X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/1b994dae37d833de22c1c2d049915893fb292382..91541605f9ec44d8ad7432c3d39d8747846d8dd9:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index d4471fb..9d8ce21 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -21,18 +21,11 @@ bool PSPlanner::collide()
 
 bool PSPlanner::forward()
 {
-        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;
-        double h = this->gc().h();
-        while (h < 0) h += 2 * M_PI;
-        if (std::abs(heading - h) < M_PI / 4)
-                return true;
+#if FORWARD_PARKING > 0
+        return true;
+#else
         return false;
+#endif
 }
 
 void PSPlanner::gc_to_4()
@@ -96,103 +89,42 @@ void PSPlanner::guess_gc()
         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
-                        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);
-                }
+#if FORWARD_PARKING > 0
+                // 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;
+                x += 2 * this->gc().dr() * cos(h);
+                y += 2 * this->gc().dr() * sin(h);
+#else
+                // Backward 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().y1() - this->ps().y2(),
+                        this->ps().x1() - this->ps().x2()
+                );
+                while (h < 0) h += 2 * M_PI;
+                x += this->gc().df() * cos(h + M_PI);
+                y += this->gc().df() * sin(h + M_PI);
+#endif
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -203,6 +135,47 @@ 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);
+                lm.push_back(BicycleCar(this->cc()));
+                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();
@@ -256,100 +229,566 @@ std::vector<BicycleCar> PSPlanner::possible_goals(
 )
 {
         std::vector<BicycleCar> pi;
+        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;
 }
 
+void PSPlanner::shrink_to_perfect_len()
+{
+        if (!this->ps().parallel())
+                return;
+        double perfect_len = this->gc().perfect_parking_slot_len();
+        if (edist(
+                this->ps().x1(), this->ps().y1(),
+                this->ps().x4(), this->ps().y4()
+        ) < perfect_len)
+                return;
+        double h = this->ps().heading();
+        h -= M_PI;
+        while (h < 0) h += 2 * M_PI;
+        double ch = perfect_len * cos(h);
+        double sh = perfect_len * sin(h);
+        this->ps().border(
+                this->ps().x4() + ch, this->ps().y4() + sh,
+                this->ps().x3() + ch, this->ps().y3() + sh,
+                this->ps().x3(), this->ps().y3(),
+                this->ps().x4(), this->ps().y4()
+        );
+}
+
 // find entry
 void PSPlanner::fe()
 {
-        if (this->ps().parallel())
+        this->c_ = 0;
+        if (this->ps().parallel()) {
                 return this->fe_parallel();
+        } else {
+                this->guess_gc();
+                this->cc() = BicycleCar(this->gc());
+                //this->cc().set_max_steer();
+                //if (this->ps().right())
+                //        this->cc().st(this->cc().st() * -1);
+                this->cc().sp(-0.2);
+        }
+}
+
+double angle_between_closer_point(
+        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
+) {
+        if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
+                return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
         else
-                return this->fe_perpendicular();
+                return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 }
 
