while (!q.empty() && iter_cntr < 30) {
this->cc() = BicycleCar(q.front());
q.pop();
- while (
- !this->collide()
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) > M_PI / 32)
- && (std::abs(
- this->cc().h() - this->ps().heading()
- ) < M_PI / 2)
- )
- this->cc().next();
this->cc().sp(this->cc().sp() * -1);
this->cc().next();
this->gc() = BicycleCar(this->cc());