Add TODO, fix comment

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index f888d401618d8aaa90fc451ccf44a9203bb15ea7..a141c86a813b1d34b22d13e941d7fb88cdad4e61 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -742,7 +742,7 @@ BicycleCar *ParallelSlot::getISPPf(BicycleCar *B)
         float c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
         float D = pow(b, 2) - 4 * a * c;
         float delta;
-        delta = -b - sqrt(D); // Use just `(-b - D) / (2a)` formula.
+        delta = -b - sqrt(D); // TODO why this works?
         delta /= 2 * a;
         float delta_1 = delta;
         // left front (for right parking slot)