Add init pose for forward perpendicular parking

[hubacji1/iamcar.git] / incl / slotplanner.h

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index 343888da6aa64f14ba04420f27141aef5da48ede..ef539cd314b7a0d05e19a63786561a5a26e4951a 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -46,6 +46,7 @@ class ParallelSlot {
         private:
                 float DH_ = 0.01;
                 std::vector<std::vector<RRTNode *>> cusp_;
+                std::vector<RRTNode *> goals_;
                 PolygonObstacle slot_;
                 float slotHeading_;
                 SlotSide slotSide_;
@@ -55,6 +56,7 @@ class ParallelSlot {
 
                 // getter
                 /** Get slot entry point */
+                std::vector<RRTNode *> &goals();
                 RRTNode *getMidd();
                 std::vector<std::vector<RRTNode *>> &cusp();
                 float DH() const;
@@ -109,6 +111,16 @@ class ParallelSlot {
                 BicycleCar *getEPC();
                 /** Return start pose for fipr method */
                 BicycleCar *getFP();
+                BicycleCar *getFPf(); // parked forward, only for perpendicular
+                /** In slot perpendicular pose getter
+
+                This method returns a pose of perpendicular parking slot from
+                where it is possible to get out of the slot with full steer to
+                farther corner side (i.e. right corner for the RIGHT side).
+
+                @param B The pose to start from.
+                */
+                BicycleCar *getISPP(BicycleCar *B);
                 /** Return true if car is inside slot */
                 bool isInside(BicycleCar *c);
                 /** Return values to set sampling function of RRT */