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TrajMath: move from FlightTasks/Utility into mathlib library because the function is also used by other libraries

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Dennis Mannhart
2019-09-19 14:09:44 +02:00
committed by Mathieu Bresciani
parent e6b7062442
commit 453b6a39e4
4 changed files with 16 additions and 13 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+1 -3
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@@ -39,8 +39,6 @@
#include <CollisionPrevention/CollisionPrevention.hpp>
#include <FlightTasks/tasks/Utility/TrajMath.hpp>
using namespace matrix;
using namespace time_literals;
namespace
@@ -294,7 +292,7 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
float delay_distance = curr_vel_parallel * (col_prev_dly + data_age * 1e-6f);
float stop_distance = math::max(0.f, distance - min_dist_to_keep - delay_distance);
float vel_max_posctrl = xy_p * stop_distance;
float vel_max_smooth = trajmath::computeMaxSpeedFromBrakingDistance(max_jerk, max_accel, stop_distance);
float vel_max_smooth = math::trajectory::computeMaxSpeedFromBrakingDistance(max_jerk, max_accel, stop_distance);
Vector2f vel_max_vec = bin_direction * math::min(vel_max_posctrl, vel_max_smooth);
float vel_max_bin = vel_max_vec.dot(setpoint_dir);