From f5d7eef43b24d1dd4ee3ba0e82b0a35270ae160f Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 6 Apr 2020 12:26:11 +0200
Subject: [PATCH 1/1] Fix possible goals for right parallel parking slot

---
 CHANGELOG.md | 3 +++
 src/psp.cc   | 5 +++--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9b2bd19..dcd727c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,9 @@ The format is based on [Keep a Changelog][] and this project adheres to
 ### Added
 - Workaround to not working `fe()` for perpendicular parking slot.
 
+### Fixed
+- Possible goals for right parallel parking slot.
+
 ## 0.3.0 - 2020-02-04
 ### Added
 - Guess goal car method.
diff --git a/src/psp.cc b/src/psp.cc
index 7fe4ea8..583bad2 100644
--- a/src/psp.cc
+++ b/src/psp.cc
@@ -207,12 +207,13 @@ std::vector<BicycleCar> PSPlanner::possible_goals(
 )
 {
         std::vector<BicycleCar> pi;
-        if (this->cc().sp() > 0)
+        if (this->ps().parallel())
                 this->cc().sp(1);
         else
                 this->cc().sp(-1);
         this->cc().sp(this->cc().sp() * dist);
-        this->cc().st(this->cc().st() * 1);
+        if (this->ps().right())
+                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