X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/0e9d9cf35fe48db8ada2719fee59aa71d79e6899..807ecc109a0087c804928daea5ec4dfe31ff304e:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index d52ca7d..99f5d3d 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -23,6 +23,8 @@ 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()
@@ -101,97 +103,45 @@ void PSPlanner::guess_gc()
                 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
-                        this->gc_to_4();
-                        double bx;
-                        double by;
-                        double cx;
-                        double cy;
-                        if (this->ps().right()) {
-                                bx = this->gc().lfx();
-                                by = this->gc().lfy();
-                                cx = this->gc().ccr().x();
-                                cy = this->gc().ccr().y();
-                        } else {
-                                bx = this->gc().rfx();
-                                by = this->gc().rfy();
-                                cx = this->gc().ccl().x();
-                                cy = this->gc().ccl().y();
-                        }
-                        double radi_angl = atan2(by - cy, bx - cx);
-                        radi_angl += dts;
-                        double angl_delta = this->gc().h() - radi_angl;
-                        this->gc().rotate(bx, by, angl_delta);
-                        // TODO there is a bug somewhere :/
-                        //
-                        // cli returns not exact intersection, therefore the
-                        // distance to x1, y1 of border is shorter. Then, when
-                        // moving, the distance `dist_o` is not sufficient and
-                        // car still collide with parking slot. It shouldn't be
-                        // problem until it collides with obstacle.
-                        //
-                        if (this->ps().right()) {
-                                cx = this->gc().ccr().x();
-                                cy = this->gc().ccr().y();
-                        } else {
-                                cx = this->gc().ccl().x();
-                                cy = this->gc().ccl().y();
-                        }
-                        auto cli = circle_line_intersection(
-                                cx, cy, this->gc().iradi(),
-                                this->ps().x1(), this->ps().y1(),
-                                this->ps().x2(), this->ps().y2()
-                        );
-                        double d1 = edist(
-                                this->ps().x1(), this->ps().y1(),
-                                std::get<0>(cli), std::get<1>(cli)
-                        );
-                        double d2 = edist(
-                                this->ps().x1(), this->ps().y1(),
-                                std::get<2>(cli), std::get<3>(cli)
-                        );
-                        double dist_o = std::min<double>(d1, d2);
-                        double angl_o = atan2(
-                                this->ps().y4() - this->ps().y3(),
-                                this->ps().x4() - this->ps().x3()
-                        );
-                        // projection
-                        double angl_d = atan2(
-                                this->ps().y1() - this->ps().y2(),
-                                this->ps().x1() - this->ps().x2()
-                        );
-                        angl_d -= angl_o;
-                        dist_o *= cos(angl_d);
-                        this->gc().x(this->gc().x() + dist_o * cos(angl_o));
-                        this->gc().y(this->gc().y() + dist_o * sin(angl_o));
-                        // --- ENDTODO ---
-                        this->gc().sp(-0.01);
-                        this->gc().st(dts);
-                        return;
-                } 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);
-                }
+                // 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;
@@ -202,6 +152,46 @@ void PSPlanner::guess_gc()
         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()
 {
 	double lfx = this->cc().lfx();
@@ -255,18 +245,41 @@ std::vector<BicycleCar> PSPlanner::possible_goals(
 )
 {
         std::vector<BicycleCar> pi;
-        if (this->cc().sp() > 0)
+        if (this->ps().parallel())
                 this->cc().sp(1);
         else
                 this->cc().sp(-1);
         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);
+        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;
 }
 
@@ -279,10 +292,24 @@ void PSPlanner::fe()
         } else {
                 this->guess_gc();
                 this->cc() = BicycleCar(this->gc());
-                return this->fer_perpendicular();
+                //this->cc().set_max_steer();
+                //if (this->ps().right())
+                //        this->cc().st(this->cc().st() * -1);
+                this->cc().sp(-0.2);
         }
 }
 
+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());
