Drop pose range when planning in slot path

diff --git a/bcar/src/pslot.cc b/bcar/src/pslot.cc
index d6593f2008ae2438f36aa55733231f0dcafe033d..6d5ccac52d17ebbe5e81e39cba3c3578920733cd 100644 (file)
--- a/bcar/src/pslot.cc
+++ b/bcar/src/pslot.cc
@@ -396,9 +396,11 @@ ParkingSlot::fe(BicycleCar c)
                auto f = this->_ispaths.front().front();
                return PoseRange(f, f);
        }
+       // FIXME PoseRange does not work as intended -- the goal is to have pose
+       // range at the same coordinates as entry configurations.
        auto& c1 = this->_ispaths.front().front();
-       auto& c2 = this->_ispaths.back().front();
-       PoseRange p(c1, c2);
+       //auto& c2 = this->_ispaths.back().front();
+       PoseRange p(c1, c1);
        if (swapped) {
                this->swap_side();
                p.reflect(this->_entry);