From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 3 Apr 2019 13:20:22 +0000 (+0200)
Subject: Add fipr method for RRTNode
X-Git-Tag: v0.6.0~5^2~6
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/04d323adf00c5900e680f09724338a64c1447481

Add fipr method for RRTNode
---

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 5f9880b..411af2e 100644
--- 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 08246ec..f48e2a2 100644
--- 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