X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/0c41df6c30dfc8a802fcb82c26ba7250343aa568..d0b695ff7c42e5deee8badcd8da1752c37089f6f:/api/psp.h

diff --git a/api/psp.h b/api/psp.h
index 529c04d..2294a5b 100644
--- a/api/psp.h
+++ b/api/psp.h
@@ -2,10 +2,13 @@
 #define PSP_H
 
 #include <tuple>
+#include <vector>
 
 #include "bcar.h"
 #include "pslot.h"
 
+#define FORWARD_PARKING 1
+
 /*! \brief Parking Slot Planner basic class.
 
 \param cc Current bicycle car.
@@ -17,6 +20,18 @@ class PSPlanner {
                 BicycleCar cc_;
                 BicycleCar gc_;
                 ParkingSlot ps_;
+
+                unsigned int c_ = 0; // number of cusps
+                std::vector<BicycleCar> cusps_;
+
+                // find entry to slot
+                void fe_parallel();
+                void fe_perpendicular();
+                // find entry to slot by reverse approach
+                void fer_parallel();
+                void fer_perpendicular();
+                // set goal car
+                void gc_to_4();
         public:
                 /*! \brief Return `true` if there is collision.
 
@@ -30,12 +45,51 @@ class PSPlanner {
                 (parking slot lines).
                 */
                 bool collide();
+                /*! \brief Return parking direction
+
+                Return `true` if the direction of the parking in the
+                slot is forward.
+                */
+                bool forward();
+                /*! \brief Guess goal car
+
+                Set the goal car guessed from the parking slot.
+                */
+                void guess_gc();
+                /*! \brief Return last maneuver to the parking slot.
+
+                Return path from entry point towards parking slot, such
+                that ``cc`` is inside the parking slot at the end.
+                */
+                std::vector<BicycleCar> last_maneuver();
                 /*! \brief Has current car `cc` left?
 
                 Return `true` if the current car `cc` left the parking
                 slot `ps`;
                 */
                 bool left();
+                /*! \brief Is the goal car `gc` parked?
+
+                Return `true` if the goal car `gc` is inside the
+                parking slot `ps`.
+                */
+                bool parked();
+                /*! \brief Return possible starts of parking maneuver
+
+                When any `BicycleCar` of possible inits is reached, then
+                parking maneuver is a peace of cake.
+
+                \param cnt Number of inits.
+                \param dist Distance between inits.
+                */
+                std::vector<BicycleCar> possible_goals(
+                        unsigned int cnt,
+                        double dist
+                );
+                std::vector<BicycleCar> possible_goals()
+                {
+                        return this->possible_goals(10, 0.5);
+                }
 
                 // find entry
                 /*! \brief Find entry to the parking slot.
@@ -52,32 +106,10 @@ class PSPlanner {
                 BicycleCar &gc() { return this->gc_; }
                 ParkingSlot &ps() { return this->ps_; }
 
+                unsigned int c() const { return this->c_; }
+                std::vector<BicycleCar> &cusps() { return this->cusps_; }
+
                 PSPlanner();
 };
 
-/*! \brief Return intersection of two line segments.
-
-The output is tuple `std::tuple<bool, double, double>`, where the first
-value is true when there is an intersection and false otherwise. The
-second and third parameters in the return tuple are coordinates of the
-intersection.
-
-\see https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection
-
-\param x1 First line segment first `x` coordinate.
-\param y1 First line segment first `y` coordinate.
-\param x2 First line segment second `x` coordinate.
-\param y2 First line segment second `y` coordinate.
-\param x3 Second line segment first `x` coordinate.
-\param y3 Second line segment first `y` coordinate.
-\param x4 Second line segment second `x` coordinate.
-\param y4 Second line segment second `y` coordinate.
-*/
-std::tuple<bool, double, double> intersect(
-        double x1, double y1,
-        double x2, double y2,
-        double x3, double y3,
-        double x4, double y4
-);
-
 #endif /* PSP_H */