X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/91541605f9ec44d8ad7432c3d39d8747846d8dd9..17aec93b05679afb4fec8cd9f4f3df6146a1f245:/src/psp.cc

diff --git a/src/psp.cc b/src/psp.cc
index 9d8ce21..95e3e32 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -164,8 +164,12 @@ std::vector<BicycleCar> PSPlanner::last_maneuver()
                         lm.push_back(BicycleCar(this->cc()));
                 }
         } else {
-                // go 1 m forward
+                // go 0.1 m forward/backward
+#if FORWARD_PARKING > 0
+                this->cc().sp(-0.1);
+#else
                 this->cc().sp(0.1);
+#endif
                 BicycleCar orig_cc(this->cc());
                 for (unsigned int i = 0; i < 10; i++) {
                         this->cc().next();
@@ -302,7 +306,6 @@ void PSPlanner::fe()
                 //this->cc().set_max_steer();
                 //if (this->ps().right())
                 //        this->cc().st(this->cc().st() * -1);
-                this->cc().sp(-0.2);
         }
 }