 void PSPlanner::fe_parallel()
 {
-        // angle for distance from "entry" corner
-        double dist_angl = this->ps().heading() + M_PI;
-        dist_angl += (this->ps().right()) ? - M_PI / 4 : + M_PI / 4;
-        // set bicycle car `bci` basic dimensions and heading
-        BicycleCar bci = BicycleCar(this->gc());
+        this->shrink_to_perfect_len();
         BicycleCar bco = BicycleCar(this->gc());
-        bci.h(this->ps().heading());
-        // move 0.01 from the "entry" corner
-        bci.x(this->ps().x4() + 0.01 * cos(dist_angl));
-        bci.y(this->ps().y4() + 0.01 * sin(dist_angl));
-        // align with parking "top" of slot (move backward)
-        dist_angl = bci.h() + M_PI;
-        bci.x(bci.x() + bci.df() * cos(dist_angl));
-        bci.y(bci.y() + bci.df() * sin(dist_angl));
-        // align with "entry" to pakring slot (move outside)
-        dist_angl = this->ps().heading();
-        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());
+        this->cc() = BicycleCar();
+        this->cc().sp(-0.01);
+        this->cc().set_max_steer();
         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));
-        if (this->ps().right())
-                dist_angl = atan2(bci.y() - bci.rfy(), bci.x() - bci.rfx());
-        else
-                dist_angl = atan2(bci.y() - bci.lfy(), bci.x() - bci.lfx());
-        double DIST_ANGL = dist_angl;
-        std::queue<BicycleCar, std::list<BicycleCar>> q;
-        while (
-                (
-                        this->ps().right()
-                        && dist_angl < DIST_ANGL + 3 * M_PI / 4
+                this->cc().st(this->cc().st() * -1);
+        this->cc().h(this->ps().heading());
+        double angl_in_slot = this->ps().heading() - M_PI / 4;
+        if (!this->ps().right())
+                angl_in_slot += M_PI / 2;
+        this->cc().x(
+                this->ps().x4()
+                + this->cc().w()/2 * cos(
+                        this->ps().heading()
+                        + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
                 )
-                || (
-                        !this->ps().right()
-                        && dist_angl > DIST_ANGL - 3 * M_PI / 4
+                + (this->cc().df() + 0.01) * cos(
+                        this->ps().heading() + M_PI
                 )
-        ) {
-                this->cc() = BicycleCar(bci);
-                if (this->ps().right()) {
-                        this->cc().x(bci.rfx() + dist_diag * cos(dist_angl));
-                        this->cc().y(bci.rfy() + dist_diag * sin(dist_angl));
-                } else {
-                        this->cc().x(bci.lfx() + dist_diag * cos(dist_angl));
-                        this->cc().y(bci.lfy() + dist_diag * sin(dist_angl));
-                }
-                this->cc().h(this->ps().heading() + dist_angl - DIST_ANGL);
-                if (!this->collide()) {
-                        q.push(BicycleCar(this->cc()));
-                }
-                dist_angl += (this->ps().right()) ? + 0.01 : - 0.01;
+        );
+        this->cc().y(
+                this->ps().y4()
+                + this->cc().w()/2 * sin(
+                        this->ps().heading()
+                        + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
+                )
+                + (this->cc().df() + 0.01) * sin(
+                        this->ps().heading() + M_PI
+                )
+        );
+
+        std::queue<BicycleCar, std::list<BicycleCar>> q;
+        while (!this->collide()) {
+                q.push(this->cc());
+                this->cc().rotate(
+                        this->ps().x4(),
+                        this->ps().y4() - 0.01,
+                        ((this->ps().right()) ? 0.001 : -0.001)
+                );
         }
         // BFS - find entry current car `cc` and corresponding goal car `gc`
         unsigned int iter_cntr = 0;
-        while (!q.empty() && iter_cntr < 9) {
+        while (!q.empty() && iter_cntr < 30) {
                 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)
-                )
-                        this->cc().next();
+                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 = ::angle_between_closer_point(
+                                        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 = angle_between_closer_point(
+                                        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);
+                                        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 (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 = angle_between_closer_point(
+                                        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 = angle_between_closer_point(
+                                        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);
+                                        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 (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()
+                        );
+                        {
+                                double af = std::abs(
+                                        this->ps().heading()
+                                        - this->cc().h()
+                                );
+                                auto tmp_cc = BicycleCar(this->cc());
+                                this->cc().rotate(ccrx, ccry, -af);
+                                this->gc() = BicycleCar(this->cc());
+                                if (
+                                        !this->collide()
+                                        && this->parked()
+                                ) {
+                                        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 = angle_between_closer_point(
+                                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 = angle_between_closer_point(
+                                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 = angle_between_closer_point(
+                                this->cc().lfx(), this->cc().lfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli3), std::get<2>(cli3),
+                                std::get<3>(cli3), std::get<4>(cli3)
+                        );
+                        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 if (!this->ps().right() && this->cc().sp() < 0) {
+                        double ccrx = this->cc().ccr().x();
+                        double ccry = this->cc().ccr().y();
+                        double ccr_rr = edist(
+                                ccrx, ccry,
+                                this->cc().rrx(), this->cc().rry()
+                        );
+                        double ccr_lr = edist(
+                                ccrx, ccry,
+                                this->cc().lrx(), this->cc().lry()
+                        );
+                        double ccr_p1 = edist(
+                                ccrx, ccry,
+                                this->ps().x1(), this->ps().y1()
+                        );
+                        if (ccr_lr < ccr_p1) {
+                                // pass parking slot
+                                continue;
+                        } else if (ccr_lr >= ccr_p1 && ccr_rr < ccr_p1) {
+                                // partially out of parking slot
+                                auto cli1 = ::intersect(
+                                        ccrx, ccry, ccr_p1,
+                                        this->cc().lrx(), this->cc().lry(),
+                                        this->cc().rrx(), this->cc().rry()
+                                );
+                                double a1 = ::angle_between_closer_point(
+                                        this->ps().x1(), this->ps().y1(),
+                                        ccrx, ccry,
+                                        std::get<1>(cli1), std::get<2>(cli1),
+                                        std::get<3>(cli1), std::get<4>(cli1)
+                                );
+                                auto cli2 = ::intersect(
+                                        ccrx, ccry, ccr_lr,
+                                        this->ps().x2(), this->ps().y2(),
+                                        this->ps().x3(), this->ps().y3()
+                                );
+                                double a2 = angle_between_closer_point(
+                                        this->cc().lrx(), this->cc().lry(),
+                                        ccrx, ccry,
+                                        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(ccrx, ccry, a1);
+                                        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 (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(ccrx, ccry, a2);
+                                } else {
+                                        continue;
+                                }
+                        } else if (ccr_rr >= ccr_p1) {
+                                // in parking slot
+                                auto cli1 = ::intersect(
+                                        ccrx, ccry, ccr_rr,
+                                        this->ps().x1(), this->ps().y1(),
+                                        this->ps().x2(), this->ps().y2()
+                                );
+                                double a1 = angle_between_closer_point(
+                                        this->cc().rrx(), this->cc().rry(),
+                                        ccrx, ccry,
+                                        std::get<1>(cli1), std::get<2>(cli1),
+                                        std::get<3>(cli1), std::get<4>(cli1)
+                                );
+                                auto cli2 = ::intersect(
+                                        ccrx, ccry, ccr_lr,
+                                        this->ps().x2(), this->ps().y2(),
+                                        this->ps().x3(), this->ps().y3()
+                                );
+                                double a2 = angle_between_closer_point(
+                                        this->cc().lrx(), this->cc().lry(),
+                                        ccrx, ccry,
+                                        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(ccrx, ccry, a1);
+                                        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 (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(ccrx, ccry, a2);
+                                } else {
+                                        continue;
+                                }
+                        }
+                } else if (!this->ps().right() && this->cc().sp() > 0) {
+                        double cclx = this->cc().ccl().x();
+                        double ccly = this->cc().ccl().y();
+                        double ccl_rf = edist(
+                                cclx, ccly,
+                                this->cc().rfx(), this->cc().rfy()
+                        );
+                        double ccl_lf = edist(
+                                cclx, ccly,
+                                this->cc().lfx(), this->cc().lfy()
+                        );
+                        {
+                                double af = std::abs(
+                                        this->ps().heading()
+                                        - this->cc().h()
+                                );
+                                auto tmp_cc = BicycleCar(this->cc());
+                                this->cc().rotate(cclx, ccly, af);
+                                this->gc() = BicycleCar(this->cc());
+                                if (
+                                        !this->collide()
+                                        && this->parked()
+                                ) {
+                                        this->cc().sp(this->cc().sp() * -1);
+                                        this->gc() = BicycleCar(this->cc());
+                                        goto successfinish;
+                                } else {
+                                        this->cc() = BicycleCar(tmp_cc);
+                                }
+                        }
+                        auto cli1 = ::intersect(
+                                cclx, ccly, ccl_lf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a1 = angle_between_closer_point(
+                                this->cc().lfx(), this->cc().lfy(),
+                                cclx, ccly,
+                                std::get<1>(cli1), std::get<2>(cli1),
+                                std::get<3>(cli1), std::get<4>(cli1)
+                        );
+                        auto cli2 = ::intersect(
+                                cclx, ccly, ccl_lf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
+                        );
+                        double a2 = angle_between_closer_point(
+                                this->cc().lfx(), this->cc().lfy(),
+                                cclx, ccly,
+                                std::get<1>(cli2), std::get<2>(cli2),
+                                std::get<3>(cli2), std::get<4>(cli2)
+                        );
+                        auto cli3 = ::intersect(
+                                cclx, ccly, ccl_rf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a3 = angle_between_closer_point(
+                                this->cc().rfx(), this->cc().rfy(),
+                                cclx, ccly,
+                                std::get<1>(cli3), std::get<2>(cli3),
+                                std::get<3>(cli3), std::get<4>(cli3)
+                        );
+                        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;
+                        }
+                } else {
+                        // TODO left parking slot (both forward, backward)
+                }
                 this->cc().sp(this->cc().sp() * -1);
                 this->cc().next();
                 this->gc() = BicycleCar(this->cc());
@@ -387,18 +826,23 @@ void PSPlanner::fe_perpendicular()
 
