From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Sun, 7 Feb 2021 12:12:30 +0000 (+0100)
Subject: Use begin, end when rotating zone border
X-Git-Tag: v0.5.0~2^2~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/39b92138febb01fefd8ccf48f7d05c4da6bd75e9

Use begin, end when rotating zone border
---

diff --git a/src/bcar.cc b/src/bcar.cc
index b5868bd..cd317a4 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -24,6 +24,8 @@ bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
                 return true;
         } else if (0 < a_1 && a_1 <= M_PI/2) { // left front
                 BicycleCar z(*this); // zone border
+                z.h(e);
+                h_d = bc.h() - this->h();
                 z.rotate(this->ccl().x(), this->ccl().y(), h_d);
                 // assert z.h() == bc.h()
                 if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
@@ -37,6 +39,8 @@ bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
                         return true;
         } else if (M_PI/2 < a_1 && a_1 <= M_PI) { // left rear
                 BicycleCar z(*this); // zone border
+                z.h(e);
+                h_d = bc.h() - this->h();
                 z.rotate(this->ccl().x(), this->ccl().y(), h_d);
                 // assert z.h() == bc.h()
                 if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
@@ -51,6 +55,8 @@ bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
                         return true;
         } else if (0 > a_1 && a_1 >= -M_PI/2) { // right front
                 BicycleCar z(*this); // zone border
+                z.h(b);
+                h_d = bc.h() - this->h();
                 z.rotate(this->ccr().x(), this->ccr().y(), h_d);
                 // assert z.h() == bc.h()
                 if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border
@@ -64,6 +70,8 @@ bool BicycleCar::drivable(const BicycleCar &bc, double b, double e) const
                         return true;
         } else if (-M_PI/2 > a_1 && a_1 >= -M_PI) { // right rear
                 BicycleCar z(*this); // zone border
+                z.h(b);
+                h_d = bc.h() - this->h();
                 z.rotate(this->ccr().x(), this->ccr().y(), h_d);
                 // assert z.h() == bc.h()
                 if (bc.y() == z.y() && bc.x() == z.x()) // bc on zone border