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FlightTask: move setter back into header and switched argument to reference to have them inlined by the compiler

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This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent e597a9c0a1
commit c1056d307c
2 changed files with 19 additions and 25 deletions
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src/lib/FlightTasks/tasks/FlightTask.cpp
-21
View File
@@ -24,24 +24,3 @@ void FlightTask::_evaluate_vehicle_position()
_velocity.zero(); /* default velocity is all zero */
}
}
void FlightTask::_set_position_setpoint(const matrix::Vector3f position_setpoint)
{
_vehicle_local_position_setpoint.x = position_setpoint(0);
_vehicle_local_position_setpoint.y = position_setpoint(1);
_vehicle_local_position_setpoint.z = position_setpoint(2);
}
void FlightTask::_set_velocity_setpoint(const matrix::Vector3f velocity_setpoint)
{
_vehicle_local_position_setpoint.vx = velocity_setpoint(0);
_vehicle_local_position_setpoint.vy = velocity_setpoint(1);
_vehicle_local_position_setpoint.vz = velocity_setpoint(2);
}
void FlightTask::_set_acceleration_setpoint(const matrix::Vector3f acceleration_setpoint)
{
_vehicle_local_position_setpoint.acc_x = acceleration_setpoint(0);
_vehicle_local_position_setpoint.acc_y = acceleration_setpoint(1);
_vehicle_local_position_setpoint.acc_z = acceleration_setpoint(2);
}
src/lib/FlightTasks/tasks/FlightTask.hpp
+19 -4
View File
@@ -102,22 +102,37 @@ protected:
/**
* Put the position vector produced by the task into the setpoint message
*/
void _set_position_setpoint(const matrix::Vector3f position_setpoint);
void _set_position_setpoint(const matrix::Vector3f &position_setpoint)
{
_vehicle_local_position_setpoint.x = position_setpoint(0);
_vehicle_local_position_setpoint.y = position_setpoint(1);
_vehicle_local_position_setpoint.z = position_setpoint(2);
}
/**
* Put the velocity vector produced by the task into the setpoint message
*/
void _set_velocity_setpoint(const matrix::Vector3f velocity_setpoint);
void _set_velocity_setpoint(const matrix::Vector3f &velocity_setpoint)
{
_vehicle_local_position_setpoint.vx = velocity_setpoint(0);
_vehicle_local_position_setpoint.vy = velocity_setpoint(1);
_vehicle_local_position_setpoint.vz = velocity_setpoint(2);
}
/**
* Put the acceleration vector produced by the task into the setpoint message
*/
void _set_acceleration_setpoint(const matrix::Vector3f acceleration_setpoint);
void _set_acceleration_setpoint(const matrix::Vector3f &acceleration_setpoint)
{
_vehicle_local_position_setpoint.acc_x = acceleration_setpoint(0);
_vehicle_local_position_setpoint.acc_y = acceleration_setpoint(1);
_vehicle_local_position_setpoint.acc_z = acceleration_setpoint(2);
}
/**
* Put the yaw angle produced by the task into the setpoint message
*/
void _set_yaw_setpoint(float yaw) { _vehicle_local_position_setpoint.yaw = yaw; };
void _set_yaw_setpoint(const float &yaw) { _vehicle_local_position_setpoint.yaw = yaw; };
private:
uORB::Subscription<vehicle_local_position_s> _sub_vehicle_local_position;