Rewrite fe for perpendicular

diff --git a/src/psp.cc b/src/psp.cc
index d1df5d13b0eaaf6becfccf629b87dca7ef27cbcd..f33568e350a37202baba19a88444ade44492f20a 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -209,7 +209,10 @@ void PSPlanner::fe()
         } else {
                 this->guess_gc();
                 this->cc() = BicycleCar(this->gc());
-                return this->fer_perpendicular();
+                this->cc().set_max_steer();
+                if (this->ps().right())
+                        this->cc().st(this->cc().st() * -1);
+                this->cc().sp(1);
         }
 }