Refactor parking planner: add maneuver-aware spot selection and geometric collision checking

- Introduced a maneuver-complexity-aware strategy in `pick_parking_spot` to prioritize easier-to-enter parking slots.
- Rewrote `available_parking_spots` to use polygon intersection with buffer clearance instead of bounding box proximity.
- Updated `all_parking_spots_in_parking_lot` to compute spots based on curb geometry and yaw direction.
- Refactored `find_available_parking_spots_and_search_vector` for cleaner curb processing and modular obstacle setup.
- Improved `find_collision_free_trajectory` with split-path planning and clearer bound handling.
- Removed redundant logic and deprecated methods for clarity and modularity.

Author: mikayel2

GEMstack/onboard/planning/parallel_parking.py

@@ -30,33 +30,25 @@ def __init__(self, routefn: str, vehicle_interface: GEMInterface, frame: str = '
         else:
             raise ValueError("Unknown route file extension", ext)
 
-        # SLOT 1 (2.69, -2.44), SLOT 2  (7.47, -2.44)
-        # SLOT 3 (12.25, -2.44), SLOT 4 (17.33, -2.44)
+        # SLOT 1 (2.69, -2.44), SLOT 2  (7.57, -2.44)
+        # SLOT 3 (12.45, -2.44), SLOT 4 (17.33, -2.44)
         # SLOT 5 (22.11, -2.44) 
 
         self.parked_cars = [
-            
-            (7.47, -2.44),
-            (12.25, -2.44),
-            (17.33, -2.44),
-            (22.11, -2.44)
-             
-        ]
-        self.all_parking_spots_in_parking_lot = [
-            (3.94, -2.44, 0.0, (2.44, 4.88)),
-            (7.47, -2.44, 0.0, (2.44, 4.88)),
-            (12.25, -2.44, 0.0, (2.44, 4.88)),
-            (17.33, -2.44, 0.0, (2.44, 4.88)),
-            (22.11, -2.44, 0.0,(2.44, 4.88))
+            (2.69, -2.44),
+            (22.11, -2.44) 
         ]
+
         self.reedssheppparking = ReedsSheppParking()
-        self.reedssheppparking.closest = False
-        self.reedssheppparking.all_parking_spots_in_parking_lot = self.all_parking_spots_in_parking_lot
+        # self.reedssheppparking.closest = True
+        # self.reedssheppparking.add_static_vertical_curb_as_obstacle = False
+        # self.reedssheppparking.add_static_horizontal_curb_as_obstacle = False
+        self.reedssheppparking.static_horizontal_curb_xy_coordinates = [(0.0, -2.44),(24.9, -2.44)]
         self.reedssheppparking.find_available_parking_spots_and_search_vector(self.parked_cars)
         self.reedssheppparking.find_collision_free_trajectory(self.parked_cars)
 
 
-        
+
 
     def state_inputs(self):
         return ['vehicle']
@@ -69,7 +61,6 @@ def rate(self):
 
     def update(self, vehicle: VehicleState, x=0.0):
         self.current_pose = vehicle.pose
-        #self.reedssheppparking.find_collision_free_trajectory(self.parked_cars)
         self.waypoints_to_go = self.reedssheppparking.waypoints_to_go
         self.route = Route(frame=ObjectFrameEnum.START, points=self.waypoints_to_go.tolist())
         return self.route