@@ -322,7 +349,7 @@ void PSPlanner::fe_parallel()
                 this->cc().rotate(
                         this->ps().x4(),
                         this->ps().y4() - 0.01,
-                        ((this->ps().right()) ? 0.01 : -0.01)
+                        ((this->ps().right()) ? 0.001 : -0.001)
                 );
         }
         // BFS - find entry current car `cc` and corresponding goal car `gc`
@@ -330,16 +357,354 @@ void PSPlanner::fe_parallel()
         while (!q.empty() && iter_cntr < 30) {
                 this->cc() = BicycleCar(q.front());
                 q.pop();
-                while (
+                if (this->ps().right() && this->cc().sp() < 0) {
+                        double cclx = this->cc().ccl().x();
+                        double ccly = this->cc().ccl().y();
+                        double ccl_lr = edist(
+                                cclx, ccly,
+                                this->cc().lrx(), this->cc().lry()
+                        );
+                        double ccl_rr = edist(
+                                cclx, ccly,
+                                this->cc().rrx(), this->cc().rry()
+                        );
+                        double ccl_p1 = edist(
+                                cclx, ccly,
+                                this->ps().x1(), this->ps().y1()
+                        );
+                        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)
+                                );
+                                if (std::get<0>(cli1) && (
+                                        !std::get<0>(cli2)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
+                        } 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)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
+                        }
+                } else if (this->ps().right() && this->cc().sp() > 0) {
+                        double ccrx = this->cc().ccr().x();
+                        double ccry = this->cc().ccr().y();
+                        double ccr_lf = edist(
+                                ccrx, ccry,
+                                this->cc().lfx(), this->cc().lfy()
+                        );
+                        double ccr_rf = edist(
+                                ccrx, ccry,
+                                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);
+                                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->cc().sp(this->cc().sp() * -1);
+                                        this->gc() = BicycleCar(this->cc());
+                                        goto successfinish;
+                                } else {
+                                        this->cc() = BicycleCar(tmp_cc);
+                                }
+                        }
+                        auto cli1 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a1 = smaller_angle_of_two(
+                                this->cc().rfx(), this->cc().rfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli1), std::get<2>(cli1),
+                                std::get<3>(cli1), std::get<4>(cli1)
+                        );
+                        auto cli2 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
+                        );
+                        double a2 = smaller_angle_of_two(
+                                this->cc().rfx(), this->cc().rfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli2), std::get<2>(cli2),
+                                std::get<3>(cli2), std::get<4>(cli2)
+                        );
+                        auto cli3 = ::intersect(
+                                ccrx, ccry, ccr_lf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a3 = smaller_angle_of_two(
+                                this->cc().lfx(), this->cc().lfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli3), std::get<2>(cli3),
+                                std::get<3>(cli3), std::get<4>(cli3)
+                        );
+{
+        double rf = sqrt(
+                pow(this->cc().lfy() - ccry, 2)
+                + pow(this->cc().lfx() - ccrx, 2)
+        );
+        auto clif = ::intersect(
+                ccrx, ccry, rf,
+                this->ps().x1(), this->ps().y1(),
+                this->ps().x4(), this->ps().y4()
+        );
+        if (std::get<0>(clif)) {
+                double xf = std::get<1>(clif);
+                double 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);
+                }
+                auto 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);
+                if (
                         !this->collide()
-                        && (std::abs(
-                                this->cc().h() - this->ps().heading()
-                        ) > M_PI / 32)
-                        && (std::abs(
-                                this->cc().h() - this->ps().heading()
-                        ) < M_PI / 2)
-                )
-                        this->cc().next();
+                        && (edist(
+                                this->ps().x1(), this->ps().y1(),
+                                xf, yf
+                        ) < edist(
