Simplify final pose getter for forward parking

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 5026bbe5f9e3eabfa8dd4febd521379fd5059208..e949ad45729ece9ee9b89b28242dbf168e781034 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -716,17 +716,10 @@ BicycleCar *ParallelSlot::getFPf()
                 ph += 2 * M_PI;
         float nx;
         float ny;
-        if (this->slotSide() == LEFT) {
-                nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * cos(ph);
-                ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * sin(ph);
-                x = nx + (BCAR_DIAG_RRADI) * cos(h);
-                y = ny + (BCAR_DIAG_RRADI) * sin(h);
-        } else {
-                nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * cos(ph);
-                ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * sin(ph);
-                x = nx + (BCAR_DIAG_RRADI) * cos(h);
-                y = ny + (BCAR_DIAG_RRADI) * sin(h);
-        }
+        nx = x + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * cos(ph);
+        ny = y + (BCAR_LENGTH - BCAR_WHEEL_BASE) / 2 * sin(ph);
+        x = nx + (BCAR_DIAG_RRADI) * cos(h);
+        y = ny + (BCAR_DIAG_RRADI) * sin(h);
         return new BicycleCar(x, y, ph);
 }