Use first slot node as rotate center

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 9d4790a831833ee619f0d5fc52e2e74728b2e464..dff0fe446349e5e9623b6b3e95672f0ce0d6261e 100644 (file)
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -151,11 +151,7 @@ BicycleCar *ParallelSlot::flnc(BicycleCar *B)
 
 RRTNode *ParallelSlot::fposecenter()
 {
-        if (this->slot().bnodes().front()->y() >
-                        this->slot().bnodes().back()->y())
-                return this->slot().bnodes().front();
-        else
-                return this->slot().bnodes().back();
+        return this->slot().bnodes().front();
 }
 
 bool ParallelSlot::flast(

diff --git a/lpar.json b/lpar.json
index 7b19f038ca0a186e000ef5f4441f3016721f9e0a..b2cea9ee263b94c9b912cefcbc5ad143a5139011 100644 (file)
--- a/lpar.json
+++ b/lpar.json
@@ -3,10 +3,10 @@
         "goal": [-1.1, 14.055, 1.5707963267948966],
         "slot": {
                 "polygon": [
-                        [0, 13],
-                        [-2.2, 13],
+                        [0, 17.56],
                         [-2.2, 17.56],
-                        [0, 17.56]
+                        [-2.2, 13],
+                        [0, 13]
                 ]
         },
         "obst": [