Make backward default, add goal to last maneuver

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f188e2f7339585dfe8ecb3c6b98e524eba24466f..9e4f3ef27f0a4efb13b4f931f8b117fe3a5ee996 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,11 @@ The format is based on [Keep a Changelog][] and this project adheres to
 [Semantic Versioning]: http://semver.org/
 
 ## Unreleased
+### Changed
+- Make backward parking the default.
+
+### Fixed
+- Add the goal to the last maneuver method.
 
 ## 0.4.0 - 2020-07-23
 ### Added

diff --git a/api/psp.h b/api/psp.h
index 70bbf79c42ee500131942f8e196f1e00ec6ad1e4..b390a76f3d4a79ba27dba4dc29d5464e0320e28f 100644 (file)
--- a/api/psp.h
+++ b/api/psp.h
@@ -7,7 +7,7 @@
 #include "bcar.h"
 #include "pslot.h"
 
-#define FORWARD_PARKING 1
+#define FORWARD_PARKING 0
 
 /*! \brief Parking Slot Planner basic class.
 

diff --git a/src/psp.cc b/src/psp.cc
index 583643ac0d1ec5008f6b8f008a464fb9c740e05f..9d8ce2158300ca35f362e2b0f0a61a4dfe7a1492 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -142,6 +142,7 @@ std::vector<BicycleCar> PSPlanner::last_maneuver()
                 // zig-zag out from the slot
                 this->cc() = BicycleCar(this->gc());
                 this->cc().sp(0.1);
+                lm.push_back(BicycleCar(this->cc()));
                 while (!this->left()) {
                         while (!this->collide() && !this->left()) {
                                 this->cc().next();