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math: support max of three values additional to min and use it everywhere

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Matthias Grob
2021-12-07 21:06:51 +01:00
parent e8676fe87a
commit 68e2940f58
12 changed files with 18 additions and 12 deletions
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src/lib/motion_planning/TrajectoryConstraints.hpp
+1 -1
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@@ -89,7 +89,7 @@ inline float computeStartXYSpeedFromWaypoints(const Vector3f &start_position, co
const float safe_alpha = constrain(alpha, 0.f, M_PI_F - FLT_EPSILON);
float accel_tmp = config.max_acc_xy_radius_scale * config.max_acc_xy;
float max_speed_in_turn = computeMaxSpeedInWaypoint(safe_alpha, accel_tmp, config.xy_accept_rad);
speed_at_target = min(min(max_speed_in_turn, exit_speed), config.max_speed_xy);
speed_at_target = min(max_speed_in_turn, exit_speed, config.max_speed_xy);
}
float start_to_target = (start_position - target).xy().norm();