From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Mon, 29 Nov 2021 15:20:20 +0000 (+0100)
Subject: Add max cusp as argument
X-Git-Tag: v0.8.0~10
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/bcar.git/commitdiff_plain/7940e893be10fc3f334bfe1d06171f42459ae9c6

Add max cusp as argument
---

diff --git a/src/prove_parallel_slot.cc b/src/prove_parallel_slot.cc
index 2748bac..c7a67a6 100644
--- a/src/prove_parallel_slot.cc
+++ b/src/prove_parallel_slot.cc
@@ -19,11 +19,15 @@
 #define SLOT_STEP_WIDTH 0.01
 
 #define PARKING_SPEED -0.001
-#define MAX_CUSP 10
 #define DELTA_ANGLE_TO_SLOT 0.0001
 
-int main()
+int main(int argc, char** argv)
 {
+	if (argc != 2) {
+		std::cerr << "Number of direction changes needed." << std::endl;
+		exit(1);
+	}
+	int max_cusp = atoi(argv[1]);
 	std::cout << std::fixed;
 	std::cerr << std::fixed;
 
@@ -43,7 +47,7 @@ int main()
 		while (true) {
 			bcar::ParkingSlot s(zp, zh, w, len);
 			s.set_parking_speed(PARKING_SPEED);
-			s.set_max_cusp(MAX_CUSP);
+			s.set_max_cusp(max_cusp);
 			s.set_delta_angle_to_slot(DELTA_ANGLE_TO_SLOT);
 			auto pr = s.fe(c);
 			if (!(pr.x() == 0.0 && pr.y() == 0.0 && pr.b() == 0.0