From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 9 Nov 2020 11:27:30 +0000 (+0100)
Subject: Make backward default, add goal to last maneuver
X-Git-Tag: v0.4.1~1
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/psp.git/commitdiff_plain/760cc6a0a6181b3ee6a9e70e4a33917fc1b96a03

Make backward default, add goal to last maneuver
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index f188e2f..9e4f3ef 100644
--- 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 70bbf79..b390a76 100644
--- 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 583643a..9d8ce21 100644
--- 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();