From 7beeca8190f0896c51f4b2f8304f6c02930ce3c8 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 16 Jul 2021 12:02:28 +0200
Subject: [PATCH] Add arguments for find entry method

Add bicycle car and maximum number of cusp car states as arguments for
find entry method.
---
 incl/pslot.hh | 8 ++++++--
 src/pslot.cc  | 6 ++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/incl/pslot.hh b/incl/pslot.hh
index c669d23..b7d3956 100644
--- a/incl/pslot.hh
+++ b/incl/pslot.hh
@@ -89,8 +89,12 @@ public:
 	 */
 	std::vector<BicycleCar> drive_in_slot(BicycleCar c, unsigned int& max);
 
-	/*! Find entry. */
-	PoseRange fe();
+	/*! \brief Find entry.
+	 *
+	 * \param c For which `BicycleCar` should entry be found?
+	 * \param max Maximum number of backward-forward direction changes.
+	 */
+	PoseRange fe(BicycleCar c, unsigned int& max);
 
 	friend std::ostream& operator<<(std::ostream& o, ParkingSlot const& s);
 };
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);
 		}
-- 
2.39.2