From 33cd032c3503b59d611423005d3571836fc503ca Mon Sep 17 00:00:00 2001 From: baumanta Date: Thu, 16 May 2019 16:34:52 +0200 Subject: [PATCH] camelcase function name, initialize c++11 style --- src/lib/CollisionPrevention/CollisionPrevention.cpp | 4 ++-- src/lib/CollisionPrevention/CollisionPrevention.hpp | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/CollisionPrevention/CollisionPrevention.cpp index cfec3535fe..140e7990ec 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.cpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.cpp @@ -65,7 +65,7 @@ bool CollisionPrevention::initializeSubscriptions(SubscriptionArray &subscriptio return true; } -void CollisionPrevention::calculate_constrained_setpoint(Vector2f &setpoint, const float max_acc, const float curr_vel) +void CollisionPrevention::calculateConstrainedSetpoint(Vector2f &setpoint, const float max_acc, const float curr_vel) { const obstacle_distance_s &obstacle_distance = _sub_obstacle_distance->get(); @@ -148,7 +148,7 @@ void CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const floa { //calculate movement constraints based on range data Vector2f new_setpoint = original_setpoint; - calculate_constrained_setpoint(new_setpoint, max_acc, curr_vel); + calculateConstrainedSetpoint(new_setpoint, max_acc, curr_vel); //warn user if collision prevention starts to interfere bool currently_interfering = (new_setpoint(0) < original_setpoint(0) - 0.05f * max_speed diff --git a/src/lib/CollisionPrevention/CollisionPrevention.hpp b/src/lib/CollisionPrevention/CollisionPrevention.hpp index ea54165d4a..4925b40587 100644 --- a/src/lib/CollisionPrevention/CollisionPrevention.hpp +++ b/src/lib/CollisionPrevention/CollisionPrevention.hpp @@ -73,16 +73,16 @@ public: private: - bool _interfering = false; /**< states if the collision prevention interferes with the user input */ + bool _interfering{false}; /**< states if the collision prevention interferes with the user input */ orb_advert_t _mavlink_log_pub{nullptr}; /**< Mavlink log uORB handle */ uORB::SubscriptionPollable *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */ - static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000; - static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000; + static constexpr uint64_t RANGE_STREAM_TIMEOUT_US{500000}; + static constexpr uint64_t MESSAGE_THROTTLE_US{5000000}; - hrt_abstime _last_message; + hrt_abstime _last_message{0}; DEFINE_PARAMETERS( (ParamFloat) _param_mpc_col_prev_d, /**< collision prevention keep minimum distance */ @@ -91,6 +91,6 @@ private: void update(); - void calculate_constrained_setpoint(matrix::Vector2f &setpoint, const float max_acc, const float curr_vel); + void calculateConstrainedSetpoint(matrix::Vector2f &setpoint, const float max_acc, const float curr_vel); };