {
return this->fer_perpendicular();
+ }
}
void PSPlanner::fer_parallel()
{
- this->cc().st(this->cc().wb() / this->cc().mtr());
- 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()
{
+ bool delta_use[] = {true, true, true};
double cc_h = this->cc().h();
double x;
double y;
else
b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
- double D = D = pow(b, 2) - 4 * a * c;
+ double D = pow(b, 2) - 4 * a * c;
double delta;
delta = -b - sqrt(D);
delta /= 2 * a;
double delta_1 = delta;
+ if (D < 0)
+ delta_use[0] = false;
// check outer radius
if (this->forward()) {
x = this->ps().x4();
delta /= 2 * a;
}
double delta_2 = delta;
+ if (D < 0)
+ delta_use[1] = false;
delta = -b - sqrt(D);
delta /= 2 * a;
double delta_3 = delta;
- delta = std::max(delta_1, std::max(delta_2, delta_3));
+ if (D < 0)
+ delta_use[2] = false;
+ if (delta_use[0] && delta_use[1] && delta_use[2])
+ delta = std::max(delta_1, std::max(delta_2, delta_3));
+ else if (delta_use[0] && delta_use[1])
+ delta = std::max(delta_1, delta_2);
+ else if (delta_use[0] && delta_use[2])
+ delta = std::max(delta_1, delta_3);
+ else if (delta_use[1] && delta_use[2])
+ delta = std::max(delta_2, delta_3);
+ else if (delta_use[0])
+ delta = delta_1;
+ else if (delta_use[1])
+ delta = delta_2;
+ else if (delta_use[2])
+ delta = delta_3;
+ else
+ return;
// current car `cc` can get out of slot with max steer
this->cc().x(this->cc().x() + delta * cos(cc_h));
this->cc().y(this->cc().y() + delta * sin(cc_h));
this->cc().h(cc_h);
// get current car `cc` out of slot
if (this->forward())
- this->cc().sp(-0.1);
+ this->cc().sp(-0.01);
else
- this->cc().sp(0.1);
- this->cc().st(this->cc().wb() / this->cc().mtr());
+ this->cc().sp(0.01);
+ this->cc().set_max_steer();
if (this->ps().right())
this->cc().st(this->cc().st() * -1);
while (!this->left()) {
projects / hubacji1 / psp.git / blobdiff