X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/120da06cc684ec67667336a6377d79e4db308d06..6d2a78b51d95fd09f7e70943f02921f74a866a38:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 9f5ea8d..8bc3ac2 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -346,16 +346,289 @@ 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 r1 = sqrt(
+                            pow(this->cc().lry() - ccly, 2)
+                            + pow(this->cc().lrx() - cclx, 2)
+                        );
+                        auto cli1 = ::intersect(
+                            cclx, ccly, r1,
+                            this->ps().x1(), this->ps().y1(),
+                            this->ps().x2(), this->ps().y2()
+                        );
+                        double a11 = ::angle_between_three_points(
+                            this->cc().lrx(), this->cc().lry(),
+                            cclx, ccly,
+                            std::get<1>(cli1), std::get<2>(cli1)
+                        );
+                        double a12 = ::angle_between_three_points(
+                            this->cc().lrx(), this->cc().lry(),
+                            cclx, ccly,
+                            std::get<3>(cli1), std::get<4>(cli1)
+                        );
+                        double a1 = std::min(a11, a12);
+{
+        double rf = edist(cclx, ccly, this->ps().x1(), this->ps().y1());
+        if (
+                edist(cclx, ccly, this->cc().lrx(), this->cc().lry()) < rf
+                && rf < edist(cclx, ccly, this->cc().rrx(), this->cc().rry())
+        ) {
+                auto clif = ::intersect(
+                        cclx, ccly, rf,
+                        this->cc().lrx(), this->cc().lry(),
+                        this->cc().rrx(), this->cc().rry()
+                );
+                double xf = std::get<1>(clif);
+                double yf = std::get<2>(clif);
+                if (
+                        edist(
+                                std::get<3>(clif), std::get<4>(clif),
+                                this->cc().x(), this->cc().y()
+
+                        )
+                        < edist(xf, yf, this->cc().x(), this->cc().y())
+                ) {
+                        xf = std::get<3>(clif);
+                        yf = std::get<4>(clif);
+                }
+                double af = ::intersection(
+                        xf, yf,
+                        cclx, ccly,
+                        this->ps().x1(), this->ps().y1()
+                );
+                a1 = af;
+        }
+}
+
+                        double r2 = sqrt(
+                            pow(this->cc().rry() - ccly, 2)
+                            + pow(this->cc().rrx() - cclx, 2)
+                        );
+                        auto cli2 = ::intersect(
+                            cclx, ccly, r2,
+                            this->ps().x1(), this->ps().y1(),
+                            this->ps().x2(), this->ps().y2()
+                        );
+                        double a21 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            cclx, ccly,
+                            std::get<1>(cli2), std::get<2>(cli2)
+                        );
+                        double a22 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            cclx, ccly,
+                            std::get<3>(cli2), std::get<4>(cli2)
+                        );
+                        double a2 = std::min(a21, a22);
+
+                        double r3 = sqrt(
+                            pow(this->cc().rry() - ccly, 2)
+                            + pow(this->cc().rrx() - cclx, 2)
+                        );
+                        auto cli3 = ::intersect(
+                            cclx, ccly, r3,
+                            this->ps().x2(), this->ps().y2(),
+                            this->ps().x3(), this->ps().y3()
+                        );
+                        double a31 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            cclx, ccly,
+                            std::get<1>(cli3), std::get<2>(cli3)
+                        );
+                        double a32 = ::angle_between_three_points(
+                            this->cc().rrx(), this->cc().rry(),
+                            cclx, ccly,
+                            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(cclx, ccly, -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(cclx, ccly, -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(cclx, ccly, -a3);
+                        } else {
+                            continue;
+                        }
+                        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 (this->ps().right() && this->cc().sp() > 0) {
+                        double ccrx = this->cc().ccr().x();
+                        double ccry = this->cc().ccr().y();
+{
+        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
+        }
+}
+                        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());