Add test54, update template with reset

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6ec18296655163c8e1b1cca8c24ae82a8a82ee7..ab99995717abc7fc94d6ff9d5883f33c0b00db3e 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,3 +38,6 @@ target_compile_definitions(test52 PRIVATE OSP=P36)
 
 add_executable(test53 src/template.cc)
 target_compile_definitions(test53 PRIVATE OSP=P38)
+
+add_executable(test54 src/template-with-reset.cc)
+target_compile_definitions(test54 PRIVATE OSP=P39)

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index 3060190f57fde703bb686b5663d4c8dc0bca8e15..c9f3ea044f909638b241f80226ed91c66e5204cd 100644 (file)
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -20,6 +20,8 @@ int main()
        std::cout << std::fixed;
        std::cerr << std::fixed;
        assert(jvi["slot"] != Json::nullValue);
+       rrts::Ter ip_time;
+       ip_time.start();
        bcar::ParkingSlot s(
                jvi["slot"][0][0].asDouble(), jvi["slot"][0][1].asDouble(),
                jvi["slot"][1][0].asDouble(), jvi["slot"][1][1].asDouble(),
@@ -36,6 +38,7 @@ int main()
                s.swap_side();
                pr.reflect(s.entry());
        }
+       std::cerr << ip_time.scnt() << std::endl;
        // The following uses precomputed entries and needs `"fiat_punto.h"` to
        // be included.
        //auto pr = get_fiat_punto_entry(s.len(), s.w());
@@ -71,6 +74,9 @@ int main()
        jvi["goal"][1] = pr.y();
        jvi["goal"][2] = pr.b();
        jvi["goal"][3] = pr.e();
+       jvi["goal_inside"][0] = ispath.back().x();
+       jvi["goal_inside"][1] = ispath.back().y();
+       jvi["goal_inside"][2] = ispath.back().h();
        p.json(jvi);
        unsigned int icnt = 0;
        unsigned int rcnt = 0;