} else if (this->ps().right() && this->cc().sp() > 0) {
std::cerr << "forw " << iter_cntr << std::endl;
double ccrx = this->cc().ccr().x();
double ccry = this->cc().ccr().y();
} else if (this->ps().right() && this->cc().sp() > 0) {
std::cerr << "forw " << iter_cntr << std::endl;
double ccrx = this->cc().ccr().x();
double ccry = this->cc().ccr().y();
double r1 = sqrt(
pow(this->cc().rfy() - ccry, 2)
+ pow(this->cc().rfx() - ccrx, 2)
double r1 = sqrt(
pow(this->cc().rfy() - ccry, 2)
+ pow(this->cc().rfx() - ccrx, 2)