From 583d5dbf2526072723a60047f790f0da273bd8dc Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 30 Mar 2020 00:31:22 +0200
Subject: [PATCH] Add workaround for fe() for perpendicular parking slot

---
 CHANGELOG.md |  2 ++
 src/psp.cc   | 62 +++++++++++++++++++++++++++++++++++-----------------
 2 files changed, 44 insertions(+), 20 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8519a27..9b2bd19 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,8 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+### Added
+- Workaround to not working `fe()` for perpendicular parking slot.
 
 ## 0.3.0 - 2020-02-04
 ### Added
diff --git a/src/psp.cc b/src/psp.cc
index 987a49b..7fe4ea8 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -23,6 +23,8 @@ 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()
@@ -101,27 +103,47 @@ void PSPlanner::guess_gc()
                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
                 y += (this->gc().dr() + 0.01) * sin(h);
         } else {
-                // This is for backward parking only.
+                // Forward parking
                 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)
+                x += entry_width / 2 * cos(h);
+                y += entry_width / 2 * sin(h);
+                h = atan2(
+                        this->ps().y2() - this->ps().y1(),
+                        this->ps().x2() - this->ps().x1()
                 );
-                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 < 0) h += 2 * M_PI;
+                x += 2 * cos(h);
+                y += 2 * sin(h);
+
+                //// 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;
         }
         while (h > M_PI)
                 h -= 2 * M_PI;
@@ -209,10 +231,10 @@ void PSPlanner::fe()
         } else {
                 this->guess_gc();
                 this->cc() = BicycleCar(this->gc());
-                this->cc().set_max_steer();
-                if (this->ps().right())
-                        this->cc().st(this->cc().st() * -1);
-                this->cc().sp(1);
+                //this->cc().set_max_steer();
+                //if (this->ps().right())
+                //        this->cc().st(this->cc().st() * -1);
+                this->cc().sp(-0.2);
         }
 }
 
-- 
2.39.2