Update code to reflect recent changes

diff --git a/src/psp.cc b/src/psp.cc
index 39fd3280b73cad4a9ede1a1f186aad6928f4f037..34d4b7c8afa96f25384c1250a08775497dbde2ad 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -399,6 +399,19 @@ void PSPlanner::fe_parallel()
                                         std::get<1>(cli2), std::get<2>(cli2),
                                         std::get<3>(cli2), std::get<4>(cli2)
                                 );
+                                if (std::get<0>(cli1) && (
+                                        !std::get<0>(cli2)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
                         } else if (ccl_lr >= ccl_p1) {
                                 // in parking slot
                                 auto cli1 = ::intersect(
@@ -423,39 +436,20 @@ void PSPlanner::fe_parallel()
                                         std::get<1>(cli2), std::get<2>(cli2),
                                         std::get<3>(cli2), std::get<4>(cli2)
                                 );
+                                if (std::get<0>(cli1) && (
+                                        !std::get<0>(cli2)
+                                        || a1 < a2
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a1);
+                                } else if (std::get<0>(cli2) && (
+                                        !std::get<0>(cli1)
+                                        || a2 < a1
+                                )) {
+                                        this->cc().rotate(cclx, ccly, -a2);
+                                } else {
+                                        continue;
+                                }
                         }
-                        if (std::get<0>(cli1) && (
-                            (!std::get<0>(cli2) && !std::get<0>(cli3))
-                            || (a1 < a2 && !std::get<0>(cli3))
-                            || (a1 < a3 && !std::get<0>(cli2))
-                            || (a1 < a2 && a1 < a3)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a1);
-                        } else if (std::get<0>(cli2) && (
-                            (!std::get<0>(cli1) && !std::get<0>(cli3))
-                            || (a2 < a1 && !std::get<0>(cli3))
-                            || (a2 < a3 && !std::get<0>(cli1))
-                            || (a2 < a1 && a2 < a3)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a2);
-                        } else if (std::get<0>(cli3) && (
-                            (!std::get<0>(cli1) && !std::get<0>(cli2))
-                            || (a3 < a1 && !std::get<0>(cli2))
-                            || (a3 < a2 && !std::get<0>(cli1))
-                            || (a3 < a1 && a3 < a2)
-                        )) {
-                            this->cc().rotate(cclx, ccly, -a3);
-                        } else {
-                            continue;
-                        }
-                        if (::right_side_of_line(
-                            this->cc().x(), this->cc().y(),
-                            this->cc().x() + cos(this->ps().heading()),
-                            this->cc().y() + sin(this->ps().heading()),
-                            this->cc().x() + cos(this->cc().h()),
-                            this->cc().y() + sin(this->cc().h())
-                        ))
-                            continue;
                 } else if (this->ps().right() && this->cc().sp() > 0) {
                         double ccrx = this->cc().ccr().x();
                         double ccry = this->cc().ccr().y();