Add fipr method for RRTNode

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 5f9880b656b2541a36e04d03b47d792b228be895..411af2ecba74ae68ad130c5b36059ece4b0bd895 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -144,6 +144,11 @@ createcuspandfinish:
         std::swap(q, empty);
 }
 
+void ParallelSlot::fipr(RRTNode *n)
+{
+        return this->fipr(new BicycleCar(n->x(), n->y(), n->h()));
+}
+
 void ParallelSlot::fipr(BicycleCar *B)
 {
         std::vector<RRTNode *> cusp;

diff --git a/incl/slotplanner.h b/incl/slotplanner.h
index 08246ecc229cdd836cf74a5e31cdf4b067d4bc56..f48e2a264a2573d5a86d49f4f19b06d090c0ec9d 100644 (file)
--- a/incl/slotplanner.h
+++ b/incl/slotplanner.h
@@ -73,6 +73,7 @@ class ParallelSlot {
 
                 @param B Last pose of vehicle when it is parked.
                 */
+                void fipr(RRTNode *n);
                 void fipr(BicycleCar *B);
                 /** _Find Last Not Colliding for Reverse_ BicycleCar pose