Merge branch 'hotfix/0.4.2'

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3aa88e685e51ef5c4817a133be27cf930197f956..2f05740ed62324acc99d52ee7d20ed7cafff95db 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,6 @@
-# Changelog
+Changelog
+=========
+
 All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog][] and this project adheres to
@@ -7,7 +9,17 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Keep a Changelog]: http://keepachangelog.com/
 [Semantic Versioning]: http://semver.org/
 
-## Unreleased
+Unreleased
+==========
+
+0.4.2 - 2021-04-08
+==================
+
+Fixed
+-----
+
+- Forward parking last maneuver.
+
 
 ## 0.4.1 - 2020-11-09
 ### Changed

diff --git a/src/psp.cc b/src/psp.cc
index 9d8ce2158300ca35f362e2b0f0a61a4dfe7a1492..95e3e32e07145f91d92ed8c5f11a3b6325db4104 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -164,8 +164,12 @@ std::vector<BicycleCar> PSPlanner::last_maneuver()
                         lm.push_back(BicycleCar(this->cc()));
                 }
         } else {
-                // go 1 m forward
+                // go 0.1 m forward/backward
+#if FORWARD_PARKING > 0
+                this->cc().sp(-0.1);
+#else
                 this->cc().sp(0.1);
+#endif
                 BicycleCar orig_cc(this->cc());
                 for (unsigned int i = 0; i < 10; i++) {
                         this->cc().next();
@@ -302,7 +306,6 @@ void PSPlanner::fe()
                 //this->cc().set_max_steer();
                 //if (this->ps().right())
                 //        this->cc().st(this->cc().st() * -1);
-                this->cc().sp(-0.2);
         }
 }