X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/120da06cc684ec67667336a6377d79e4db308d06..807ecc109a0087c804928daea5ec4dfe31ff304e:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 9f5ea8d..99f5d3d 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -299,6 +299,17 @@ void PSPlanner::fe()
         }
 }
 
+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());
@@ -346,16 +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());