From e45d4c43b154667bff3d4f265f58529273f67512 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 20 Jul 2021 16:56:27 +0200
Subject: [PATCH] Find entry for left parallel, too

---
 src/pslot.cc | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/pslot.cc b/src/pslot.cc
index 91bf5e9..64deb5b 100644
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -264,7 +264,11 @@ PoseRange
 ParkingSlot::fe(BicycleCar c)
 {
 	assert(this->parallel());
-	assert(this->right());
+	bool swapped = false;
+	if (!this->right()) {
+		this->swap_side();
+		swapped = true;
+	}
 	c.h(this->h());
 	double clen = -this->offset_ + this->len() - c.df();
 	double cw = c.w() / 2.0;
@@ -306,7 +310,12 @@ ParkingSlot::fe(BicycleCar c)
 	}
 	auto& c1 = entries.front().front();
 	auto& c2 = entries.back().front();
-	return PoseRange(c1, c2);
+	PoseRange p(c1, c2);
+	if (swapped) {
+		this->swap_side();
+		p.reflect(this->entry_);
+	}
+	return p;
 }
 
 PoseRange
-- 
2.39.2