Make backward default, add goal to last maneuver

[hubacji1/psp.git] / api / psp.h

diff --git a/api/psp.h b/api/psp.h
index 2294a5b3f4175539062ebee59cd01b86ecc634f4..b390a76f3d4a79ba27dba4dc29d5464e0320e28f 100644 (file)
--- a/api/psp.h
+++ b/api/psp.h
@@ -7,7 +7,7 @@
 #include "bcar.h"
 #include "pslot.h"
 
-#define FORWARD_PARKING 1
+#define FORWARD_PARKING 0
 
 /*! \brief Parking Slot Planner basic class.
 
@@ -90,6 +90,15 @@ class PSPlanner {
                 {
                         return this->possible_goals(10, 0.5);
                 }
+                /*! \brief Shrink parking slot to perfect length.
+
+                Based on goal car dimensions, shrink `p1` and `p2`
+                towards the `p3` and `p4`. (Because backward parallel
+                parking).
+
+                NOTE: This function works for parallel parking only.
+                */
+                void shrink_to_perfect_len();
 
                 // find entry
                 /*! \brief Find entry to the parking slot.