X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/691702ac3f1409db9e2147c49e71c5ae21b58848..d0b695ff7c42e5deee8badcd8da1752c37089f6f:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 66794b9..cc11af7 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -21,20 +21,11 @@ bool PSPlanner::collide()
 
 bool PSPlanner::forward()
 {
-        if (this->ps().parallel())
-                return false;
-        else
-                return true;
-        double heading = atan2(
-                this->ps().y2() - this->ps().y1(),
-                this->ps().x2() - this->ps().x1()
-        );
-        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()
@@ -103,6 +94,7 @@ void PSPlanner::guess_gc()
                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
                 y += (this->gc().dr() + 0.01) * sin(h);
         } else {
+#if FORWARD_PARKING > 0
                 // Forward parking
                 double entry_width = edist(
                         this->ps().x1(), this->ps().y1(),
@@ -115,33 +107,24 @@ void PSPlanner::guess_gc()
                         this->ps().x2() - this->ps().x1()
                 );
                 while (h < 0) h += 2 * M_PI;
-
-                //// This is for backward parking only.
-                //double entry_width = edist(
-                //        this->ps().x1(), this->ps().y1(),
-                //        this->ps().x4(), this->ps().y4()
-                //);
-                //double dist_l =
-                //        this->gc().orradi()
-                //        - (this->gc().mtr() + this->gc().w() / 2)
-                //;
-                //double move1 = dist_l + this->gc().w() / 2;
-                //double dist_r = entry_width - this->gc().w() - dist_l;
-                //double move2 = sqrt(
-                //        pow(this->gc().iradi(), 2)
-                //        - pow(this->gc().iradi() - dist_r, 2)
-                //);
-                //move2 -= this->gc().dr() / 2; // workaround
-                //x += move1 * cos(h);
-                //y += move1 * sin(h);
-                //dts = atan2(
-                //        this->ps().y2() - this->ps().y1(),
-                //        this->ps().x2() - this->ps().x1()
-                //);
-                //while (dts < 0) dts += 2 * M_PI;
-                //x += move2 * cos(h + dts);
-                //y += move2 * sin(h + dts);
-                //h += dts - M_PI / 2;
+                x += this->gc().dr() * cos(h + M_PI);
+                y += this->gc().dr() * sin(h + M_PI);
+#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;
@@ -299,15 +282,16 @@ void PSPlanner::fe()
         }
 }
 
-double smaller_angle_of_two(
+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
 ) {
-        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);
+        if (edist(sx, sy, x1, y1) < edist(sx, sy, x2, y2))
+                return ::angle_between_three_points(sx, sy, cx, cy, x1, y1);
+        else
+                return ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
 }
 
 void PSPlanner::fe_parallel()
@@ -382,7 +366,7 @@ void PSPlanner::fe_parallel()
                                         this->cc().lrx(), this->cc().lry(),
                                         this->cc().rrx(), this->cc().rry()
                                 );
-                                double a1 = ::smaller_angle_of_two(
+                                double a1 = ::angle_between_closer_point(
                                         this->ps().x1(), this->ps().y1(),
                                         cclx, ccly,
                                         std::get<1>(cli1), std::get<2>(cli1),
@@ -393,12 +377,40 @@ void PSPlanner::fe_parallel()
                                         this->ps().x2(), this->ps().y2(),
                                         this->ps().x3(), this->ps().y3()
                                 );
-                                double a2 = smaller_angle_of_two(
+                                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(
@@ -406,7 +418,7 @@ void PSPlanner::fe_parallel()
                                         this->ps().x1(), this->ps().y1(),
                                         this->ps().x2(), this->ps().y2()
                                 );
-                                double a1 = smaller_angle_of_two(
+                                double a1 = angle_between_closer_point(
                                         this->cc().lrx(), this->cc().lry(),
                                         cclx, ccly,
                                         std::get<1>(cli1), std::get<2>(cli1),
@@ -417,266 +429,104 @@ void PSPlanner::fe_parallel()
                                         this->ps().x2(), this->ps().y2(),
                                         this->ps().x3(), this->ps().y3()
                                 );
-                                double a2 = smaller_angle_of_two(
+                                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(),
 
-                        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 = ::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)
-                        );
-                        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);
+                                                this->cc().x()
+                                                + cos(this->ps().heading()),
+                                                this->cc().y()
+                                                + sin(this->ps().heading()),
 
-                        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;
+                                                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;
+                                }
                         }
-                        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()
-                        && (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 ccr_lf = edist(
+                                ccrx, ccry,
+                                this->cc().lfx(), this->cc().lfy()
                         );
-                        double a11 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            ccrx, ccry,
-                            std::get<1>(cli1), std::get<2>(cli1)
+                        double ccr_rf = edist(
+                                ccrx, ccry,
+                                this->cc().rfx(), this->cc().rfy()
                         );
-                        double a12 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            ccrx, ccry,
-                            std::get<3>(cli1), std::get<4>(cli1)
+                        {
+                                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 = std::min(a11, a12);
-
-                        double r2 = sqrt(
-                            pow(this->cc().lfy() - ccry, 2)
-                            + pow(this->cc().lfx() - ccrx, 2)
+                        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, 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)
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
                         );
-                        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)
+                        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, 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)
+                                ccrx, ccry, ccr_lf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
                         );
-                        double a32 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            ccrx, ccry,
-                            std::get<3>(cli3), std::get<4>(cli3)
+                        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)
                         );
-                        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))