Tune sampling coordinates

[hubacji1/iamcar.git] / decision_control / slotplanner.cc

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 93ea4c7dfde109722e3ce93798d3cace9bdcecb8..51219061dfbd8f9da58a8f9d0d8543c861b6ac4e 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -561,7 +561,7 @@ struct SamplingInfo ParallelSlot::getSamplingInfo()
                         this->slot().bnodes()[1]
                 ) / BCAR_LENGTH);
         } else {
-                si.h = M_PI /2;
+                si.h = M_PI / 2 / 3;
         }
 #else
         si.x = this->slot().bnodes()[3]->x() - this->slot().bnodes()[0]->x();
@@ -582,7 +582,7 @@ struct SamplingInfo ParallelSlot::getSamplingInfo()
         si.r = EDIST(this->slot().bnodes()[0], this->slot().bnodes()[3]) / 2;
         si.r *= 2;
         si.sh = this->slotHeading();
-        si.h = M_PI / 2;
+        si.h = M_PI / 4;
 #endif
         return si;
 }