Add goal_found method for two RRTNodes

[hubacji1/iamcar.git] / base / main.cc

diff --git a/base/main.cc b/base/main.cc
index c15794b2c940d6401b841f72bdb61b91808bedf5..8c544c198ec498930ace88e3fac16a0d7935e75f 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -184,22 +184,23 @@ int main()
                         ));
                 }
         }
-        if (ps.slot().bnodes().size() > 0) {
-                ps.setAll();
-                p.samplingInfo_ = ps.getSamplingInfo();
-                p.useSamplingInfo_ = true;
-        }
 #ifdef USE_SLOTPLANNER
         TSTART();
         if (ps.slot().bnodes().size() > 0)
-                ps.fipr(ps.getFP());
+                ps.fip(co, so);
         TEND();
         jvo["ppse"] = ELAPSED;
         TPRINT("ParallelSlot");
 #endif
+        if (ps.slot().bnodes().size() > 0) {
+                ps.setAll();
+                p.samplingInfo_ = ps.getSamplingInfo();
+                p.useSamplingInfo_ = true;
+        }
         if (ps.cusp().size() > 0) {
-                p.goal(ps.cusp().front().front());
+                p.goal(ps.getMidd());
                 p.slot_cusp(ps.cusp().front()); // use first found solution
+                p.goals(ps.goals());
                 jvo["midd"][0] = p.goal()->x();
                 jvo["midd"][1] = p.goal()->y();
                 jvo["midd"][2] = p.goal()->h();
@@ -212,6 +213,15 @@ int main()
                 jvo["goal"][2] = p.goal()->h();
         }
         TSTART();
+        std::cerr << "Slot Info:" << std::endl;
+        if (ps.slotSide() == LEFT)
+                std::cerr << "- LEFT" << std::endl;
+        else
+                std::cerr << "- RIGHT" << std::endl;
+        if (ps.slotType() == PARALLEL)
+                std::cerr << "- PARALLEL" << std::endl;
+        else
+                std::cerr << "- PERPENDICULAR" << std::endl;
 #ifdef USE_LOADF
         std::vector<RRTNode *> steered;
         for (auto jn: jvi["traj"][0]) {
@@ -258,10 +268,7 @@ int main()
                 p.next();
                 p.tend();
                 if (p.opt_path()) {
-                        if (ps.cusp().size() > 0)
-                                p.tlog(p.findt(p.slot_cusp().back()));
-                        else
-                                p.tlog(p.findt());
+                        p.tlog(p.findt());
                 }
         }
 #elif defined USE_PTHREAD