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cosmetics changes to ObstacleAvoidance library

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Martina Rivizzigno
2019-04-04 16:41:26 +02:00
committed by bresch
parent e5441a6565
commit c5dfcbc50e
5 changed files with 9 additions and 9 deletions
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src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+4 -4
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@@ -64,16 +64,16 @@ public:
bool initializeSubscriptions(SubscriptionArray &subscription_array);
/**
* Inject setpoints from obstacle avoidance system into FLightTasks.
* Inject setpoints from obstacle avoidance system into FlightTasks.
* @param pos_sp, position setpoint
* @param vel_sp, velocity setpoint
* @param yaw_sp, yaw setpoint
* @param yaw_speed_sp, yaw speed setpoint
*/
void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
void injectAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
/**
* Updates the desired waypoints to send to the obstacle avoidance system.
* Updates the desired waypoints to send to the obstacle avoidance system. These messages don't have any direct impact on the flight.
* @param curr_wp, current position triplet
* @param curr_yaw, current yaw triplet
* @param curr_yawspeed, current yaw speed triplet
@@ -91,7 +91,7 @@ public:
void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
/**
* Checks the vehicle progress between previous and current position triplet.
* Checks the vehicle progress between previous and current position waypoint of the triplet.
* @param pos, vehicle position
* @param prev_wp, previous position triplet
* @param target_acceptance_radius, current position triplet xy acceptance radius