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rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and

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updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
This commit is contained in:
Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent b165c41737
commit c1258931da
3 changed files with 8 additions and 7 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+2 -2
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@@ -110,7 +110,7 @@ void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &ve
yaw_speed_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
}
void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const float curr_yaw,
void ObstacleAvoidance::updateAvoidanceDesiredWaypoints(const Vector3f &curr_wp, const float curr_yaw,
const float curr_yawspeed,
const Vector3f &next_wp, const float next_yaw, const float next_yawspeed)
{
@@ -135,7 +135,7 @@ void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const
_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true;
}
void ObstacleAvoidance::updateAvoidanceSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp)
void ObstacleAvoidance::updateAvoidanceDesiredSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp)
{
pos_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position);
vel_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity);
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+3 -3
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@@ -81,14 +81,14 @@ public:
* @param next_yaw, next yaw triplet
* @param next_yawspeed, next yaw speed triplet
*/
void updateAvoidanceWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
void updateAvoidanceDesiredWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
/**
* Updates the desired setpoints to send to the obstacle avoidance system.
* @param pos_sp, desired position setpoint computed by the active FlightTask
* @param vel_sp, desired velocity setpoint computed by the active FlightTask
*/
void updateAvoidanceSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
/**
* Checks the vehicle progress between previous and current position triplet.