From 802db29f98c31e0e8b62b827a355b633c8f0bc34 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 11 Jun 2019 15:15:59 +0200
Subject: [PATCH] Add slot edges as segment obstacles

---
 base/main.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/base/main.cc b/base/main.cc
index 8c544c1..614709a 100644
--- 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();
-- 
2.39.2