Check if possible to park by moving forward

diff --git a/src/psp.cc b/src/psp.cc
index aabe5ec1867f424b6584e86a6b9151fff109194d..29d220a6a3f59890ffc7038dbca0254d5e04e8f3 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -448,8 +448,65 @@ void PSPlanner::fe_parallel()
                 } else if (this->ps().right() && this->cc().sp() > 0) {
                         double ccrx = this->cc().ccr().x();
                         double ccry = this->cc().ccr().y();
-
-                        // TODO can I park by moving forward?
+{
+        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)