Fix parallel parking with multiple b/f changes

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index d96f170ec9795d9d3029f1a50f9046abdbb03f7e..aa2fa6a04d5c5dc8167d0e328224e47a9d104d20 100644 (file)
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -62,12 +62,8 @@ int main()
        }
        if (s.parallel()) {
                c.set_max_steer();
-               if (!s.right()) {
-                       c.st(c.st() * -1.0);
-               }
-               for (auto p: s.steer_in_slot(c)) {
-                       c.next();
-                       ispath.push_back(c);
+               for (auto &n : s.drive_in_slot(c)) {
+                       ispath.push_back(n);
                }
        }
        jvi["goal"][0] = pr.x();