From dbf2f1fde8312c5eb80a35489ced75213026b0fe Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 3 Feb 2020 11:34:37 +0100
Subject: [PATCH] Return 5m long 10 possible goals by default

---
 api/psp.h  | 2 +-
 src/psp.cc | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/api/psp.h b/api/psp.h
index 94bebf8..7ee2bb8 100644
--- 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 44c4c88..e39c2c3 100644
--- 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());
-- 
2.39.2