Add pose heading method to SlotPlanner

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

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index 2704519f08473d7863e002f77bfe973d24888b07..4fc77de942ce598ad606620aaa70762777822e32 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -51,6 +51,7 @@ class ParallelSlot {
                 float slotHeading_;
                 SlotSide slotSide_;
                 SlotType slotType_;
+                float poseHeading_;
         public:
                 ParallelSlot();
 
@@ -64,6 +65,7 @@ class ParallelSlot {
                 float slotHeading();
                 SlotSide slotSide();
                 SlotType slotType();
+                float poseHeading();
 
                 // setter
                 void DH(float dh);
@@ -75,6 +77,10 @@ class ParallelSlot {
                         std::vector<CircleObstacle>& co,
                         std::vector<SegmentObstacle>& so
                 );
+                void fipf(
+                        std::vector<CircleObstacle>& co,
+                        std::vector<SegmentObstacle>& so
+                ); // perpendicular forward parking
                 /** _Find Last Not Colliding_ BicycleCar pose
 
                 @param B Find from?
@@ -111,6 +117,7 @@ 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
@@ -120,6 +127,7 @@ class ParallelSlot {
                 @param B The pose to start from.
                 */
                 BicycleCar *getISPP(BicycleCar *B);
+                BicycleCar *getISPPf(BicycleCar *B); // perp. forward parking
                 /** Return true if car is inside slot */
                 bool isInside(BicycleCar *c);
                 /** Return values to set sampling function of RRT */