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Dennis Mannhart 2018-04-30 15:05:57 +02:00 committed by Lorenz Meier
parent cfe7d64a42
commit bf15e852ff
2 changed files with 3 additions and 2 deletions
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2
src/modules/mc_pos_control/Utility/ControlMath.cpp
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@ -175,7 +175,7 @@ matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f
}
bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r,
const matrix::Vector3f &line_a, const matrix::Vector3f &line_b, matrix::Vector3f &res)
const matrix::Vector3f &line_a, const matrix::Vector3f &line_b, matrix::Vector3f &res)
{
// project center of sphere on line normalized AB
matrix::Vector3f ab_norm = line_b - line_a;

3
src/modules/mc_pos_control/Utility/ControlMath.hpp
View File

@ -77,5 +77,6 @@ matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f
*
* Note: this method is not used anywhere and first requires review before usage.
*/
bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a, const matrix::Vector3f &line_b, matrix::Vector3f &res);
bool cross_sphere_line(const matrix::Vector3f &sphere_c, const float sphere_r, const matrix::Vector3f &line_a,
const matrix::Vector3f &line_b, matrix::Vector3f &res);
}