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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/examples/segway/blocks.cpp
+5 -2
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@@ -39,6 +39,9 @@
#include "blocks.hpp"
#include <lib/ecl/geo/geo.h>
#include <matrix/math.hpp>
using matrix::wrap_2pi;
namespace control
{
@@ -77,8 +80,8 @@ void BlockWaypointGuidance::update(
missionCmd.lat,
missionCmd.lon);
_psiCmd = _wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
_psiCmd = wrap_2pi(psiTrack -
_xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
}
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :