Fix possible_inits

[hubacji1/psp.git] / src / psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 6cc5701a4356effacef6d2c233b5e14362fc799c..7d00cc6ad9a0d142e905d45c00ddabb717f7f760 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -141,13 +141,8 @@ std::vector<BicycleCar> PSPlanner::possible_inits(
 )
 {
         std::vector<BicycleCar> pi;
-        if (!this->ps().parallel()) {
-                this->cc().sp(this->cc().sp() * -dist);
-                this->cc().st(this->cc().st() * -1);
-        } else {
-                this->cc().sp(this->cc().sp() * dist);
-                this->cc().st(this->cc().st() * 1);
-        }
+        this->cc().sp(this->cc().sp() * dist);
+        this->cc().st(this->cc().st() * 1);
         BicycleCar orig_cc(this->cc());
         for (unsigned int i = 0; i < cnt; i++) {
                 this->cc().next();