X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/blobdiff_plain/6a9b2de3d871d005472023463efe69429cee7996..7beeca8190f0896c51f4b2f8304f6c02930ce3c8:/src/pslot.cc

diff --git a/src/pslot.cc b/src/pslot.cc
index 9fdf4da..5a4f135 100644
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -175,11 +175,10 @@ ParkingSlot::drive_in_slot(BicycleCar c, unsigned int& max)
 }
 
 PoseRange
-ParkingSlot::fe()
+ParkingSlot::fe(BicycleCar c, unsigned int& max)
 {
 	assert(this->parallel());
 	assert(this->right());
-	BicycleCar c;
 	c.h(this->h());
 	double clen = this->offset_ + this->len() - c.df();
 	double cw = this->offset_ + c.w() / 2.0;
@@ -206,9 +205,8 @@ ParkingSlot::fe()
 		starts.push_back(c);
 	}
 	std::vector<std::vector<BicycleCar>> entries;
-	unsigned int max_cusp = 10;
 	for (auto s: starts) {
-		auto r = this->drive_in_slot(s, max_cusp);
+		auto r = this->drive_in_slot(s, max);
 		if (r.size() > 0) {
 			entries.push_back(r);
 		}