From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 10 Jan 2023 13:43:00 +0000 (+0100)
Subject: Fix parallel parking with multiple b/f changes
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git/commitdiff_plain/36da8cebaa9a20c2e934d2f1800686ae051b4882?ds=sidebyside

Fix parallel parking with multiple b/f changes
---

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index d96f170..aa2fa6a 100644
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -62,12 +62,8 @@ int main()
 	}
 	if (s.parallel()) {
 		c.set_max_steer();
-		if (!s.right()) {
-			c.st(c.st() * -1.0);
-		}
-		for (auto p: s.steer_in_slot(c)) {
-			c.next();
-			ispath.push_back(c);
+		for (auto &n : s.drive_in_slot(c)) {
+			ispath.push_back(n);
 		}
 	}
 	jvi["goal"][0] = pr.x();