X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/da8d8301b0d2a9e734b8fbd5b4cff07d38f9b77a..3231095bbfd687390fb681dc60ea4d9022cca054:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index d36c084..9021d26 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;
@@ -283,6 +266,29 @@ std::vector<BicycleCar> PSPlanner::possible_goals(
         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()
 {
@@ -299,8 +305,21 @@ void PSPlanner::fe()
         }
 }
 
+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 ::angle_between_three_points(sx, sy, cx, cy, x2, y2);
+}
+
 void PSPlanner::fe_parallel()
 {
+        this->shrink_to_perfect_len();
         BicycleCar bco = BicycleCar(this->gc());
         this->cc() = BicycleCar();
         this->cc().sp(-0.01);
@@ -349,280 +368,420 @@ 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)
-                        );
-                        auto cli1 = ::intersect(
-                            cclx, ccly, r1,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
+                        double ccl_lr = edist(
+                                cclx, ccly,
+                                this->cc().lrx(), this->cc().lry()
                         );
-                        double a11 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            cclx, ccly,
-                            std::get<1>(cli1), std::get<2>(cli1)
+                        double ccl_rr = edist(
+                                cclx, ccly,
+                                this->cc().rrx(), this->cc().rry()
                         );
-                        double a12 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            cclx, ccly,
-                            std::get<3>(cli1), std::get<4>(cli1)
+                        double ccl_p1 = edist(
+                                cclx, ccly,
+                                this->ps().x1(), this->ps().y1()
                         );
-                        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()
+                        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(),
 
-                        )
-                        < 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;
-        }
-}
+                                                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()),
 
-                        double r2 = sqrt(
-                            pow(this->cc().rry() - ccly, 2)
-                            + pow(this->cc().rrx() - cclx, 2)
+                                                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()
                         );
-                        auto cli2 = ::intersect(
-                            cclx, ccly, r2,
-                            this->ps().x1(), this->ps().y1(),
-                            this->ps().x2(), this->ps().y2()
+                        double ccr_rf = edist(
+                                ccrx, ccry,
+                                this->cc().rfx(), this->cc().rfy()
                         );
-                        double a21 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<1>(cli2), std::get<2>(cli2)
+                        {
+                                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 a22 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<3>(cli2), std::get<4>(cli2)
+                        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)
                         );
-                        double a2 = std::min(a21, a22);
-
-                        double r3 = sqrt(
-                            pow(this->cc().rry() - ccly, 2)
-                            + pow(this->cc().rrx() - cclx, 2)
+                        auto cli2 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
                         );
-                        auto cli3 = ::intersect(
-                            cclx, ccly, r3,
-                            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)
                         );
-                        double a31 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            cclx, ccly,
-                            std::get<1>(cli3), std::get<2>(cli3)
+                        auto cli3 = ::intersect(
+                                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(),
-                            cclx, ccly,
-                            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))
                             || (a1 < a3 && !std::get<0>(cli2))
                             || (a1 < a2 && a1 < a3)
                         )) {
-                            this->cc().rotate(cclx, ccly, -a1);
+                            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(cclx, ccly, -a2);
+                            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(cclx, ccly, -a3);
+                            this->cc().rotate(ccrx, ccry, -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) {
+                } 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
-        }
-}
-                        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_rr = edist(
+                                ccrx, ccry,
+                                this->cc().rrx(), this->cc().rry()
                         );
-                        double a11 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            ccrx, ccry,
-                            std::get<1>(cli1), std::get<2>(cli1)
+                        double ccr_lr = edist(
+                                ccrx, ccry,
+                                this->cc().lrx(), this->cc().lry()
                         );
-                        double a12 = ::angle_between_three_points(
-                            this->cc().lrx(), this->cc().lry(),
-                            ccrx, ccry,
-                            std::get<3>(cli1), std::get<4>(cli1)
+                        double ccr_p1 = edist(
+                                ccrx, ccry,
+                                this->ps().x1(), this->ps().y1()
                         );
-                        double a1 = std::min(a11, a12);
+                        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(),
 
-                        double r2 = sqrt(
-                            pow(this->cc().lfy() - ccry, 2)
-                            + pow(this->cc().lfx() - ccrx, 2)
+                                                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()
                         );
-                        auto cli2 = ::intersect(
-                            ccrx, ccry, r2,
-                            this->ps().x3(), this->ps().y3(),
-                            this->ps().x4(), this->ps().y4()
+                        double ccl_lf = edist(
+                                cclx, ccly,
+                                this->cc().lfx(), this->cc().lfy()
                         );
-                        double a21 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            ccrx, ccry,
-                            std::get<1>(cli2), std::get<2>(cli2)
+                        {
+                                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 a22 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            ccrx, ccry,
-                            std::get<3>(cli2), std::get<4>(cli2)
+                        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)
                         );
-                        double a2 = std::min(a21, a22);
-
-                        double r3 = sqrt(
-                            pow(this->cc().rfy() - ccry, 2)
-                            + pow(this->cc().rfx() - ccrx, 2)
+                        auto cli2 = ::intersect(
+                                cclx, ccly, ccl_lf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
                         );
-                        auto cli3 = ::intersect(
-                            ccrx, ccry, r3,
-                            this->ps().x3(), this->ps().y3(),
-                            this->ps().x2(), this->ps().y2()
+                        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)
                         );
-                        double a31 = ::angle_between_three_points(
-                            this->cc().rrx(), this->cc().rry(),
-                            ccrx, ccry,
-                            std::get<1>(cli3), std::get<2>(cli3)
+                        auto cli3 = ::intersect(
+                                cclx, ccly, ccl_rf,
+                                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().rfx(), this->cc().rfy(),
+                                cclx, ccly,
+                                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))
                             || (a1 < a3 && !std::get<0>(cli2))
                             || (a1 < a2 && a1 < a3)
                         )) {
-                            this->cc().rotate(ccrx, ccry, -a1);
+                            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(ccrx, ccry, -a2);
+                            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(ccrx, ccry, -a3);
+                            this->cc().rotate(cclx, ccly, a3);
                         } else {
                             continue;
                         }