Rewrite guess gc for perpendicular parking

diff --git a/src/psp.cc b/src/psp.cc
index d52ca7d3a2284773908c5f377e483c79fa7590d2..d1df5d13b0eaaf6becfccf629b87dca7ef27cbcd 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -101,97 +101,27 @@ void PSPlanner::guess_gc()
                 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);
-                }
+                // 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);
+                x += move2 * cos(h + dts);
+                y += move2 * sin(h + dts);
+                h += dts + M_PI;
         }
         while (h > M_PI)
                 h -= 2 * M_PI;