Fix condition in `fip()`

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 3f903aa6527a8a2a0be99d78de7bf80c6e3b26de..2ad47445a716baa5dcfa38fcb8697499329ea16e 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -142,7 +142,17 @@ void ParallelSlot::fip(
                         !this->slot().collide(p->frame())
                         && ((
                                 this->slotSide() == LEFT
-                                && p->h() < this->slotHeading()
+                                && (
+                                        p->h() < this->slotHeading()
+                                        || (
+                                                sgn(p->h()) != sgn(
+                                                        this->slotHeading()
+                                                )
+                                                && p->h()
+                                                < this->slotHeading()
+                                                + 2 * M_PI
+                                        )
+                                )
                         ) || (
                                 this->slotSide() == RIGHT
                                 && (