bool PSPlanner::forward()
{
- double heading = this->ps().heading();
+ if (this->ps().parallel())
+ return false;
+ 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()) {
+ dts *= 0.99; // precision workaround
+ 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 {
+ if (std::abs(
+ atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ )
+ - this->ps().heading()
+ ) < M_PI / 2) {
+ // forward parking
+ x = this->ps().x4();
+ y = this->ps().y4();
+ h = dts;
+ x += (this->gc().dr() + 0.01) * cos(h);
+ y += (this->gc().dr() + 0.01) * sin(h);
+ if (this->ps().right())
+ dts -= M_PI / 2;
+ else
+ dts += M_PI / 2;
+ x += (this->gc().w() / 2 + 0.01) * cos(dts);
+ y += (this->gc().w() / 2 + 0.01) * sin(dts);
+ } else {
+ dts = atan2(
+ this->ps().y2() - this->ps().y1(),
+ this->ps().x2() - this->ps().x1()
+ );
+ dts *= 1.01; // precision workaround
+ // backward parking
+ h = dts + M_PI;
+ x += -(this->gc().df() + 0.01) * cos(h);
+ y += -(this->gc().df() + 0.01) * sin(h);
+ if (this->ps().right())
+ dts += M_PI / 2;
+ else
+ dts -= M_PI / 2;
+ x += (this->gc().w() / 2 + 0.01) * cos(dts);
+ y += (this->gc().w() / 2 + 0.01) * sin(dts);
+ }
+ }
+ 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);
}
bool PSPlanner::left()
&& inside(this->gc().rfx(), this->gc().rfy(), slot);
}
+std::vector<BicycleCar> PSPlanner::possible_inits(
+ unsigned int cnt,
+ double dist
+)
+{
+ std::vector<BicycleCar> pi;
+ this->cc().sp(this->cc().sp() * dist);
+ this->cc().st(this->cc().st() * 1);
+ 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);
+ return pi;
+}
+
// find entry
void PSPlanner::fe()
{
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));
+ // set default speed, steer
+ bci.st(bci.wb() / bci.mtr());
+ if (!this->ps().right())
+ bci.st(bci.st() * -1);
+ bci.sp(-0.01);
// 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));
}
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;
}
// BFS - find entry current car `cc` and corresponding goal car `gc`
- unsigned int iter_cntr;
+ unsigned int iter_cntr = 0;
while (!q.empty() && iter_cntr < 9) {
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)
//
// 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()
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[22])
+ 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().sp(0.01);
this->cc().st(this->cc().wb() / this->cc().mtr());
if (this->ps().right())
this->cc().st(this->cc().st() * -1);
projects / hubacji1 / psp.git / blobdiff