+                                this->ps().x1(), this->ps().y1(),
+                                this->ps().x4(), this->ps().y4()
+                        ))
+                ) {
+                        this->cc().sp(-0.01);
+                        this->cc().set_max_steer();
+                        this->cc().st(this->cc().st() * -1);
+                        this->gc() = BicycleCar(this->cc());
+                        goto successfinish;
+                } else {
+                        this->cc() = BicycleCar(tmp_cc);
+                }
+        } else {
+                // should be parked and found in previous iteration or continue
+                // with the parking process
+        }
+}
+                        double r1 = sqrt(
+                            pow(this->cc().rfy() - ccry, 2)
+                            + pow(this->cc().rfx() - ccrx, 2)
+                        );
+                        auto cli1 = ::intersect(
+                            ccrx, ccry, r1,
+                            this->ps().x3(), this->ps().y3(),
+                            this->ps().x4(), this->ps().y4()
+                        );
+                        double a11 = ::angle_between_three_points(
+                            this->cc().lrx(), this->cc().lry(),
+                            ccrx, ccry,
+                            std::get<1>(cli1), std::get<2>(cli1)
+                        );
+                        double a12 = ::angle_between_three_points(
+                            this->cc().lrx(), this->cc().lry(),
+                            ccrx, ccry,
+                            std::get<3>(cli1), std::get<4>(cli1)
+                        );
+                        double a1 = std::min(a11, a12);
+
+                        double r2 = sqrt(
+                            pow(this->cc().lfy() - ccry, 2)
+                            + pow(this->cc().lfx() - ccrx, 2)
+                        );
+                        auto cli2 = ::intersect(
+                            ccrx, ccry, r2,
+                            this->ps().x3(), this->ps().y3(),
+                            this->ps().x4(), this->ps().y4()
+                        );
+                        double a21 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            ccrx, ccry,
+                            std::get<1>(cli2), std::get<2>(cli2)
+                        );
+                        double a22 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            ccrx, ccry,
+                            std::get<3>(cli2), std::get<4>(cli2)
+                        );
+                        double a2 = std::min(a21, a22);
+
+                        double r3 = sqrt(
+                            pow(this->cc().rfy() - ccry, 2)
+                            + pow(this->cc().rfx() - ccrx, 2)
+                        );
+                        auto cli3 = ::intersect(
+                            ccrx, ccry, r3,
+                            this->ps().x3(), this->ps().y3(),
+                            this->ps().x2(), this->ps().y2()
+                        );
+                        double a31 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            ccrx, ccry,
+                            std::get<1>(cli3), std::get<2>(cli3)
+                        );
+                        double a32 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            ccrx, ccry,
+                            std::get<3>(cli3), std::get<4>(cli3)
+                        );
+                        double a3 = std::min(a31, a32);
+
+                        if (std::get<0>(cli1) && (
+                            (!std::get<0>(cli2) && !std::get<0>(cli3))
+                            || (a1 < a2 && !std::get<0>(cli3))
+                            || (a1 < a3 && !std::get<0>(cli2))
+                            || (a1 < a2 && a1 < a3)
+                        )) {
+                            this->cc().rotate(ccrx, ccry, -a1);
+                        } else if (std::get<0>(cli2) && (
+                            (!std::get<0>(cli1) && !std::get<0>(cli3))
+                            || (a2 < a1 && !std::get<0>(cli3))
+                            || (a2 < a3 && !std::get<0>(cli1))
+                            || (a2 < a1 && a2 < a3)
+                        )) {
+                            this->cc().rotate(ccrx, ccry, -a2);
+                        } else if (std::get<0>(cli3) && (
+                            (!std::get<0>(cli1) && !std::get<0>(cli2))
+                            || (a3 < a1 && !std::get<0>(cli2))
+                            || (a3 < a2 && !std::get<0>(cli1))
+                            || (a3 < a1 && a3 < a2)
+                        )) {
+                            this->cc().rotate(ccrx, ccry, -a3);
+                        } else {
+                            continue;
+                        }
+                } else {
+                        // TODO left parking slot (both forward, backward)
+                }
                 this->cc().sp(this->cc().sp() * -1);
                 this->cc().next();
                 this->gc() = BicycleCar(this->cc());