Return 5m long 10 possible goals by default

diff --git a/api/psp.h b/api/psp.h
index 94bebf894fbbd47cb2df0d080e124144fccb5063..7ee2bb81a90528f1d9bf279bcd2955329f151618 100644 (file)
--- a/api/psp.h
+++ b/api/psp.h
@@ -80,7 +80,7 @@ class PSPlanner {
                 );
                 std::vector<BicycleCar> possible_goals()
                 {
-                        return this->possible_goals(10, 1);
+                        return this->possible_goals(10, 0.5);
                 }
 
                 // find entry

diff --git a/src/psp.cc b/src/psp.cc
index 44c4c88fa63c00d614f1bea358a89a5017152661..e39c2c326e9b39598c1877bf91cac24f561d800f 100644 (file)
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -255,6 +255,10 @@ std::vector<BicycleCar> PSPlanner::possible_goals(
 )
 {
         std::vector<BicycleCar> pi;
+        if (this->cc().sp() > 0)
+                this->cc().sp(1);
+        else
+                this->cc().sp(-1);
         this->cc().sp(this->cc().sp() * dist);
         this->cc().st(this->cc().st() * 1);
         BicycleCar orig_cc(this->cc());