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TranslationControl: initialize with default constructor

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent e1ab31a5fc
commit ac4379d13f
1 changed files with 15 additions and 15 deletions
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src/modules/mc_pos_control/TranslationControl.hpp
+15 -15
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@@ -79,21 +79,21 @@ public:
private:
/* states */
matrix::Vector3f _pos{0.0f, 0.0f, 0.0f};
matrix::Vector3f _vel{0.0f, 0.0f, 0.0f};
matrix::Vector3f _vel_dot{0.0f, 0.0f, 0.0f};
matrix::Vector3f _acc{0.0f, 0.0f, 0.0f};
matrix::Vector3f _thr{0.0f, 0.0f, 0.0f};
matrix::Vector3f _pos{};
matrix::Vector3f _vel{};
matrix::Vector3f _vel_dot{};
matrix::Vector3f _acc{};
matrix::Vector3f _thr{};
float _yaw{0.0f};
matrix::Matrix<float, 3, 3> _R;
matrix::Matrix<float, 3, 3> _R{};
/* setpoints */
matrix::Vector3f _pos_sp{0.0f, 0.0f, 0.0f};
matrix::Vector3f _vel_sp{0.0f, 0.0f, 0.0f};
matrix::Vector3f _acc_sp{0.0f, 0.0f, 0.0f};
matrix::Vector3f _thr_sp{0.0f, 0.0f, 0.0f};
float _yaw_sp{0.0f};
float _yawspeed_sp{0.0f};
matrix::Vector3f _pos_sp{};
matrix::Vector3f _vel_sp{};
matrix::Vector3f _acc_sp{};
matrix::Vector3f _thr_sp{};
float _yaw_sp{};
float _yawspeed_sp{};
float _throttle{};
/* other variables */
@@ -122,10 +122,10 @@ private:
/* params */
matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
float _VelMaxXY{0.0f};
float _VelMaxZ[2] = {0.0f, 0.0f}; //index 0: index up; 1: down
float _VelMaxXY{};
float _VelMaxZ[2]; //index 0: index up; 1: down
float _ThrHover{0.5f};
float _ThrLimit[2] = {0.0f, 0.0f}; //index 0: max, index 1: min
float _ThrLimit[2]; //index 0: max, index 1: min
float _Pyaw{};
float _YawRateMax{};