From 3dad79d8f5d4dee59395b876355499147b53020c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 13 Aug 2020 08:20:54 +0200
Subject: [PATCH] control_allocator: inline one-line setters & getters

---
 .../ControlAllocation/ControlAllocation.cpp   | 55 -------------------
 .../ControlAllocation/ControlAllocation.hpp   | 18 +++---
 2 files changed, 9 insertions(+), 64 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
index f32522fdad..b442d183f0 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
@@ -41,30 +41,6 @@
 
 #include "ControlAllocation.hpp"
 
-const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
-ControlAllocation::getActuatorSetpoint() const
-{
-	return _actuator_sp;
-}
-
-void
-ControlAllocation::setControlSetpoint(const matrix::Vector<float, ControlAllocation::NUM_AXES> &control)
-{
-	_control_sp = control;
-}
-
-const matrix::Vector<float, ControlAllocation::NUM_AXES> &
-ControlAllocation::getControlSetpoint() const
-{
-	return _control_sp;
-}
-
-const matrix::Vector<float, ControlAllocation::NUM_AXES> &
-ControlAllocation::getAllocatedControl() const
-{
-	return _control_allocated;
-}
-
 void
 ControlAllocation::setEffectivenessMatrix(
 	const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
@@ -75,38 +51,7 @@ ControlAllocation::setEffectivenessMatrix(
 	clipActuatorSetpoint(_actuator_trim);
 	_control_trim = _effectiveness * _actuator_trim;
 	_num_actuators = num_actuators;
-}
 
-const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &
-ControlAllocation::getEffectivenessMatrix() const
-{
-	return _effectiveness;
-}
-
-void
-ControlAllocation::setActuatorMin(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
-				  &actuator_min)
-{
-	_actuator_min = actuator_min;
-}
-
-const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
-ControlAllocation::getActuatorMin() const
-{
-	return _actuator_min;
-}
-
-void
-ControlAllocation::setActuatorMax(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
-				  &actuator_max)
-{
-	_actuator_max = actuator_max;
-}
-
-const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &
-ControlAllocation::getActuatorMax() const
-{
-	return _actuator_max;
 }
 
 void
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
index 6cc0529b04..86a2cfc8ed 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocation.hpp
@@ -112,63 +112,63 @@ public:
 	 *
 	 * @return Actuator vector
 	 */
-	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const;
+	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorSetpoint() const { return _actuator_sp; }
 
 	/**
 	 * Set the desired control vector
 	 *
 	 * @param Control vector
 	 */
-	void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control);
+	void setControlSetpoint(const matrix::Vector<float, NUM_AXES> &control) { _control_sp = control; }
 
 	/**
 	 * Set the desired control vector
 	 *
 	 * @param Control vector
 	 */
-	const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const;
+	const matrix::Vector<float, NUM_AXES> &getControlSetpoint() const { return _control_sp; }
 
 	/**
 	 * Get the allocated control vector
 	 *
 	 * @return Control vector
 	 */
-	const matrix::Vector<float, NUM_AXES> &getAllocatedControl() const;
+	const matrix::Vector<float, NUM_AXES> &getAllocatedControl() const { return _control_allocated; }
 
 	/**
 	 * Get the control effectiveness matrix
 	 *
 	 * @return Effectiveness matrix
 	 */
-	const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &getEffectivenessMatrix() const;
+	const matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &getEffectivenessMatrix() const { return _effectiveness; }
 
 	/**
 	 * Set the minimum actuator values
 	 *
 	 * @param actuator_min Minimum actuator values
 	 */
-	void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min);
+	void setActuatorMin(const matrix::Vector<float, NUM_ACTUATORS> &actuator_min) { _actuator_min = actuator_min; }
 
 	/**
 	 * Get the minimum actuator values
 	 *
 	 * @return Minimum actuator values
 	 */
-	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const;
+	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMin() const { return _actuator_min; }
 
 	/**
 	 * Set the maximum actuator values
 	 *
 	 * @param actuator_max Maximum actuator values
 	 */
-	void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max);
+	void setActuatorMax(const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) { _actuator_max = actuator_max; }
 
 	/**
 	 * Get the maximum actuator values
 	 *
 	 * @return Maximum actuator values
 	 */
-	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const;
+	const matrix::Vector<float, NUM_ACTUATORS> &getActuatorMax() const { return _actuator_max; }
 
 	/**
 	 * Set the current actuator setpoint.