From 760cc6a0a6181b3ee6a9e70e4a33917fc1b96a03 Mon Sep 17 00:00:00 2001 From: Jiri Vlasak Date: Mon, 9 Nov 2020 12:27:30 +0100 Subject: [PATCH] Make backward default, add goal to last maneuver --- CHANGELOG.md | 5 +++++ api/psp.h | 2 +- src/psp.cc | 1 + 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index f188e2f..9e4f3ef 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -8,6 +8,11 @@ The format is based on [Keep a Changelog][] and this project adheres to [Semantic Versioning]: http://semver.org/ ## Unreleased +### Changed +- Make backward parking the default. + +### Fixed +- Add the goal to the last maneuver method. ## 0.4.0 - 2020-07-23 ### Added diff --git a/api/psp.h b/api/psp.h index 70bbf79..b390a76 100644 --- a/api/psp.h +++ b/api/psp.h @@ -7,7 +7,7 @@ #include "bcar.h" #include "pslot.h" -#define FORWARD_PARKING 1 +#define FORWARD_PARKING 0 /*! \brief Parking Slot Planner basic class. diff --git a/src/psp.cc b/src/psp.cc index 583643a..9d8ce21 100644 --- a/src/psp.cc +++ b/src/psp.cc @@ -142,6 +142,7 @@ std::vector PSPlanner::last_maneuver() // zig-zag out from the slot this->cc() = BicycleCar(this->gc()); this->cc().sp(0.1); + lm.push_back(BicycleCar(this->cc())); while (!this->left()) { while (!this->collide() && !this->left()) { this->cc().next(); -- 2.39.2