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PositionControl: make getters const functions

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This commit is contained in:
Matthias Grob
2019-10-25 04:49:20 +02:00
parent f70d4d21a1
commit d0084766ff
2 changed files with 5 additions and 5 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+2 -2
View File
@@ -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;
src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+3 -3
View File
@@ -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: