From 1a4b1eca6856efd013e0ebbb907810572ff68907 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 23 Aug 2019 21:24:17 +0200
Subject: [PATCH] Fix possible_inits

To work with current implementation of fe_perpendicular.
---
 src/psp.cc | 9 ++-------
 1 file changed, 2 insertions(+), 7 deletions(-)

diff --git a/src/psp.cc b/src/psp.cc
index 6cc5701..7d00cc6 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -141,13 +141,8 @@ std::vector<BicycleCar> PSPlanner::possible_inits(
 )
 {
         std::vector<BicycleCar> pi;
-        if (!this->ps().parallel()) {
-                this->cc().sp(this->cc().sp() * -dist);
-                this->cc().st(this->cc().st() * -1);
-        } else {
-                this->cc().sp(this->cc().sp() * dist);
-                this->cc().st(this->cc().st() * 1);
-        }
+        this->cc().sp(this->cc().sp() * dist);
+        this->cc().st(this->cc().st() * 1);
         BicycleCar orig_cc(this->cc());
         for (unsigned int i = 0; i < cnt; i++) {
                 this->cc().next();
-- 
2.39.2