Refactor pose range

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

diff --git a/src/pslot.cc b/src/pslot.cc
index 5f25efd52d703256bf8ad632c3756381e9f674e1..6966377bf8999107a36f3b24645fbdeacccf6b71 100644 (file)
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -251,34 +251,15 @@ ParkingSlot::fe(BicycleCar c)
                }
        }
        if (entries.size() == 0) {
-               return PoseRange();
+               return PoseRange(Pose(0.0, 0.0, 0.0), Pose(0.0, 0.0, 0.0));
        }
        if (entries.size() == 1) {
-               PoseRange pr;
-               pr.x(entries.front().front().x());
-               pr.y(entries.front().front().y());
-               pr.b(entries.front().front().h());
-               pr.e(entries.front().front().h());
-               return pr;
+               auto f = entries.front().front();
+               return PoseRange(f, f);
        }
        auto& c1 = entries.front().front();
        auto& c2 = entries.back().front();
-       double b = std::min(c1.h(), c2.h());
-       double e = std::max(c1.h(), c2.h());
-       clen = c.len();
-       Point b1(c1.x() - clen * cos(c1.h()), c1.y() - clen * sin(c1.h()));
-       Point b2(c2.x() - clen * cos(c2.h()), c2.y() - clen * sin(c2.h()));
-       Point e1(c1.x() + clen * cos(c1.h()), c1.y() + clen * sin(c1.h()));
-       Point e2(c2.x() + clen * cos(c2.h()), c2.y() + clen * sin(c2.h()));
-       Line li1(b1, e1);
-       Line li2(b2, e2);
-       li1.intersects_with(li2);
-       PoseRange pr;
-       pr.x(li1.i1().x());
-       pr.y(li1.i1().y());
-       pr.b(b);
-       pr.e(e);
-       return pr;
+       return PoseRange(c1, c2);
 }
 
 PoseRange