From d0084766ff3c39d5cc07b0cc6b71976eedc16738 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 25 Oct 2019 04:49:20 +0200 Subject: [PATCH] PositionControl: make getters const functions --- .../mc_pos_control/PositionControl/PositionControl.cpp | 4 ++-- .../mc_pos_control/PositionControl/PositionControl.hpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 9c6e058dee..736df064f1 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -351,7 +351,7 @@ void PositionControl::updateConstraints(const vehicle_constraints_s &constraints } } -void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint) +void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint) const { local_position_setpoint.x = _pos_sp(0); local_position_setpoint.y = _pos_sp(1); @@ -365,7 +365,7 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s _thr_sp.copyTo(local_position_setpoint.thrust); } -void PositionControl::getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) +void PositionControl::getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const { attitude_setpoint = ControlMath::thrustToAttitude(_thr_sp, _yaw_sp); attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp; diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 8af6bbd4a9..b2dfb777b4 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -134,7 +134,7 @@ public: * @see _vel_sp * @return The velocity set-point that was executed in the control-loop. Nan if velocity control-loop was skipped. */ - const matrix::Vector3f getVelSp() + const matrix::Vector3f getVelSp() const { matrix::Vector3f vel_sp{}; @@ -156,7 +156,7 @@ public: * The acceleration or thrust setpoints can be used for attitude control. * @param local_position_setpoint reference to struct to fill up */ - void getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint); + void getLocalPositionSetpoint(vehicle_local_position_setpoint_s &local_position_setpoint) const; /** * Get the controllers output attitude setpoint @@ -164,7 +164,7 @@ public: * It needs to be executed by the attitude controller to achieve velocity and position tracking. * @param attitude_setpoint reference to struct to fill up */ - void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint); + void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const; protected: