Implement naive fe_perpendicular

[hubacji1/psp.git] / src / psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 395deecffc0436ea5cb4cc1f096978a2bf302708..6cc5701a4356effacef6d2c233b5e14362fc799c 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -266,7 +266,13 @@ void PSPlanner::fe_perpendicular()
         //
         //      Another approach could be testing angles from the
         //      beginning of the escape parkig slot maneuver.
-        return fer_perpendicular();
+        if (this->forward())
+                this->cc().sp(-0.01);
+        else
+                this->cc().sp(0.01);
+        while (!this->left())
+                this->cc().next();
+        return;
 }
 
 void PSPlanner::fer()