Merge branch 'free-leave-entries'

[hubacji1/bcar.git] / src / pslot.cc

diff --git a/src/pslot.cc b/src/pslot.cc
index b1a17dad1d2b8b8b81bc555fd2e9217faeaf8577..d6593f2008ae2438f36aa55733231f0dcafe033d 100644 (file)
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -386,18 +386,18 @@ ParkingSlot::fe(BicycleCar c)
        for (auto s: starts) {
                auto r = this->drive_in_slot(s);
                if (r.size() > 0) {
-                       this->_entries.push_back(r);
+                       this->_ispaths.push_back(r);
                }
        }
-       if (this->_entries.size() == 0) {
+       if (this->_ispaths.size() == 0) {
                return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
        }
-       if (this->_entries.size() == 1) {
-               auto f = this->_entries.front().front();
+       if (this->_ispaths.size() == 1) {
+               auto f = this->_ispaths.front().front();
                return PoseRange(f, f);
        }
-       auto& c1 = this->_entries.front().front();
-       auto& c2 = this->_entries.back().front();
+       auto& c1 = this->_ispaths.front().front();
+       auto& c2 = this->_ispaths.back().front();
        PoseRange p(c1, c2);
        if (swapped) {
                this->swap_side();
@@ -406,6 +406,23 @@ ParkingSlot::fe(BicycleCar c)
        return p;
 }
 
+void
+ParkingSlot::compute_entries()
+{
+       assert(this->_ispaths.size() > 0);
+       assert(this->right());
+       this->_entries.clear();
+       for (auto p: this->_ispaths) {
+               this->_entries.push_back(p.front());
+       }
+       for (auto& e: this->_entries) {
+               e.sp(e.sp() * -1.0);
+               while (!this->lf().inside_of(e.ccr(), e.iradi())) {
+                       e.next();
+               }
+       }
+}
+
 PoseRange
 ParkingSlot::recompute_entry(PoseRange p)
 {