From 27992a865e75dcfb722ba9d6f0d0967ea3a771ef Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 11 Mar 2019 17:24:02 +0100
Subject: [PATCH] Generalize sampling info

---
 decision_control/slotplanner.cc | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 4b80a17..fb1b868 100644
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -489,9 +489,13 @@ struct SamplingInfo ParallelSlot::getSamplingInfo()
         }
         si.r = CC->diag_radi();
         si.sh = this->slotHeading();
-        si.h = this->slotHeading() - acos(EDIST( // TODO generalize
-                this->slot().bnodes()[0],
-                this->slot().bnodes()[1]
-        ) / BCAR_LENGTH);
+        if (this->slotType() == PARALLEL) {
+                si.h = this->slotHeading() - acos(EDIST(
+                        this->slot().bnodes()[0],
+                        this->slot().bnodes()[1]
+                ) / BCAR_LENGTH);
+        } else {
+                si.h = M_PI /2;
+        }
         return si;
 }
-- 
2.39.2