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clang-tidy performance-unnecessary-value-param

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This commit is contained in:
Daniel Agar
2017-01-30 23:04:34 -05:00
parent be5764db48
commit 7e5f09f408
5 changed files with 21 additions and 21 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -4
View File
@@ -119,8 +119,8 @@ public:
*/
int start();
bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
bool cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res);
private:
bool _task_should_exit; /**< if true, task should exit */
@@ -1311,8 +1311,8 @@ MulticopterPositionControl::limit_acceleration(float dt)
}
bool
MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res)
MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res)
{
/* project center of sphere on line */
/* normalized AB */
src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp
+12 -12
View File
@@ -51,8 +51,8 @@ bool mcPosControlTests();
class MulticopterPositionControl
{
public:
bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
bool cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res);
};
class McPosControlTests : public UnitTest
@@ -77,7 +77,7 @@ McPosControlTests::~McPosControlTests()
bool McPosControlTests::cross_sphere_line_test()
{
MulticopterPositionControl *control = {};
MulticopterPositionControl control = MulticopterPositionControl();
math::Vector<3> prev = math::Vector<3>(0, 0, 0);
math::Vector<3> curr = math::Vector<3>(0, 0, 2);
@@ -108,7 +108,7 @@ bool McPosControlTests::cross_sphere_line_test()
*/
// on line, near, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target A 0", res(0), 0.0f, 2);
@@ -116,7 +116,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target A 2", res(2), 0.5f, 2);
// on line, near, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target B 0", res(0), 0.0f, 2);
@@ -124,7 +124,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target B 2", res(2), 2.0f, 2);
// on line, near, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target C 0", res(0), 0.0f, 2);
@@ -132,7 +132,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target C 2", res(2), 2.0f, 2);
// near, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target D 0", res(0), 0.0f, 2);
@@ -140,7 +140,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target D 2", res(2), 0.37f, 2);
// near, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target E 0", res(0), 0.0f, 2);
@@ -148,7 +148,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target E 2", res(2), 1.87f, 2);
// near, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target F 0", res(0), 0.0f, 2);
@@ -156,7 +156,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target F 2", res(2), 2.0f, 2);
// far, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target G 0", res(0), 0.0f, 2);
@@ -164,7 +164,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target G 2", res(2), 0.0f, 2);
// far, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target H 0", res(0), 0.0f, 2);
@@ -172,7 +172,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target H 2", res(2), 1.0f, 2);
// far, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target I 0", res(0), 0.0f, 2);