Add compute entries ut, impl

[hubacji1/bcar.git] / incl / pslot.hh

diff --git a/incl/pslot.hh b/incl/pslot.hh
index 542341288c279c93fb2ddfc21350e8fc6d321156..51fd7c83ee38dfefaeb307c22b3aabc2e23ea86e 100644 (file)
--- a/incl/pslot.hh
+++ b/incl/pslot.hh
@@ -33,6 +33,7 @@ private:
        Line _front;
 public:
        std::vector<std::vector<BicycleCar>> _ispaths;
+       std::vector<BicycleCar> _entries;
        /*! \brief Set parking slot.
 
        \param p Point with `x`, `y` coordinates of entry side's corner.
@@ -159,6 +160,19 @@ public:
         */
        PoseRange fe(BicycleCar c);
 
+       /*! \brief Compute entries from `this->_ispaths`.
+        *
+        * The problem with in-slot paths is that car can't leave the parking
+        * slot with full rate to the right (for right sided parking slot.)
+        *
+        * The idea is to move the first cars of in-slot paths (the one that is
+        * computed as entry to the parking slot) with the full rate to the left
+        * until they can leave the parking slot with full rate to the right.
+        *
+        * The computed cars are stored in `this->_entries`.
+        */
+       void compute_entries();
+
        /*! \brief Recompute zero slot's `PoseRange` entry for `this`.
         *
         * The _zero slot_ is the `ParkingSlot(Point(0.0, 0.0), 0.0, W, L);`.