X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/blobdiff_plain/aceb91fccbf0da48733e2b76310d8b2fc31f49fe..303980944ce16a84e695c1252f970d46fb30f07a:/api/psp.h

diff --git a/api/psp.h b/api/psp.h
index b604984..70bbf79 100644
--- a/api/psp.h
+++ b/api/psp.h
@@ -7,6 +7,8 @@
 #include "bcar.h"
 #include "pslot.h"
 
+#define FORWARD_PARKING 1
+
 /*! \brief Parking Slot Planner basic class.
 
 \param cc Current bicycle car.
@@ -88,6 +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.