Add (ccr, rf) x (p3, p4) computation

diff --git a/src/psp.cc b/src/psp.cc
index cff29ffcbe75b09c193a835091859e83ae33871a..b9b26a5802696662e56f0e3541a8ea17d3e57b2e 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -523,7 +523,17 @@ void PSPlanner::fe_parallel()
                                         this->cc() = BicycleCar(tmp_cc);
                                 }
                         }
-                        // TODO (ccr, rf) x (p3, p4)
+                        auto cli1 = ::intersect(
+                                ccrx, ccry, ccr_rf,
+                                this->ps().x3(), this->ps().y3(),
+                                this->ps().x4(), this->ps().y4()
+                        );
+                        double a1 = smaller_angle_of_two(
+                                this->cc().rfx(), this->cc().rfy(),
+                                ccrx, ccry,
+                                std::get<1>(cli1), std::get<2>(cli1),
+                                std::get<3>(cli1), std::get<4>(cli1)
+                        );
                         // TODO (ccr, rf) x (p2, p3)
                         // TODO (ccr, lf) x (p3, p4)
 {