 void PSPlanner::fer()
 {
-        if (this->ps().parallel())
+        this->c_ = 0;
+        if (this->ps().parallel()) {
+                this->guess_gc();
+                this->cc() = BicycleCar(this->gc());
+                this->cc().set_max_steer();
+                if (!this->ps().right())
+                        this->cc().st(this->cc().st() * -1);
+                this->cc().sp(0.01);
                 return this->fer_parallel();
-        else
+        } else {
                 return this->fer_perpendicular();
+        }
 }
 
 void PSPlanner::fer_parallel()
 {
-        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);
+        this->cusps_.clear();
         while (!this->left()) {
                 while (!this->collide() && !this->left())
                         this->cc().next();
@@ -408,8 +852,14 @@ void PSPlanner::fer_parallel()
                         this->cc().sp(this->cc().sp() * -1);
                         this->cc().next();
                         this->cc().st(this->cc().st() * -1);
+                        this->c_++;
+                        this->cusps_.push_back(this->cc());
                 }
         }
+        if (this->cc().st() < 0) {
+                this->c_++;
+                this->cusps_.push_back(this->cc());
+        }
 }
 
 void PSPlanner::fer_perpendicular()
@@ -478,7 +928,7 @@ void PSPlanner::fer_perpendicular()
         double delta_3 = delta;
         if (D < 0)
                 delta_use[2] = false;
-        if (delta_use[0] && delta_use[1] && delta_use[22])
+        if (delta_use[0] && delta_use[1] && delta_use[2])
                 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);
@@ -503,7 +953,7 @@ void PSPlanner::fer_perpendicular()
                 this->cc().sp(-0.01);
         else
                 this->cc().sp(0.01);
-        this->cc().st(this->cc().wb() / this->cc().mtr());
+        this->cc().set_max_steer();
         if (this->ps().right())
                 this->cc().st(this->cc().st() * -1);
         while (!this->left()) {