Update changelog

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 808a7a0178d7ff0498a6ae39f1f659e38b72224b..4a1e55011607f9aea680cad221be2c0d3a9d9d66 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 ## Unreleased
 ### Added
 - Forward perpendicular parking methods for `SlotPlanner`.
+- Angle forward/backward parking.
 
 ### Changed
 - Parking slot in scenario starts with the point closest to the init pose.

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index 4fc77de942ce598ad606620aaa70762777822e32..3dd0c7d36e9ec50714cf45e1ebaf998a3d63a026 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -73,10 +73,12 @@ class ParallelSlot {
 
                 // other
                 /** BFS to _Find Init Pose_. */
+                // backward parking
                 void fip(
                         std::vector<CircleObstacle>& co,
                         std::vector<SegmentObstacle>& so
                 );
+                // forward parking
                 void fipf(
                         std::vector<CircleObstacle>& co,
                         std::vector<SegmentObstacle>& so