BicycleCar gc_;
ParkingSlot ps_;
+ unsigned int c_ = 0; // number of cusps
+
// find entry to slot
void fe_parallel();
void fe_perpendicular();
BicycleCar &gc() { return this->gc_; }
ParkingSlot &ps() { return this->ps_; }
+ unsigned int c() const { return this->c_; }
+
PSPlanner();
};