X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/4cb0ebddc2c0d5bd4365c9e9b0eab7edbec31b5e..807ecc109a0087c804928daea5ec4dfe31ff304e:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 65dddf5..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());
@@ -349,137 +360,202 @@ void PSPlanner::fe_parallel()
                 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)
+                        double ccl_lr = edist(
+                                cclx, ccly,
+                                this->cc().lrx(), this->cc().lry()
                         );
-                        auto cli1 = ::intersect(
-                            cclx, ccly, r1,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
+                        double ccl_rr = edist(
+                                cclx, ccly,
+                                this->cc().rrx(), this->cc().rry()
                         );
-                        double a11 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            cclx, ccly,
-                            std::get<1>(cli1), std::get<2>(cli1)
+                        double ccl_p1 = edist(
+                                cclx, ccly,
+                                this->ps().x1(), this->ps().y1()
                         );
-                        double a12 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            cclx, ccly,
-                            std::get<3>(cli1), std::get<4>(cli1)
+                        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 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 = ::angle_between_three_points(
-                        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)
+                        double ccr_rf = edist(
+                                ccrx, ccry,
+                                this->cc().rfx(), this->cc().rfy()
                         );
-                        auto cli2 = ::intersect(
-                            cclx, ccly, r2,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
+                        {
+                                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 a21 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<1>(cli2), std::get<2>(cli2)
+                        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)
                         );
-                        double a22 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<3>(cli2), std::get<4>(cli2)
+                        auto cli2 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
                         );
-                        double a2 = std::min(a21, a22);
-
-                        double r3 = sqrt(
-                            pow(this->cc().rry() - ccly, 2)
-                            + pow(this->cc().rrx() - cclx, 2)
+                        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(
-                            cclx, ccly, r3,
-                            this->ps().x2(), this->ps().y2(),
-                            this->ps().x3(), this->ps().y3()
+                                ccrx, ccry, ccr_lf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
                         );
-                        double a31 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<1>(cli3), std::get<2>(cli3)
+                        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 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)