Add slot edges as segment obstacles

diff --git a/base/main.cc b/base/main.cc
index 8c544c198ec498930ace88e3fac16a0d7935e75f..614709ac2eaea262ae89dc2667d8d635d99125d7 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -183,6 +183,8 @@ int main()
                                 xy[1].asFloat()
                         ));
                 }
+                for (auto e: ps.slot().frame())
+                        so.push_back(SegmentObstacle(e->init(), e->goal()));
         }
 #ifdef USE_SLOTPLANNER
         TSTART();