From 47935ceb62f3d1ce16e5ab9130d0374192ead0df Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 20 Jul 2020 15:39:47 +0200
Subject: [PATCH] Add left forward for parallel parking

---
 src/psp.cc | 87 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 87 insertions(+)

diff --git a/src/psp.cc b/src/psp.cc
index aaf21bf..6d8c0a1 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -674,6 +674,93 @@ void PSPlanner::fe_parallel()
                                         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()
+                        );
+                        double ccl_lf = edist(
+                                cclx, ccly,
+                                this->cc().lfx(), this->cc().lfy()
+                        );
+                        {
+                                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 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)
+                        );
+                        auto cli2 = ::intersect(
+                                cclx, ccly, ccl_lf,
+                                this->ps().x2(), this->ps().y2(),
+                                this->ps().x3(), this->ps().y3()
+                        );
+                        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)
+                        );
+                        auto cli3 = ::intersect(
+                                cclx, ccly, ccl_rf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        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)
+                        );
+                        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;
+                        }
                 } else {
                         // TODO left parking slot (both forward, backward)
                 }
-- 
2.39.2