Make backward default, add goal to last maneuver

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

diff --git a/src/psp.cc b/src/psp.cc
index 583643ac0d1ec5008f6b8f008a464fb9c740e05f..9d8ce2158300ca35f362e2b0f0a61a4dfe7a1492 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -142,6 +142,7 @@ std::vector<BicycleCar> PSPlanner::last_maneuver()
                 // zig-zag out from the slot
                 this->cc() = BicycleCar(this->gc());
                 this->cc().sp(0.1);
+                lm.push_back(BicycleCar(this->cc()));
                 while (!this->left()) {
                         while (!this->collide() && !this->left()) {
                                 this->cc().next();